JP2022160278A - Work system - Google Patents

Abstract

To improve efficiency of a work for a work object by an attachment.SOLUTION: A contact determination part 31 determines whether or not an attachment 15 becomes a contact state of contacting a work object O during movement of an attachment tip part 15t toward a work start position P3 from a movement start position P1. A work control part 33 allows the attachment 15 to start the work at a position of the attachment 15 when the contact determination part 31 determines that the attachment becomes the contact state.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work system for automatically performing work on an attachment.

For example, Patent Literature 1 and the like describe a shovel having an attachment. In claim 1 of the same document, when a condition such as "a state in which the excavator may assume a relatively unstable posture" is satisfied, "the operation of the actuator using the operation device is restricted. ” is stated.

Japanese Patent Application Laid-Open No. 2020-158998

In the technique described in the document, the operation of the attachment (boom, arm, bucket in the document) is restricted when a predetermined condition is satisfied. If the operation of the attachment is restricted, the efficiency of work on the work target by the attachment will be degraded.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work system capable of improving the efficiency of work performed on a work object by an attachment.

The work system includes a lower body, an upper revolving body, an attachment, a work control section, and a contact determination section. The upper rotating body is rotatably mounted on the lower body. The attachment is attached to the upper revolving body and performs work on the work target. The work control section performs control to automatically operate the attachment. The contact determination unit detects that the attachment is moving toward the work target while the tip of the attachment is moving from a specific movement start position toward the work start position, which is a work start position for the work target. It is determined whether or not it is in contact with an object. When the tip of the attachment moves from the movement start position to the work start position without being determined by the contact determination unit to be in the contact state, the work control unit moves the attachment to the work start position. let the work begin. When the contact determination unit determines that the contact state exists, the work control unit causes the attachment to start the work at the position of the attachment when it is determined that the contact state exists.

With the above configuration, it is possible to improve the efficiency of work on the work target by the attachment.

1 is a side view of a working machine 10 and the like of the working system 1. FIG. 2 is a block diagram of the work system 1 shown in FIG. 1; FIG. 3 is a flowchart showing processing of the controller 30 shown in FIG. 2; FIG. 2 is a side view of the work machine 10 and the like when the attachment 15 shown in FIG. 1 moves in the front-rear direction X; FIG. 2 is a top view of the work machine 10 and the like when the attachment 15 shown in FIG. 1 moves in the turning direction θ;

A work system 1 will be described with reference to FIGS. 1 to 5. FIG.

The work system 1 is a system for performing work on a work object O, as shown in FIG. The work system 1 includes a work machine 10 , an imaging device 21 , an orientation detector 23 shown in FIG. 2 , an attachment speed sensor 25 , an attachment load sensor 27 and a controller 30 .

As shown in FIG. 1, the work machine 10 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. The work machine 10 performs work on the work target O. As shown in FIG. The work object O may be earth and sand, crushed stone, or waste, for example. The work object O may be, for example, mountain-shaped (for example, a mound of earth and sand), may be placed on the ground G (see FIG. 4), or may be placed in a pit P (surrounded by walls Pw). . The work machine 10 includes a lower travel body 11 (lower main body), an upper revolving body 13 , an attachment 15 and a drive section 17 .

The lower traveling body 11 (lower main body) allows the work machine 10 to travel. The undercarriage 11 includes, for example, crawlers.

The upper revolving body 13 is rotatably mounted on the lower traveling body 11 . An attachment 15 is attached to the upper revolving body 13 . The upper swing body 13 includes an operator's cab 13a and a counterweight 13b. The operator's cab 13 a is a portion where the operator can operate the work machine 10 . Work machine 10 may not be operated by an operator, and may be automatically operated by controller 30 (see FIG. 2). The counterweight 13b is a weight for balancing the work machine 10 in the longitudinal direction X. As shown in FIG.

