JP2023053887A - working machine - Google Patents

Abstract

To provide a working machine capable of reducing the burden on a worker.SOLUTION: The working machine includes: control means that controls an upper rotating body 22 and an attachment 30 so that an upper rotating body 22 and an attachment 30 perform a series of movements; setting means that sets a limit range of operation of the attachment 30; and correction means to correct a sequence of movements so that a tip of attachment 30 does not exceed the limit range when the tip of the attachment 30 exceeds the limit range at least partially in the sequence of movements.SELECTED DRAWING: Figure 4

Description

The present invention relates to an automatically operated work machine.

In Patent Document 1, there is a construction machine that automatically performs an operation taught by teaching (teaching operation). disclosed. Then, if the teaching position is not within the allowable range, the teaching is urged again.

JP-A-2000-291077

However, if re-teaching is required as in Patent Document 1, the burden on the operator who performs the teaching increases.

SUMMARY OF THE INVENTION An object of the present invention is to provide a working machine capable of reducing the burden on an operator.

The present invention comprises a lower traveling body, an upper revolving body rotatably attached to an upper portion of the lower traveling body, an attachment rotatably attached to the upper revolving body, and the upper revolving body and the attachment. control means for controlling the upper rotating body and the attachment so as to perform a series of operations; setting means for setting a limited range of the operation of the attachment; and at least one of the attachments in at least part of the series of operations. and correction means for correcting the series of operations so that at least a part of the attachment does not exceed the limit range when the part exceeds the limit range or is likely to exceed the limit range. do.

According to the present invention, when at least part of the attachment exceeds or is likely to exceed the limit range in at least part of the series of actions, a series of actions is performed so that at least part of the attachment does not exceed the limit range. is corrected. As a result, at least part of the attachment does not exceed the limit range in a series of operations. Therefore, since it is not necessary to reset the series of operations by teaching or the like, the burden on the operator can be reduced.

It is a side view of a working machine. It is a circuit diagram of a work machine and a portable terminal. FIG. 4 is a top view of the working machine, showing the trajectory of the tip of the bucket in a series of operations; FIG. 4 is a side view of the working machine, showing the trajectory of the tip of the bucket in a series of operations; FIG. 4 is a side view of the work machine, and is a diagram for explaining an example of setting of a limit range; FIG. It is a side view of a working machine, and is a figure explaining an example which set the restriction|limiting range in front and back of a working machine, respectively. FIG. 4 is a side view of the work machine, showing the restricted range before updating; FIG. FIG. 10 is a side view of the work machine, showing the updated limit range; It is a figure which shows the periphery of the loading platform of a dump truck. FIG. 4 is a side view of the work machine, showing a situation where intermediate points A1 and A2 are set between points A and B; FIG. 4 is a side view of the work machine, showing a situation where an intermediate point C is set between points A and B; FIG. 4 is a side view of the work machine, showing correction of the excavation operation in the case of the first embodiment; FIG. 11 is a side view of the working machine, and is a diagram showing an example of excavating motion correction in the case of the fourth embodiment. FIG. 12 is a side view of the work machine, showing another example of excavating motion correction in the case of the fourth embodiment. FIG. 4 is a side view of the working machine, showing a case where the excavation amount of the bucket is reduced by the correction of the first embodiment; FIG. 4 is a side view of the working machine, showing a case of compensating for a reduced excavation amount of the bucket; 4 is a flow chart of processing of a controller; FIG. 4 is a side view of the work machine, showing a case where the start point of the excavation operation before correction exceeds the limit range; FIG. 3 is a side view of the bucket; FIG. 10 is a diagram showing the trajectory of the tip of the bucket due to the excavation motion before correction and the trajectory of the tip of the bucket due to the excavation motion after correction; FIG. 4 is a side view of the work machine, showing a case where the end point of the excavation operation before correction exceeds the limit range; FIG. 4 is a side view of the work machine, showing a case where the lowest point of the bucket in the excavation operation before correction exceeds the limit range;

Preferred embodiments of the present invention will be described below with reference to the drawings.

[First embodiment]
(Configuration of working machine)
The working machine according to the first embodiment of the invention is automatically operated. As shown in FIG. 1, which is a side view of the working machine 1, the working machine 1 is a machine that performs work with an attachment 30, such as a hydraulic excavator. The work machine 1 has a machine body 25 including a lower travel body 21 and an upper revolving body 22, an attachment 30, and a cylinder 40.

The lower traveling body 21 is a portion that allows the work machine 1 to travel, and includes, for example, crawlers. The upper revolving body 22 is rotatably attached to the upper part of the lower traveling body 21 via a revolving device 24 . A cab (driver's cab) 23 is provided in the front portion of the upper revolving body 22 .

The attachment 30 is attached to the upper rotating body 22 so as to be vertically rotatable. The attachment 30 has a boom 31 , an arm 32 and a bucket 33 . The boom 31 is attached to the upper revolving body 22 so as to be vertically rotatable (up and down). The arm 32 is attached to the boom 31 so as to be vertically rotatable. The bucket 33 is a tip attachment that is the tip of the attachment 30 and is attached to the arm 32 so as to be rotatable in the front-rear direction. The bucket 33 is a part for excavating, smoothing, scooping, and the like. The object to be worked held by the bucket 33 is not limited to earth and sand, and may be stones or waste (industrial waste, etc.). Also, the tip attachment is not limited to the bucket 33, but may be a grapple, a lifting magnet, or the like.

The cylinder 40 can hydraulically rotate the attachment 30 . The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 includes a boom cylinder 41 , an arm cylinder 42 and a bucket cylinder 43 .

The boom cylinder 41 rotates the boom 31 with respect to the upper swing body 22 . A base end portion of the boom cylinder 41 is rotatably attached to the upper swing body 22 . A tip portion of the boom cylinder 41 is rotatably attached to the boom 31 .

Arm cylinder 42 rotates arm 32 with respect to boom 31 . A base end of the arm cylinder 42 is rotatably attached to the boom 31 . A tip portion of the arm cylinder 42 is rotatably attached to the arm 32 .

The bucket cylinder 43 rotates the bucket 33 with respect to the arm 32 . A base end of the bucket cylinder 43 is rotatably attached to the arm 32 . A tip portion of the bucket cylinder 43 is rotatably attached to a link member 34 rotatably attached to the bucket 33 .

The work machine 1 also has an angle sensor 52 and an inclination sensor 60 . The angle sensor 52 detects the attitude of the upper swing body 22 . The tilt angle sensor 60 detects the orientation of the attachment 30 .

The angle sensor 52 detects the turning angle of the upper turning body 22 with respect to the lower traveling body 21 . The angle sensor 52 is, for example, an encoder, resolver, or gyro sensor. In this embodiment, the turning angle of the upper turning body 22 when the front of the upper turning body 22 coincides with the front of the lower traveling body 21 is 0°.

The tilt angle sensor 60 includes a boom tilt angle sensor 61 , an arm tilt angle sensor 62 and a bucket tilt angle sensor 63 .

A boom tilt angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31 . The boom tilt angle sensor 61 is a sensor that acquires the tilt angle of the boom 31 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. The boom tilt angle sensor 61 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41 .

The arm tilt angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32 . The arm tilt angle sensor 62 is a sensor that acquires the tilt angle of the arm 32 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. The arm tilt angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (arm proximal end) or a stroke sensor that detects the stroke amount of the arm cylinder 42 .

The bucket tilt angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33 . The bucket tilt angle sensor 63 is a sensor that acquires the tilt angle of the bucket 33 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. The bucket tilt angle sensor 63 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket proximal end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43 .

The working machine 1 also has a GNSS sensor 26 . A GNSS (Global Navigation Satellite System) sensor (coordinate detection device) 26 is a GPS sensor or the like, is provided on the upper revolving body 22, and detects the coordinates of the upper revolving body 22 within the work site. Note that the GNSS sensor 26 may be provided on the lower running body 21 or the attachment 30 . The GNSS sensor 26 is a positioning sensor and acquires the position of the work machine 1 (upper swing body 22) in the global coordinate system. Note that, instead of the GNSS sensor 26, a ranging sensor such as a total station may be used.

The working machine 1 also has a LiDAR 27 . A LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) 27 is provided on the upper swing body 22, but may be provided on the attachment 30 (especially the boom 31). A LiDAR (acquisition device) 27 acquires the surrounding conditions of the work site. Specifically, the LiDAR 27 acquires point cloud data indicating the distance from the position where the LiDAR 27 is attached to an object (dump truck or obstacle) in the work site. A stereo camera or a TOF (Time Of Flight) sensor may be used instead of the LiDAR 27 .

(Configuration of mobile terminal)
As shown in FIG. 1, the mobile terminal 3 is a terminal operated by a worker at the work site, such as a tablet terminal. A worker who operates the mobile terminal 3 is a person who manages the work machine 1 . The mobile terminal 3 can communicate with the work machine 1 mutually. Note that the mobile terminal 3 may be a smartphone or the like.

(Circuit configuration of work machine and mobile terminal)
As shown in FIG. 2, which is a circuit diagram of the work machine 1 and the portable terminal 3, the work machine 1 has a controller 11, a work machine side communication device 12, and a storage device 13. As shown in FIG. The mobile terminal 3 has a mobile terminal controller 15 , a mobile terminal communication device 16 and a display 17 .

The controller 11 receives information about the turning angle (orientation) of the upper turning body 22 with respect to the lower traveling body 21 detected by the angle sensor 52 . Further, the controller 11 receives information regarding the posture of the boom 31 detected by the boom tilt angle sensor 61 . Further, the controller 11 receives information regarding the posture of the arm 32 detected by the arm tilt angle sensor 62 . In addition, information regarding the attitude of the bucket 33 detected by the bucket tilt angle sensor 63 is input to the controller 11 .

The controller 11 also receives the coordinates of the upper revolving body 22 in the work site detected by the GNSS sensor 26 . In addition, the surrounding conditions of the work site acquired by the LiDAR 27 are input to the controller 11 .

The controller 11 automatically controls the working machine 1 . A controller (control means) 11 controls the upper revolving body 22 and the attachment 30 so that the upper revolving body 22 and the attachment 30 perform a series of operations from excavating earth and sand to dumping. That is, the work machine 1 is automatically operated. Specifically, the controller 11 automatically operates the turning device 24 and the attachment 30 based on the detection values of the angle sensor 52 and the tilt angle sensor 60 .

The storage device 13 stores the series of operations described above. A series of operations are set by teaching by an operator. Through a series of operations, the tip of the attachment 30 (the tip of the bucket 33) traces a predetermined trajectory.

The work machine side communication device 12 can communicate with the mobile terminal side communication device 16 of the mobile terminal 3 .

3 and 4 show the trajectory of the tip of the attachment 30 (tip of the bucket 33) in a series of operations. 3 is a top view of the work machine 1, and FIG. 4 is a side view of the work machine 1. FIG. The tip of the bucket 33 turns from point A to point C via point B. After that, the tip of the bucket 33 moves toward the upper revolving body 22 from point C to point E via point D. A locus 71 of the tip of the bucket 33 obtained by teaching is indicated by a dotted line. In this way, the controller 11 controls the upper rotating body 22 and the attachment 30 so that the tip of the bucket 33 passes through a plurality of target points (A to E points) in order. It does a series of actions.

As shown in FIG. 4, points B and D are positioned 6000 mm to the left (X direction) of the upper swing body 22 from the swing center. Point C is positioned 7000 mm to the left (in the X direction) of the drawing from the center of rotation of the upper rotating body 22 .