(Definition of direction with respect to work machine 10)
A vertical direction Z is defined as the direction in which the rotation axis (turning center 13o (see FIG. 5)) of the upper turning body 13 with respect to the lower traveling body 11 extends. In the vertical direction Z, the side (orientation) from the lower traveling body 11 toward the upper revolving body 13 is defined as an upper side Z1, and the opposite side is defined as a lower side Z2. As shown in FIG. 5, the direction in which the attachment 15 extends (the direction in which the attachment 15 protrudes from the upper rotating body 13) when viewed from the up-down direction Z is defined as the front-rear direction X. As shown in FIG. In the front-rear direction X, the side from the counterweight 13b toward the attachment portion of the attachment 15 to the upper revolving body 13 is defined as the "front side." In the front-rear direction X, when the front side is viewed from the upper revolving body 13, the far side from the upper revolving body 13 is defined as the back side X1, and the side closer to the upper revolving body 13 is defined as the front side X2. The turning direction of the upper turning body 13 with respect to the lower traveling body 11 (the direction centering on the turning center 13o) is defined as a turning direction θ.

The attachment 15 is a part that is attached to the upper revolving body 13 and performs work on the work object O, as shown in FIG. The attachment 15 includes a boom 15a, an arm 15b, and a tip attachment 15c. The boom 15a is attached to the upper revolving body 13 so as to be able to rise and fall (rotatable in the vertical direction). Arm 15b is rotatably attached to boom 15a. The tip attachment 15c is a part that performs work on the work object O. As shown in FIG. The tip attachment 15c is provided at the tip of the attachment 15 and rotatably attached to the arm 15b. The tip attachment 15c may be, for example, a bucket for scooping (excavating) earth and sand, a device for pinching an object (such as a grapple), or a device for crushing or excavating (such as a breaker). The tip of the tip attachment 15c (the tip of the attachment 15) is referred to as an attachment tip 15t.

The drive unit 17 drives the working machine 10 . The drive unit 17 may include, for example, a hydraulic actuator or an electric actuator. The "actuator" may be, for example, a telescopic cylinder or a motor. Specifically, for example, the drive unit 17 includes a boom cylinder 17a, an arm cylinder 17b, a tip attachment cylinder 17c, and a turning motor 17d (see FIG. 2). The boom cylinder 17 a is a cylinder (for example, a hydraulic cylinder) that raises and lowers the boom 15 a with respect to the upper swing body 13 . The arm cylinder 17b is a cylinder (for example, a hydraulic cylinder) that rotates the arm 15b with respect to the boom 15a. The tip attachment cylinder 17c is a cylinder (for example, a hydraulic cylinder) that rotates the tip attachment 15c with respect to the arm 15b. In FIG. 2, the tip attachment cylinder 17c is described as "tip ATT cylinder". The turning motor 17d is a motor (for example, a hydraulic motor or an electric motor) that turns the upper turning body 13 with respect to the lower traveling body 11 shown in FIG. The turning motor 17d (see FIG. 2) turns the upper turning body 13 with respect to the lower traveling body 11 about the turning center 13o shown in FIG. As a result, the turning motor 17d turns the attachment 15 with respect to the lower traveling body 11 around the turning center 13o.

The imaging device 21 detects three-dimensional information on the position and shape of an object to be imaged, as shown in FIG. The above-mentioned "object to be imaged" is at least one of the work object O and surrounding objects of the work object O. As shown in FIG. The imaging device 21 acquires an image (distance image) having distance information (depth information). The imaging device 21 may detect the three-dimensional information of the object to be imaged based on the distance image and the two-dimensional image. Only one imaging device 21 may be provided, or a plurality of imaging devices may be provided. The imaging device 21 may be mounted on the work machine 10 or may be arranged outside the work machine 10 (for example, at the work site). The attitude detection unit 23, the attachment speed sensor 25, and the controller 30 shown in FIG.

The imaging device 21 (see FIG. 1) may include a device that detects three-dimensional information using laser light. The imaging device 21 may include, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or may include a TOF (Time Of Flight) sensor. The imaging device 21 may include a device (such as a millimeter wave radar) that detects three-dimensional information using radio waves. The imaging device 21 may include a stereo camera. When the imaging device 21 detects the three-dimensional position and shape of the object to be imaged based on three-dimensional information and two-dimensional information, the imaging device 21 uses a camera capable of detecting two-dimensional images. You may prepare.