As described above, while a series of operations are set by teaching, there are obstacles and the like that interfere with the series of operations at the work site. Therefore, the controller (setting means) 11 sets the restricted range 73 of the operation of the attachment 30 . For example, the controller 11 sets the movement limit range 73 of the attachment 30 based on information such as obstacles set at the work site. A limited range 73 is indicated by a dashed line. The limited range 73 may be set in the coordinate system of the work machine 1 (machine coordinate system with the center of rotation of the upper rotating body 22 as the origin), or set in the coordinate system of the work site (for example, the global coordinate system). may

For example, in FIGS. 3 and 4, the limit range 73 is set to a position 6000 mm to the left (in the X direction) of the turning center of the upper turning body 22 . This limited range 73 includes the point C.

The controller (correcting means) 11 performs a series of operations so that at least a portion of the attachment 30 does not exceed the limited range 73 when at least a portion of the attachment 30 exceeds the limited range 73 in at least a portion of the series of operations. correct. In this embodiment, at least part of the attachment 30 is the tip of the bucket 33, but is not limited to this. For example, the positions of points B, C, and D in the X direction are corrected to 5900 mm. As a result, a trajectory 71 of the tip of the bucket 33 obtained by teaching from point B to point D via point C is corrected as indicated by a trajectory 72 indicated by a solid line. Therefore, the tip of the bucket 33 is restricted from moving in the X direction beyond the position of 6000 mm.

Thus, when the tip of the bucket 33 exceeds the limit range 73 in at least part of the series of actions, the series of actions is corrected so that the tip of the bucket 33 does not exceed the limit range 73 . As a result, the tip of the bucket 33 does not exceed the limit range 73 in a series of operations. Therefore, since it is not necessary to reset the series of operations by teaching or the like, the burden on the operator can be reduced.

In addition, the controller (correcting means) 11 controls the series of operations so that, when a portion of the attachment 30 other than the tip of the bucket 33 exceeds the limited range in at least a part of the series of operations, this portion does not exceed the limited range. correct. For example, the tip of the arm 32 may be the furthest part from the upper rotating body 22 depending on the rotation angle of the bucket 33 . Also, the tip of the boom 31 may be the furthest part from the upper rotating body 22 depending on the rotation angle of the arm 32 . When these portions exceed the limit range, these portions can be prevented from exceeding the limit range by correcting the series of operations so that these portions do not exceed the limit range.

Here, an example of setting of the limit range 73 by the controller 11 will be described. In this example, the restricted range 73 is set based on a plurality of positions where the tip of the bucket 33, which is a specific part of the attachment 30, can be positioned. This setting method is effective in a site where the restricted range 73 cannot be clearly determined or in a site where the surrounding environment of the working machine 1 changes. Note that the specific portion of the attachment 30 is not limited to the tip of the bucket 33, and may be the tip of the arm 32 or the like.

As shown in FIG. 5A, which is a side view of the work machine 1, first, the tip of the bucket 33 is positioned upward, and the upper limit height of the tip of the bucket 33 is set. Next, as shown in FIG. 5B, the tip of the bucket 33 is positioned downward, and the lower limit height of the tip of the bucket 33 is set. Next, as shown in FIG. 5(c), the tip of the bucket 33 is positioned forward, and the depth limit of the tip of the bucket 33 is set. Next, as shown in (d) of FIG. 5, the tip of the bucket 33 is positioned on the front side, and the limit on the front side of the tip of the bucket 33 is set. A restricted range 73 is set from the above four positions. The limited range set by this setting method may be set in the coordinate system (machine coordinate system) of the work machine 1 or may be set in the coordinate system of the work site (for example, the global coordinate system).

Thus, the restricted range 73 is set based on a plurality of positions where the tip of the bucket 33 can be positioned. By positioning the tip of the bucket 33 at a plurality of positions, the restricted range 73 can be easily set. This makes it possible to easily set the limit range 73 even in the field where the limit range 73 cannot be clearly determined. Moreover, even in a site where the environment around the work machine 1 changes, the restricted range 73 can be flexibly set.

5, the restricted range 73 is set in front of the work machine 1, but as shown in FIG. A restricted range 73 may also be set in the rear. A restricted range 73 set in front of the work machine 1 is a range of ±90 degrees around which the revolving angle of the upper revolving body 22 is 0 degrees. The swivel angle of the swivel body 22 is in the range of ±90° around 180°. In the example of FIG. 6, the restricted range 73 set behind the work machine 1 is set only above the upper revolving body 22 in order to avoid obstacles behind the work machine 1. Not limited.

Returning to FIG. 2, the controller (informing means) 11 notifies the portable terminal 3 of the fact when it corrects a series of operations. The mobile terminal side controller (informing means) 15 of the mobile terminal 3 notifies this fact. Specifically, the mobile terminal-side controller 15 causes the display 17 of the mobile terminal 3 to display this message, or causes the speaker of the mobile terminal 3 to output this message. Thereby, the operator who manages the work machine 1 can be notified that the series of operations will be corrected.

Here, as a result of the controller 11 correcting the series of operations, it may become difficult for the controller 11 to cause the upper rotating body 22 and the attachment 30 to perform the series of operations. For example, as a result of correcting the series of operations, the boom cylinder 41 that rotates the boom 31 is completely extended, and the boom 31 cannot be rotated upward any more, making it difficult to perform the series of operations. may become. In such a case, the controller (stop control means) 11 stops the operations of the upper rotating body 22 and the attachment 30 . As a result, it is possible to prevent the upper rotating body 22 and the attachment 30 from making unreasonable movements.