Posture detection unit 23 detects the posture of work machine 10 (see FIG. 1). The posture detection unit 23 includes a boom sensor 23a, an arm sensor 23b, a tip attachment sensor 23c (tip ATT sensor in FIG. 2), and a turning sensor 23d.

The boom sensor 23a detects the rotation angle (hoisting angle) of the boom 15a with respect to the upper swing body 13 shown in FIG. Boom sensor 23 a (see FIG. 2 ) may comprise an angle sensor attached to the axis of rotation of boom 15 a relative to upper swing structure 13 . The boom sensor 23a may include a tilt sensor that detects the tilt angle of the boom 15a with respect to the ground G or the like. The boom sensor 23a may include a stroke sensor that detects the stroke position of the boom cylinder 17a (the position of the cylinder rod with respect to the cylinder tube). The boom sensor 23a may be one that detects the attitude of the boom 15a based on a two-dimensional image or a distance image (performs image-based detection). In this case, the two-dimensional image or the distance image may be captured by the imaging device 21 .

The arm sensor 23b (see FIG. 2) detects the rotation angle of the arm 15b with respect to the boom 15a. The arm sensor 23b may be provided with an angle sensor, an inclination sensor, a stroke sensor, or may perform detection based on an image (the same applies to the tip attachment sensor 23c (see FIG. 2)). ). The tip attachment sensor 23c detects the rotation angle of the tip attachment 15c with respect to the arm 15b. The turning sensor 23 d detects the turning angle (turning direction θ) of the upper turning body 13 with respect to the lower traveling body 11 . The turning sensor 23d may include an angle sensor, or may perform detection based on an image.

Attachment speed sensor 25 (see FIG. 2) detects the operating speed of attachment 15 . For example, the attachment speed sensor 25 may also be used as the attitude detection section 23 (see FIG. 2). For example, the attachment speed sensor 25 may convert the detection result of the orientation of the attachment 15 (for example, angle) by the orientation detection unit 23 into the operating speed of the attachment 15 . Specifically, for example, the attachment speed sensor 25 converts the hoisting angle of the boom 15a with respect to the upper swing structure 13 detected by the boom sensor 23a (see FIG. 2) into the rotational speed (angular velocity) of the boom 15a with respect to the upper swing structure 13. can be converted to For example, the attachment speed sensor 25 may convert the stroke position of the boom cylinder 17a to the stroke speed of the boom cylinder 17a. Then, the attachment speed sensor 25 may convert the speed of the boom cylinder 17a into the rotation speed of the boom 15a relative to the upper rotating body 13. FIG. As for the operating speed of the arm 15b and the operating speed of the tip attachment 15c, the angle or stroke may also be converted into speed. As for the revolving speed of the upper revolving body 13 with respect to the lower traveling body 11 (that is, the revolving speed of the attachment 15), the revolving angle may be converted into the revolving speed. Note that the attachment speed sensor 25 may not be used as the orientation detection unit 23 and may detect the operating speed of the attachment 15 without using the detection result of the orientation detection unit 23 .

The attachment load sensor 27 (see FIG. 2) detects the load in the vertical direction Z acting on the attachment 15 . The attachment load sensor 27 detects a load in the vertical direction Z acting on at least one of the boom 15a, the arm 15b, and the tip attachment 15c. Specifically, for example, when detecting a load acting on the boom 15a in the vertical direction Z, the attachment load sensor 27 may detect the oil pressure of hydraulic oil that operates the boom cylinder 17a.

The controller 30 (see FIG. 2) performs signal input/output, computation (processing), information storage, and the like. For example, the controller 30 shown in FIG. 2 receives detection results from the imaging device 21 (see FIG. 1), the orientation detection section 23, the attachment speed sensor 25, and the attachment load sensor 27. FIG. For example, the controller 30 outputs a signal for driving the drive section 17 . The controller 30 includes a contact determination section 31 and a work control section 33 .

The contact determination unit 31 determines whether or not there is a contact state, which will be described later. The work control unit 33 automatically operates the work machine 10 . The work control unit 33 performs control to automatically operate the attachment 15 (see FIG. 1). The work control unit 33 controls the boom cylinder 17a, the arm cylinder 17b, the tip attachment cylinder 17c, and the swing motor 17d.

(Overview of operation of work system 1)
The work system 1 is configured to operate as follows. A controller 30 (see FIG. 2) controls (automatically operates) the work machine 10 and causes the attachment 15 to perform work. A specific example of the operation of the attachment 15 at this time is as follows.

The attachment 15 performs work (for example, excavation) on the work object O, and the tip attachment 15c is in a state in which the work object O can be transported (for example, a scooped state, a gripped state, etc.). In this state, the attachment 15 carries the work object O to a predetermined position. Specifically, for example, the attachment 15 lifts the work object O, and the upper swing body 13 swings (the work machine 10 lifts and swings). Next, the attachment 15 releases (for example, dumps) the work object O above an unillustrated loading object (for example, a loading platform of a transportation vehicle). Next, the tip attachment 15c (more specifically, the attachment tip portion 15t) moves to the planned position (work start position P3) where the work on the work object O is to be performed. During this movement, for example, the upper turning body 13 turns (return turning), and the height (position in the vertical direction Z) of the tip attachment 15c is changed. In this manner, work machine 10 repeats a series of operations, for example, work, lift turn, release, and return turn. The operation of the work machine 10 described above is an example, and the operation of the work machine 10 can be performed in various ways.

(Movement of attachment tip 15t)
The work control unit 33 (see FIG. 2) controls the operation of the work machine 10 so that the attachment tip 15t moves from the movement start position P1 to the work start position P3.

The movement start position P1 is a specific position set in the controller 30 (for example, the contact determination unit 31) (see FIG. 2). The movement start position P1 is the movement start position of the attachment tip portion 15t when a determination (described later) by the contact determination section 31 is performed. For example, the movement start position P1 may be a position on the trajectory of the attachment tip 15t in the return turning (see FIG. 5), or may be the position of the attachment tip 15t at the start of the return turning. As shown in FIG. 5, the movement start position P1 may be a point that overlaps the boundary between the inside and outside of the range (work target area Oa) where the work is performed by the tip attachment 15c. For example, the work by the tip attachment 15c is performed in at least part of the work target area Oa.

The work start position P3 is the position of the attachment tip portion 15t when the work (for example, excavation) on the work object O by the tip attachment 15c shown in FIG. 1 is started. The work start position P3 may be automatically set by the controller 30 (see FIG. 2), for example. Specifically, the work start position P3 may be automatically set by the controller 30 based on the distance image captured by the imaging device 21 . The height of the work start position P3 may be set by teaching with the attachment 15 by the operator. The height of the work start position P3 may be set by the operator's input (for example, numerical value input) to a mobile information terminal (for example, tablet, smartphone, etc.). As with the work start position P3, the movement start position P1 may be automatically set by the controller 30, set by teaching with the attachment 15, or set by input to the portable information terminal. good.

(Contact between attachment 15 and work object O)
It is assumed that the work object O exists between the movement start position P1 and the work start position P3. In this case, it is assumed that the attachment 15 comes into contact with the work object O while the attachment tip 15t is moving from the movement start position P1 to the work start position P3. Specific examples are as follows.

[Example of contact in the vertical direction Z] For example, it is assumed that the work object O exists directly above the work start position P3. For example, when the height of the work start position P3 set by teaching or input to the portable information terminal is lower than the height of the work target O, the work target O exists directly above the work start position P3. It is assumed that In such a case, the attachment 15 (for example, the tip attachment 15c) comes into contact with the work object O when the attachment tip 15t moves from above the work object O to the work start position P3 from above Z1 to below Z2. When the attachment 15 is further lowered in this state, the work machine 10 (the vehicle body) tries to be lifted from the ground G. As a result, the work machine 10 may tilt with respect to the ground G and become unstable. Although the example shown in FIG. 1 shows the case where the attachment tip portion 15t contacts the work object O, the portion of the attachment 15 that contacts the work object O is not limited to the attachment tip portion 15t. It is not limited to the tip attachment 15c.