Now, consider a case where the position of the working machine 1 has moved. When the limited range 73 is set in the coordinate system (machine coordinate system) of the work machine 1 , the limited range 73 also moves following the movement of the work machine 1 . On the other hand, when the limited range 73 is set in the coordinate system of the work site (for example, the global coordinate system), when the work machine 1 moves, the position of the work machine 1 in the coordinate system of the work site changes, and the limited range 73 and the working machine 1 change.

The controller (updating means) 11 updates the restricted range from the coordinates of the upper rotating body 22 based on the coordinates of the upper rotating body 22 detected by the GNSS sensor 26 when the restricted range 73 is set in the coordinate system of the work site. Update the distance to 73. For example, as shown in FIG. 7, which is a side view of the work machine 1, when the restricted range 73 is set at a position 6000 mm to the left (in the X direction) of the turning center of the upper turning body 22 in the drawing, As shown in FIG. 8, which is a side view of the machine 1, when the working machine 1 moves 1000 mm to the left (in the X direction) in the drawing, the left side (in the X direction) from the turning center of the upper revolving body 22 is restricted. Update the distance to range 73 to 5000 mm.

Thus, the distance from the coordinates of the upper revolving body 22 to the limit range 73 is updated based on the coordinates of the upper revolving body 22 after the work machine 1 has moved. By this update, the positional relationship between the attachment 30 and the restricted range 73 can be determined. As a result, it is not necessary to set the limit range 73 again after the work machine 1 moves, so the burden on the operator can be reduced.

Returning to FIG. 2 , the mobile terminal side communication device 16 of the mobile terminal 3 can communicate with the working machine side communication device 12 of the working machine 1 . The mobile terminal-side controller 15 of the mobile terminal 3 receives the information of the trajectory 71 drawn by the tip of the bucket 33 in a series of operations from the work machine 1 via the mobile terminal-side communication device 16, and the correction result of the series of operations. receives the information of the trajectory 72 drawn by the tip of the bucket 33 . In addition, the mobile terminal controller 15 receives information on the set limit range 73 from the work machine 1 via the mobile terminal communication device 16 and information on the positional relationship of the upper rotating body 22 and the attachment 30 with respect to the limit range 73 . receive information;

A controller (action display control means) 11 and a mobile terminal side controller (action display control means) 15 cause a display (action display device) 17 to display information on a series of actions and correction results by the controller 11 . Specifically, as shown in FIGS. 3 and 4, a trajectory 71 drawn by the tip of the bucket 33 in a series of operations and a trajectory 72 drawn by the tip of the bucket 33 as a result of correction are displayed on the display 17. . The operator who sees the display 17 can comprehend the post-correction motions of the upper rotating body 22 and the attachment 30 by comparing the series of motions with the correction result by the controller 11 . As a result, if there is a problem with the motion after correction, it is possible to change the correction conditions or reset the series of operations.

Further, the controller (position display control means) 11 and the mobile terminal side controller (position display control means) 15 display the set limit range 73 and the positional relationship of the upper rotating body 22 and the attachment 30 with respect to the limit range 73. (Position display device) 17 is caused to display. Specifically, as shown in FIGS. 3 and 4 , the restricted range 73 and the patterns of the upper rotating body 22 and the attachment 30 are displayed on the display 17 . A worker looking at the display 17 can grasp the positional relationship of the upper rotating body 22 and the attachment 30 with respect to the restricted range 73 . As a result, if there is a problem with the positional relationship, the work machine 1 can be moved.

(effect)
As described above, according to the work machine 1 according to the present embodiment, when the tip of the bucket 33 exceeds the limit range 73 in at least part of a series of operations, the tip of the bucket 33 exceeds the limit range 73. The sequence of motion is corrected so that there is no As a result, the tip of the bucket 33 does not exceed the limit range 73 in a series of operations. Therefore, since it is not necessary to reset the series of operations by teaching or the like, the burden on the operator can be reduced.

Also, a restricted range 73 is set based on a plurality of positions where the tip of the bucket 33 can be positioned. By positioning the tip of the bucket 33 at a plurality of positions, the restricted range 73 can be easily set. This makes it possible to easily set the limit range 73 even in the field where the limit range 73 cannot be clearly determined. Moreover, even in a site where the environment around the work machine 1 changes, the restricted range 73 can be flexibly set.

In addition, when the controller 11 corrects a series of operations, that effect is notified. Thereby, the operator who manages the work machine 1 can be notified that the series of operations will be corrected.

Further, when it becomes difficult for the controller 11 to cause the upper rotating body 22 and the attachment 30 to perform the series of motions as a result of the correction of the series of motions by the controller 11, the motions of the upper rotating body 22 and the attachment 30 are stopped. be done. For example, if the controller 11 corrects a series of operations and the operations of the upper rotating body 22 and the attachment 30 exceed their operation ranges, it becomes difficult to perform the series of operations. In such a case, by stopping the operations of the upper rotating body 22 and the attachment 30, it is possible to prevent the upper rotating body 22 and the attachment 30 from making unreasonable movements.

A limited range 73 is set in the coordinate system of the work site, and the distance from this coordinate to the limited range 73 is updated based on the coordinates of the upper rotating body 22 . When the limited range 73 is set in the coordinate system of the working machine 1 , the limited range 73 also moves following the movement of the working machine 1 . On the other hand, when the limited range 73 is set in the coordinate system of the work site, when the work machine 1 moves, the position of the work machine 1 in the coordinate system of the work site changes, and the relative position between the limited range 73 and the work machine 1 changes. distance changes. In this case, based on the coordinates of upper swing body 22 detected after work machine 1 has moved, the distance from these coordinates to limit range 73 is updated. By this update, the positional relationship between the attachment 30 and the restricted range 73 can be determined. As a result, it is not necessary to set the limit range 73 again after the work machine 1 moves, so the burden on the operator can be reduced.