[Example of Contact in Front-Back Direction X] For example, as shown in FIG. 4, consider the case where the work start position P3 is located on the back side X1 of the movement start position P1. In this case, it is assumed that the work target O exists at a position higher than the work start position P3 between the movement start position P1 and the work start position P3 in the front-back direction X. In such a case, when the tip attachment 15c moves from the movement start position P1 toward the work start position P3, it may come into contact with (get stuck in) the work object O on the front side X2 of the work start position P3.

[Example of Contact in Turning Direction θ] For example, as shown in FIG. is assumed to exist. In such a case, when the tip attachment 15c turns from the movement start position P1 toward the work start position P3, it contacts (hangs) the work object O on the side closer to the movement start position P1 than the work start position P3. There is

Therefore, the work control unit 33 (see FIG. 2) changes the work start position P3 when the attachment 15 contacts the work object O while moving from the movement start position P1 to the work start position P3. P3 after the change is referred to as a post-change work start position P3a. The details of the control by the controller 30 are as follows.

(Changed work start position P3a)
The operation of the controller 30 (see FIG. 2) and the like will be described with reference to the flowchart shown in FIG. Each step shown in the flowchart will be described below with reference to FIG. In step S11, the work control unit 33 (see FIG. 2) performs control to move the attachment 15 from the movement start position P1 toward the work start position P3. Specifically, for example, the work control unit 33 causes the attachment 15 to perform a return turning motion.

In step S12, it is determined by the contact determination section 31 (see FIG. 2) whether or not the tip end portion 15t of the attachment has reached the work start position P3. If the attachment tip 15t has not reached the work start position P3 (NO in step S21), the flow proceeds to steps S21 to S24 and S31. If the attachment tip 15t has not reached the work start position P3, it means that the attachment tip 15t is in the process of moving from the movement start position P1 toward the work start position P3. When the attachment tip portion 15t reaches the work start position P3, the flow proceeds to S41.

In steps S21 to S24 and S31, the contact determination section 31 (see FIG. 2) determines whether or not the attachment 15 is in a "contact state" in which the work object O is in contact.

In steps S21 to S24, the contact determination unit 31 (see FIG. 2) determines whether the attachment 15 is in contact with the work object O and the attachment 15 is in a stopped or substantially stopped state. Specifically, when the operating speed of the attachment 15 detected by the attachment speed sensor 25 (see FIG. 2) is equal to or less than the speed threshold, the contact determination unit 31 determines that the contact state is established. The above speed threshold is set in advance (before this determination) in the contact determination unit 31 (the same applies to each threshold below).

More specifically, in step S21, the contact determination unit 31 (see FIG. 2) determines whether or not the rotational speed of the boom 15a relative to the upper rotating body 13 is equal to or lower than the boom speed threshold (speed threshold relating to the rotational speed of the boom 15a). do. For example, when the rotation speed of the boom 15a is equal to or lower than the boom speed threshold for a predetermined time or longer, the contact determination unit 31 determines that the rotation speed of the boom 15a is equal to or higher than the boom speed threshold. The “predetermined time” is a threshold related to time preset in the contact determination unit 31 .

Similarly, in step S22, the contact determination unit 31 (see FIG. 2) determines whether or not the rotation speed of the arm 15b relative to the boom 15a is equal to or less than an arm speed threshold (speed threshold relating to the rotation speed of the arm 15b). In step S23, the contact determination unit 31 determines whether or not the rotation speed of the tip attachment 15c with respect to the arm 15b is equal to or less than the tip attachment speed threshold (the speed threshold for the rotation speed of the tip attachment 15c). In FIG. 3, the tip attachment 15c is described as "tip ATT". In step S24, the contact determination unit 31 determines whether or not the turning speed of the attachment 15 (of the upper turning body 13) with respect to the lower traveling body 11 shown in FIG. judge.

When each of the rotation speed of the boom 15a, the rotation speed of the arm 15b, the rotation speed of the tip attachment 15c, and the turning speed of the attachment 15 is equal to or less than each speed threshold (YES in all steps S21 to S24), the flow is Proceed to step S25. In this case, the contact determination unit 31 (see FIG. 2) determines that the attachment 15 is stopped or substantially stopped. On the other hand, if this condition is not satisfied (NO in at least one of steps S21 to S24), the contact determination section 31 determines that the attachment 15 has stopped or not nearly stopped. In this case, the contact determination unit 31 determines that the attachment 15 is not in contact. In this case, the flow returns to step S12.

In step S31, the contact determination unit 31 (see FIG. 2) determines whether or not the load detected by the attachment load sensor 27 is equal to or greater than a load threshold (threshold relating to the load of the attachment 15). In this determination, it is determined whether or not the attachment 15 lifts the work machine 10 with respect to the ground G and is about to tilt the work machine 10 or is tilting it. In this determination, the contact determination unit 31 determines whether or not the load in the vertical direction Z (“boom load” in FIG. 3) acting on the attachment 15 (specifically, for example, the boom 15a) is greater than or equal to the load threshold. If the load in the vertical direction Z acting on the attachment 15 is greater than or equal to the load threshold, the flow proceeds to step S32. When the load in the vertical direction Z acting on the attachment 15 is less than the load threshold, the contact determination unit 31 determines that the attachment 15 is not in contact. In this case, the flow returns to step S12.

If at least one of the conditions that the operating speed of the attachment 15 is equal to or less than the speed threshold (YES in all of S21 to S24) and that the load in the vertical direction Z acting on the attachment 15 is equal to or greater than the load threshold (YES in S31) is satisfied. , the flow proceeds to step S32. In this case, the contact determination unit 31 determines that the attachment 15 is in the contact state. In this case, the flow proceeds to step S41.

(Determination of speed and load of attachment 15)
The contact determination unit 31 (see FIG. 2) determines whether the operating speed of the attachment 15 is equal to or less than the speed threshold (speed determination), and determines whether the load of the attachment 15 is equal to or greater than the load threshold (load It is preferable to determine whether or not the contact state is established based on the determination). The reason for this is as follows. When the attachment 15 floats the work machine 10 with respect to the ground G and tilts the undercarriage 11 with respect to the ground G, the attachment 15 is not stopped (or substantially stopped). Therefore, when only speed determination is performed, even though the attachment 15 is in contact with the work object O, it is not determined to be in a "contact state." On the other hand, although the attachment 15 is in contact with the work object O and is stopped (or substantially stopped), the load acting on the attachment 15 may be small. Specifically, for example, when the stroke amount of the boom cylinder 17a after the attachment 15 contacts the work object O is small, the load acting on the boom cylinder 17a is small, and the operation supplied to the boom cylinder 17a is small. Oil pressure does not stand up greatly. In such a case, even though the attachment 15 is in contact with the work object O, it is not determined to be in a “contact state”. On the other hand, when both the speed determination and the load determination are performed, it can be appropriately determined whether the attachment 15 is in contact with the work object O or not.

Note that if it is possible to appropriately determine whether or not the attachment 15 is in contact with the work object O with only one of the speed determination and the load determination, either the speed determination or the load determination may be used. may only be performed.

In step S41, the work control unit 33 (see FIG. 2) causes the attachment 15 to start work on the work object O. As shown in FIG. More specifically, when the attachment tip 15t moves from the movement start position P1 to the work start position P3 without being determined by the contact determination unit 31 (see FIG. 2) to be in the contact state (NO in step S12). ), the work control unit 33 performs the following processing. In this case, the work control unit 33 causes the attachment 15 to start work at the work start position P3. More specifically, the work control unit 33 causes the attachment 15 to start working on the work object O from a state in which the tip end portion 15t of the attachment is arranged at the work start position P3.

Further, when the contact determination unit 31 (see FIG. 2) determines that there is a contact state (when proceeding from step S32 to step S41), the work control unit 33 (see FIG. 2) performs the following processing. . In this case, the work control unit 33 causes the attachment 15 to start the work at the position of the attachment 15 when the contact determination unit 31 determines that it is in the contact state. In this case, the contact determination unit 31 changes the work start position P3 to the position of the attachment 15 when the contact determination unit 31 determines that it is in the contact state (changes the work start position P3 to the post-change work start position P3a). ). More specifically, the work control unit 33 causes the attachment 15 to start working on the work object O from a state in which the tip end portion 15t of the attachment is arranged at the post-change work start position P3a. Therefore, even when it is determined that the work object O is in the contact state, the work on the work object O by the attachment 15 is performed.