Further, when the portion of the attachment 30 other than the tip of the bucket 33 exceeds the limit range 73 in at least part of the series of operations, the series of operations is corrected so that this portion does not exceed the limit range 73 . As a result, it is possible to prevent the portion of the attachment 30 other than the tip of the bucket 33 from exceeding the limit range 73 in a series of operations.

Information on a series of operations and correction results by the controller 11 are also displayed on the display 17 . The operator who sees the display 17 can comprehend the post-correction motions of the upper rotating body 22 and the attachment 30 by comparing the series of motions with the correction result by the controller 11 . As a result, if there is a problem with the motion after correction, it is possible to change the correction conditions or reset the series of operations.

Also, the set limit range 73 and the positional relationship of the upper rotating body 22 and the attachment 30 with respect to the limit range 73 are displayed on the display 17 . A worker looking at the display 17 can grasp the positional relationship of the upper rotating body 22 and the attachment 30 with respect to the restricted range 73 . As a result, if there is a problem with the positional relationship, the work machine 1 can be moved.

[Second embodiment]
Next, a working machine 101 of a second embodiment will be described with reference to the drawings. Note that the description of the configuration common to the first embodiment and the effects produced thereby will be omitted, and mainly the differences from the first embodiment will be described. In addition, the same code|symbol as 1st Embodiment is attached|subjected about the same member as 1st Embodiment.

In the first embodiment, as shown in FIG. 5, the restricted range 73 is set based on a plurality of positions where the tip of the bucket 33, which is a specific portion of the attachment 30, can be positioned.

In this embodiment, the controller (setting means) 11 sets the restricted range 73 based on the information about the surrounding situation from the management device 4 (see FIG. 2). The management device 4 manages the surrounding conditions of the work site, and is, for example, a management server. The management device 4 manages the positions of obstacles and passages in the work site as information.

As shown in FIG. 2 , the work machine side communication device 12 of the work machine 101 can communicate with the management device 4 . The controller 11 acquires the ambient conditions of the work site managed by the management device 4 from the management device 4 . By using the information managed by the management device 4 , for example, the operator of the work machine 1 does not have to perform an operation for setting the limit range 73 . Therefore, the limit range 73 can be easily set.

Further, in the present embodiment, the controller (setting means) 11 of the work machine 101 sets the restricted range 73 based on the ambient conditions of the work site acquired by the LiDAR 27 (see FIG. 1).

As shown in FIG. 9 , which is a diagram showing the periphery of the dump truck 5 , the method of setting the limit range 73 will be described in detail, taking as an example the case of dumping earth and sand onto the dump truck 5 . A similar setting method can be applied to a case where the bucket 33 is used to level the earth and sand loaded on the loading platform 6 of the dump truck 5 .

The LiDAR 27 (see FIG. 1) acquires the ambient conditions around the loading platform 6 of the dump truck 5 . The amount of earth and sand loaded on the loading platform 6 of the dump truck 5 increases as the number of dumping times onto the loading platform 6 increases. In other words, the surrounding situation changes from moment to moment.

As shown in FIG. 9, by a series of operations, the tip of the bucket 33 moves from the left side to the right side in the drawing while drawing a trajectory 71 indicated by a dotted line.

The controller 11 sets a restricted range 73 indicated by a dashed line above the earth and sand loaded on the loading platform 6 based on the surrounding conditions of the work site acquired by the LiDAR 27 . The cargo bed 6 side of the dashed line is outside the restricted range 73 , and the area above the dashed line is within the restricted range 73 . The controller 11 changes the restricted range 73 moment by moment according to changes in the amount of earth and sand loaded on the loading platform 6 . By acquiring the surrounding conditions in this way, it is possible to set the limit range 73 according to changes in the surrounding conditions.

In the case shown in FIG. 9 , when the tip of the bucket 33 draws a trajectory 71 , the tip of the bucket 33 collides with earth and sand on the right side of the loading platform 6 . Therefore, the controller (correction means) 11 corrects the series of operations so that the tip of the bucket 33 draws a trajectory 72 indicated by a solid line.

(effect)
As described above, according to the work machine 101 according to the present embodiment, the restricted range 73 is set based on the information about the surrounding conditions from the management device 4 that manages the surrounding conditions of the work site. By using the information managed by the management device 4 , for example, the operator of the work machine 101 does not have to perform an operation for setting the limit range 73 . Therefore, the limit range 73 can be easily set.

Also, a restricted range 73 is set based on the surrounding conditions acquired by the LiDAR 27 . The surrounding situation changes from moment to moment, but by acquiring the surrounding situation, it is possible to set the limit range 73 according to the change in the surrounding situation.

[Third embodiment]
Next, a working machine 201 of a third embodiment will be described with reference to the drawings. Note that the description of the configuration common to the first embodiment and the effects produced thereby will be omitted, and mainly the differences from the first embodiment will be described. In addition, the same code|symbol as 1st Embodiment is attached|subjected about the same member as 1st Embodiment.

In the first embodiment, as shown in FIGS. 3 and 4, the series of operations is corrected when the tip of the bucket 33 exceeds the limit range 73 in at least part of the series of operations. Specifically, when the tip of the bucket 33 moves in order of point A, point B, point C, point D, and point E, if the point C is outside the restricted range 73, the point C moves to the restricted range 73. A series of actions were corrected so that it would be positioned within.

In this embodiment, a case will be described where the tip of the bucket 33 may exceed the limit range 73 in at least part of the series of operations. As shown in FIG. 10, which is a side view of work machine 201, points A and B are set as target points. In this embodiment, points A and B are close to the limit range 73 . Moreover, the B point is located below the A point and closer to the restricted range 73 than the A point. The distance between points A and B is greater than the distance between points A and B in FIG.