After step S41, the flow proceeds to "END". After that, the controller 30 (see FIG. 2) causes the work machine 10 to lift and turn and release the work object O as described above, for example. After that, the controller 30 performs the processing shown in FIG. 3 again when causing the work machine 10 to perform the return turning.

After the attachment 15 shown in FIG. 1 starts the work at the post-change work start position P3a and the work is completed, for example, the lifting and turning and the release of the work object O are performed, the processing shown in FIG. 3 is performed again. A case will be described. [Example 1] In this case, the movement target of the attachment tip portion 15t shown in FIG. 1 may be returned from the post-change work start position P3a to the pre-change work start position P3. [Example 1a] For example, the shape of the work object O changes when the attachment 15 comes into contact with the work object O and performs work at the post-change work start position P3a. Then, the attachment tip portion 15t may reach the work start position P3 before the change. In this case, the attachment 15 can perform the work at the work start position P3 before the change. [Example 1b] In addition, the tip portion 15t of the attachment moves from the movement start position P1 to the work start position P3 before the change so as to avoid the position of the attachment 15 when it is determined to be in contact (so to speak, an obstacle). may In FIG. 5, an example of the movement path of the attachment tip portion 15t in this case is indicated by a chain double-dashed line. [Example 2] Further, the movement target of the attachment tip portion 15t may be a position (new work start position P3) that is neither the post-change work start position P3a nor the "pre-change work start position P3".

(Effect of the first invention)
As shown in FIG. 1, the effects of the work system 1 are as follows. The work system 1 includes a lower traveling body 11 (lower main body), an upper revolving body 13, an attachment 15, a work control section 33 (see FIG. 2), and a contact determination section 31 (see FIG. 2). The upper revolving body 13 is mounted on the lower traveling body 11 so as to be able to revolve. The attachment 15 is attached to the upper revolving body 13 and performs work on the work object O. As shown in FIG. The work control unit 33 performs control to automatically operate the attachment 15 . The contact determination unit 31 determines whether or not the attachment 15 has come into contact with the work object O while the attachment tip 15t is moving from the specific movement start position P1 toward the work start position P3. judge. The work start position P3 is the work start position for the work object O. As shown in FIG. If the contact determination unit 31 does not determine that the attachment is in the contact state and the attachment tip 15t moves from the movement start position P1 to the work start position P3, the work control unit 33 causes the attachment 15 to work at the work start position P3. to start.

[Configuration 1] When the contact determination unit 31 determines that the contact state is established, the work control unit 33 causes the attachment 15 to start the work at the position of the attachment 15 when it is determined that the contact state is established.

According to the above [Configuration 1], even when the attachment 15 comes into contact with the work object O, the attachment 15 performs the work on the work object O at the position of the attachment 15 when it is determined that it is in the contact state. to start. Therefore, even when the attachment 15 comes into contact with the work object O, the work can be performed by the attachment 15 . Therefore, compared with the case where the operation of the attachment 15 is restricted when the attachment 15 comes into contact, for example, the efficiency of the work on the work object O by the attachment 15 can be improved.

(Effect of the second invention)
[Configuration 2] The work system 1 includes an attachment speed sensor 25 (see FIG. 2) that detects the operating speed of the attachment 15 . When the operating speed of the attachment 15 detected by the attachment speed sensor 25 is less than or equal to the speed threshold set in the contact determination unit 31, the contact determination unit 31 (see FIG. 2) determines that the contact state is established.

In the above [Configuration 2], when the speed of the attachment 15 when the attachment 15 is stopped or nearly stopped is set as the speed threshold, the following effects are obtained. In this case, the contact determination unit 31 determines that the contact state is established when the attachment 15 is stopped or substantially stopped. Therefore, it can be appropriately determined that the attachment 15 cannot be moved to the work start position P3.