The controller (control means) 11 of the work machine 201 controls the upper revolving body 22 and the attachment 30 so that the tip of the bucket 33 passes through points A and B in order. perform a series of actions. In this case, the path of the tip of the bucket 33 between points A and B is not determined. In other words, any route can be taken between the A point and the B point. Therefore, depending on the route, the tip of the bucket 33 may exceed the limit range 73 as indicated by a locus 71 indicated by a dotted line.

Therefore, if there is a possibility that the tip of the bucket 33 may exceed the limit range 73 between points A and B in the series of operations before correction, the controller (intermediate point setting means) 11 sets points A and B A midpoint is set between the points and within the limit range 73 . In this embodiment, intermediate points A1 and A2 are set between points A and B, but the number of intermediate points may be one or three or more.

Here, the controller 11 sets two intermediate points A1 and A2 on the line L1 connecting the A point and the B point. Although the line L1 is a straight line in this embodiment, it may be a curved line. As shown in FIG. 10, which is a side view, when the work machine 201 is viewed from the side, the line L1 is a straight line. ), the line L1 is a straight line. The two intermediate points A1 and A2 may be set at equal intervals in the X direction (horizontal direction), may be set at equal intervals in the Z direction (vertical direction), or may be set at positions equally dividing the line L1. may be set to By positioning the positions of the two intermediate points A1 and A2 on the line L1 connecting the points A and B, the intermediate points can be easily set.

The controller (correction means) 11 corrects the series of operations so that the tip of the bucket 33 passes through the intermediate points A1 and A2. As a result, the tip of the bucket 33 can be prevented from exceeding the limit range 73 even between the points A and B near the limit range 73 .

In addition, you may set an intermediate point as follows. As shown in FIG. 11 which is a side view of work machine 201 , controller (midpoint setting means) 11 sets midpoint C between points A and B and within limit range 73 . Point B is the downstream target point (downstream target point) of the series of operations before correction, between points A and B. An intermediate point C is set on a straight line L2 passing through the B point. The straight line L2 is inclined from the horizontal plane at an angle between the horizontal plane when the tip of the bucket 33 passes through the point B and the direction of movement of the attachment 30 through a series of operations before correction. In this embodiment, the series of operations at point B is excavation. By setting the intermediate point C in this way, it is possible to cause the attachment 30 to suitably perform a series of operations (excavation work) at the B point.

Here, as shown in FIG. 11, which is a side view, when the working machine 201 is viewed from the side, the intermediate point C is located directly below the point A, but when viewed in the rotating direction of the upper rotating body 22 ( When the work machine 201 is viewed from above), the intermediate point C is located between the points A and B.

In addition, the straight line L2 may be inclined from the horizontal plane at the angle formed by the horizontal plane and the movement direction of the attachment 30 when the attachment 30 performs a predetermined work at the point B. In this embodiment, the predetermined work at point B is excavation work. In this case as well, the attachment 30 can be caused to perform a predetermined work (excavation work) at point B in a suitable manner.

(effect)
As described above, according to the work machine 201 according to the present embodiment, the tip of the bucket 33 exceeds the limit range 73 between the two target points (point A and point B) in the series of operations before correction. If possible, intermediate points (intermediate points A1, A2, intermediate point C) are set between the two target points and within the restricted range 73 . Then, a series of operations are corrected so that the tip of the bucket 33 passes through the intermediate point. When controlling the upper rotating body 22 and the attachment 30 so that the tip of the bucket 33 passes through a plurality of target points in order, if the distance between the target points is large, the tip of the bucket 33 will be may exceed the limit range 73. Therefore, an intermediate point is set between the two target points and within the restricted range 73, and the series of operations are corrected so that the tip of the bucket 33 passes through the intermediate point. This prevents the tip of the bucket 33 from exceeding the limit range 73 even between target points close to the limit range 73 .

Further, intermediate points A1 and A2 are set on the line L1 connecting the two target points. This makes it possible to easily set the intermediate points A1 and A2.

In addition, by a series of operations before correction, the tip of the bucket 33 is inclined from the horizontal plane at an angle formed by the horizontal plane when the tip of the bucket 33 passes the downstream target point (point B) and the movement direction of the attachment 30, and a straight line passing through the downstream target point An intermediate point C is set on L2. By setting the intermediate point C in this way, it is possible to cause the attachment 30 to suitably perform a series of operations at the downstream target point.

In addition, at the downstream target point (point B), the attachment 30 is inclined from the horizontal plane at an angle formed by the horizontal plane and the movement direction of the attachment 30 when performing a predetermined work, and an intermediate point is formed on the straight line L2 passing through the downstream target point. Point C is set. By setting the intermediate point C in this way, it is possible to cause the attachment 30 to suitably perform a predetermined work at the downstream target point.

[Fourth embodiment]
Next, a working machine 301 of a fourth embodiment will be described with reference to the drawings. Note that the description of the configuration common to the first embodiment and the effects produced thereby will be omitted, and mainly the differences from the first embodiment will be described. In addition, the same code|symbol as 1st Embodiment is attached|subjected about the same member as 1st Embodiment.

In the first embodiment, as shown in FIGS. 3 and 4, as a result of correcting the point C located outside the restricted range 73 to be within the restricted range 73, a trajectory 71 of the tip of the bucket 33 by teaching is a trajectory indicated by a solid line. It was corrected like 72.

In this embodiment, the excavation operation of excavating earth and sand (object to be excavated) with the bucket 33 is corrected. That is, at least part of the series of operations is an excavation operation of excavating earth and sand with the bucket 33 . The object to be excavated is not limited to earth and sand, and may be stones, wastes, or the like.