(Effect of the third invention)
[Configuration 3] The work system 1 includes an attachment load sensor 27 (see FIG. 2) that detects a load in the vertical direction Z acting on the attachment 15 . When the load detected by the attachment load sensor 27 is equal to or greater than the load threshold set in the contact determination section 31, the contact determination section 31 (see FIG. 2) determines that the contact state is established.

In the above [Configuration 3], when the load of the attachment 15 when the attachment 15 is about to lift the lower traveling body 11 and the upper revolving body 13 is set as the load threshold, the following effects are obtained. In this case, when the attachment 15 is about to lift the lower traveling body 11 and the upper rotating body 13, the contact determining section 31 determines that they are in contact. Therefore, it can be appropriately determined that the attachment 15 cannot be moved to the work start position P3.

(Effect of the fourth invention)
[Configuration 4] The work system 1 has the above [Configuration 2] and [Configuration 3].

[Configuration 4] provides the following effects. When the attachment 15 is not trying to lift the lower running body 11 and the upper rotating body 13, but the attachment 15 is stopped or almost stopped, the contact determination section 31 can determine that the contact state is established. Also, when the attachment 15 is trying to lift the lower running body 11 and the upper rotating body 13 although the attachment 15 is not stopped or almost stopped, the contact determining part 31 can determine that they are in contact. Therefore, it can be appropriately determined that the attachment 15 cannot be moved to the work start position P3.

(Modification)
The above embodiments may be modified in various ways. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection of each component shown in FIG. 2 may be changed. For example, the order of steps in the flow chart shown in FIG. 3 may be changed, and some steps may not be performed. For example, each threshold (speed threshold, load threshold, etc.) and range (for example, work target area Oa) may be constant, may be changed by manual operation, or may be changed automatically according to some conditions. good too. For example, the number of components may vary and some components may not be provided. For example, fixing, coupling, etc. between components may be direct or indirect. For example, what has been described as a plurality of different members or parts may be treated as one member or part. For example, what has been described as one member or portion may be divided into a plurality of different members or portions. Specifically, for example, the components of the controller 30 shown in FIG. 2 (the work control unit 33 and the contact determination unit 31) may be collectively provided in one controller 30 or may be provided separately.

1 work system 11 lower running body (lower main body)
13 upper rotating body 15 attachment 25 attachment speed sensor 27 attachment load sensor 31 contact determination section 33 work control section O work target P1 movement start position P3 work start position

Claims (4)

a lower body;
an upper revolving body rotatably mounted on the lower body;
an attachment attached to the upper revolving structure for performing work on a work target;
a work control unit that controls to automatically operate the attachment;
A contact state in which the attachment is in contact with the work object while the tip of the attachment is moving from a specific movement start position toward the work start position, which is the work start position for the work object. A contact determination unit that determines whether or not the
with
When the tip of the attachment moves from the movement start position to the work start position without being determined by the contact determination unit to be in the contact state, the work control unit moves the attachment to the work start position. start work,
When the contact determination unit determines that the contact state exists, the work control unit causes the attachment to start the work at the position of the attachment when the contact state is determined.
working system. The work system according to claim 1,
An attachment speed sensor that detects the operating speed of the attachment;
The contact determination unit determines that the contact state exists when the operating speed of the attachment detected by the attachment speed sensor is equal to or less than a speed threshold set in the contact determination unit.
working system. The work system according to claim 1,
an attachment load sensor that detects a vertical load acting on the attachment;
The contact determination unit determines that the contact state exists when the load detected by the attachment load sensor is equal to or greater than a load threshold set in the contact determination unit.
working system. The work system according to claim 1,
an attachment speed sensor that detects the operating speed of the attachment;
an attachment load sensor that detects a vertical load acting on the attachment;
with
The contact determination unit determines that the contact state exists when the operating speed of the attachment detected by the attachment speed sensor is equal to or less than a speed threshold set in the contact determination unit,
The contact determination unit determines that the contact state exists when the operating speed of the attachment detected by the attachment speed sensor is equal to or less than a speed threshold set in the contact determination unit.
working system.

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