As shown in FIG. 12, which is a side view of work machine 301, when excavating earth and sand in a range surrounded by dotted lines, a limited range 73 indicated by a dashed line is closer to work machine 301 than starting point A of the excavation operation. Consider the case where it is set to pass through The starting point A is the end point of the digging motion and is located at the ground level. The limited range 73 vertically crosses the earth and sand on the work machine 301 side of the start point A, extends toward the work machine 301 along the bottom surface of the earth and sand, and then vertically crosses the earth and sand on the front side of the work machine 301, It extends leftward in the drawing along the ground on which the working machine 301 rests. In this case, when the excavation operation is performed along the trajectory 71 indicated by the dotted line, the tip of the bucket 33 exceeds the limit range 73 at the start point A of the excavation operation.

Therefore, as in the first embodiment, when the start point A is corrected to move to the boundary of the restricted range 73, the tip of the bucket 33 draws a trajectory 72 indicated by a solid line. However, in this trajectory 72, the penetration angle of the bucket 33 is substantially vertical, making it difficult for the tip of the bucket 33 to follow the trajectory 72 shown by the solid line.

Therefore, a LiDAR (height detection device) 27 (see FIG. 1) detects the height of the soil surface. 13, which is a side view of the work machine 301, the controller (correction means) 11 positions the start point X of the excavation operation after correction at the height of the soil surface within the restricted range 73. so that the entire range of excavating motion is moved horizontally toward work machine 301 . In this way, by horizontally moving the entire range of the excavation operation, the movement of the bucket 33 before correction can be used. As a result, the excavation operation can be performed smoothly.

Here, as shown in FIG. 13, the distance a by which the start point A is horizontally moved to the corrected start point X by correction, and the end point B of the excavation operation is horizontally moved to the corrected end point Y by correction. is the same as the distance a.

As shown in FIG. 14, which is a side view of work machine 301, when end point B of the excavation operation is positioned outside of restricted range 73, the entire range of excavation operation moves horizontally away from work machine 301 in the same manner. Let The end point B is the end point of the digging operation and is located at the level of the soil surface. The limit range 73 is set in the same manner as in FIG.

Here, a point C is set on the soil surface on the boundary line closer to the work machine 301 in the restricted range 73, and an end point B located outside the restricted range 73 at the same height as the point C is obtained. Also, a point D is provided on the soil surface on the boundary line of the limited range 73 farther from the work machine 301 . When the horizontal distance x between point C and end point B is longer than the horizontal distance y between point D and start point A, if the entire excavation range is horizontally moved by distance x, the corrected The starting point X of the excavation operation will exceed the limit range 73 . In this case, the entire range of the excavation operation is horizontally moved by the distance y so that the start point X of the excavation operation after correction does not exceed the limit range 73 . In this case, the starting point X of the excavation operation after the horizontal movement overlaps with the point D.

Here, since the end point Y of the excavation operation after the horizontal movement is outside the restricted range 73, the tip of the bucket 33 is corrected to draw a trajectory 74 that rises substantially vertically from point E below point C to point C. be. Point C is the end point of the excavation operation after correction.

As shown in FIG. 15, which is a side view of the work machine 301, the entire range of the excavation operation is moved horizontally toward the work machine 301 so that the start point X of the excavation operation after correction is positioned on the boundary of the restricted range 73. As a result, the end point Y of the excavation operation after correction may be positioned outside the restricted range 73 . The limit range 73 is set in the same manner as in FIG. In this case, the tip of the bucket 33 is corrected so as to draw a trajectory 74 that rises substantially vertically from point E below point C to point C. Here, point C is a target point provided on the soil surface on the boundary line closer to work machine 301 in restricted range 73 . Point E is the intersection of the boundary line on the side closer to work machine 301 in restricted range 73 and trajectory 72 of bucket 33 after correction. Point C is the end point of the excavation operation after correction. In this case, the excavated amount of earth and sand is reduced by the area surrounded by the end points Y, C and E.

Therefore, when the excavation amount of the bucket 33 decreases as a result of horizontally moving the entire excavation operation range, the controller (correction means) 11 excavates earth and sand with the bucket 33 so as to compensate for the decreased excavation amount. Deepen the depth.

Specifically, as shown in FIG. 16, which is a side view of work machine 301, point D is provided at the lowest point of bucket 33 on trajectory 72, and a boundary line near work machine 301 in restricted range 73 is provided. , and the locus 72 of the bucket 33 after correction. If there are multiple lowest points of the bucket 33 on the trajectory 72, an arbitrary lowest point is selected. Then, the trajectory from point D to point E is moved downward. As a result, the trajectory 72 is corrected to the trajectory 75 . At this time, the cross-sectional area S2 of the region surrounded by the F point shifted downward from the D point, the G point shifted downward from the E point, and the end point Y, C point, and E The trajectory from the point D to the point E is moved downward so as to be the same as the cross-sectional area S1 of the area surrounded by the points. This compensates for the reduced amount of excavation, thereby reducing deterioration in work efficiency.

Here, if the trajectory from point D to point E is simply moved downward, there may be a step in the corrected trajectory 75 and the bucket 33 may not be able to move smoothly. Therefore, the controller (correction means) 11 corrects the trajectory 75 of the bucket by the excavation operation so that the bucket 33 moves smoothly over the entire range of the excavation operation when the depth of excavation of the earth and sand by the bucket 33 is increased. do.

Specifically, a point H is provided at a position upstream of the point D by a distance t on the trajectory 72 of the bucket 33 after correction, and the trajectory after correction is set so that the point H and the point F are connected by a straight line. Modify 75. This allows smooth movement of the bucket 33 throughout the range of excavating motion. Here, the distance t may be set arbitrarily, or may be set according to the depth of the F point.

In addition, when the trajectory from the point D to the point E is moved downward, the point F is prevented from exceeding the limit range 73 downward. Therefore, depending on the height position of point F, cross-sectional area S2 may not be the same as cross-sectional area S1.

(controller operation)
Next, the operation of the controller 11 in the working machine 301 of the fourth embodiment will be described with reference to FIG. 17, which is a flowchart of the processing of the controller 11. FIG.

First, the controller 11 determines whether the end points (start point A, end point B) of the excavation operation before correction are located outside the restricted range 73 (step S1). In step S1, when it is determined that the end point of the excavation operation before correction is located outside the restricted range 73 (S1: YES), as shown in FIGS. The entire range is moved horizontally (step S2).

If it is determined in step S1 that the end point of the excavation motion before correction is not located outside the restricted range 73 (S1: NO), or after step S2, the controller 11 determines the end point of the excavation motion after correction ( It is determined whether or not the end point Y) is positioned outside the restricted range 73 (step S3). If it is determined in step S3 that the end point (end point Y) of the corrected excavation operation is outside the restricted range 73 (S3: YES), the controller 11 modifies the trajectory 72 (step S4). Specifically, as shown in FIGS. 14 and 15, the trajectory 72 is corrected so as to draw a trajectory 74 that rises substantially vertically from the E point to the C point.

Next, the controller 11 determines whether or not the excavation amount of the bucket 33 has decreased (step S5). When it is determined in step S5 that the excavation amount of the bucket 33 has decreased (S5: YES), the controller 11 compensates for the excavation amount as shown in FIG. 16 (step S6). Specifically, as shown in FIG. 16, the trajectory from point D to point E is moved downward.

If it is determined in step S3 that the end point (end point Y) of the excavation operation after correction is not located outside the restricted range 73 (S3: NO), or if the excavation amount of the bucket 33 decreases in step S5. (S5: NO), or after step S6, the controller 11 determines whether the lowest point of the bucket 33 is outside the limit range 73 (step S7). When it is determined in step S7 that the lowest point of the bucket 33 is outside the restricted range 73 (S7: YES), the controller 11 corrects the lowest point of the bucket 33 (step S8). Specifically, as shown in FIG. 16, point F is prevented from exceeding the limit range 73 downward.

If it is determined in step S7 that the lowest point of the bucket 33 is not outside the limit range 73 (S7: NO), or after step S8, the controller 11 causes the attachment 30 to perform the excavation operation (step S9). Then, the flow ends.

(effect)
As described above, according to the work machine 301 according to the present embodiment, when the end point, which is the start point A or the end point B of the excavation operation, is positioned outside the restricted range 73 in the excavation operation before correction, The excavation motion is horizontally moved so that the end point of the corrected excavation motion is positioned within the restricted range 73 . If the bucket 33 is corrected to move along the restricted range 73, the angle of the bucket 33 may not be changed smoothly, which hinders the excavation work. Therefore, the motion of the bucket 33 before correction can be used by horizontally moving the excavation motion. As a result, the excavation operation can be performed smoothly.

Further, when the excavation amount of the bucket 33 decreases as a result of horizontal movement of the excavation operation, the depth of excavation of earth and sand by the bucket 33 is increased so as to compensate for the decreased excavation amount. By compensating for the reduced amount of excavation, deterioration in work efficiency can be reduced.

Further, when the bucket 33 excavates the earth and sand to a greater depth, the trajectory 75 of the bucket 33 due to the excavation operation is corrected so that the bucket 33 moves smoothly over the entire range of the excavation operation. Merely increasing the depth of excavating the earth and sand with the bucket 33 may cause a step in the trajectory 75 of the bucket 33 and prevent the bucket 33 from moving smoothly. Therefore, the trajectory 75 of the bucket 33 due to the digging action is corrected so that the bucket 33 moves smoothly over the entire range of the digging action. This allows smooth movement of the bucket 33 throughout the range of excavating motion.

[Fifth embodiment]
Next, a working machine 401 of a fifth embodiment will be described with reference to the drawings. Note that the description of the configuration common to the first embodiment and the effects produced thereby will be omitted, and mainly the differences from the first embodiment will be described. In addition, the same code|symbol as 1st Embodiment is attached|subjected about the same member as 1st Embodiment.

In this embodiment, as in the fourth embodiment, the excavation operation of excavating earth and sand with the bucket 33 is corrected. That is, at least part of the series of operations is an excavation operation of excavating earth and sand with the bucket 33 . Also in this embodiment, a LiDAR (height detection device) 27 (see FIG. 1) detects the height of the soil surface.

First, as shown in FIG. 18, which is a side view of the work machine 401, when excavating earth and sand with the soil surface indicated by the dotted line, the limit range 73 indicated by the dotted line is closer to the work machine 401 than the start point A of the excavation operation. Consider the case where it is set to pass through The starting point A is located at the ground level. The limited range 73 vertically crosses the earth and sand on the work machine 301 side of the starting point A, extends horizontally toward the work machine 401, and then vertically crosses the earth and sand on the near side of the work machine 301, and the work machine 401 It extends to the left in the drawing along the ground on which it rests. In this case, when the excavation operation is performed along the trajectory 71 indicated by the dotted line, the tip of the bucket 33 exceeds the limit range at the start point A of the excavation operation.

Therefore, as in the first embodiment, when the start point A is corrected to move to the boundary of the restricted range 73, the tip of the bucket 33 draws a trajectory 72 indicated by a solid line. The corrected start point X is located on the boundary line of the restricted range 73 . By correcting the excavation operation in this way, the trajectory of the tip of the bucket 33 is changed. This changes the angle of the bucket 33 with respect to the ground, at least during the initial portion of the digging operation.

Here, as shown in FIG. 19, which is a side view of the bucket 33, the ground angle θ of the bucket 33 is the angle from the vertical direction to the direction in which the upper surface 33a of the bucket 33 faces, and the vertical direction is assumed to be 0°. .

In the soil, if the ground angle of the bucket 33 changes in a direction in which the ground angle increases, the excavation resistance increases, and as a result, the earth and sand cannot be excavated well. Therefore, in the present embodiment, when correcting the excavation operation, the controller (correction means) 11 corrects the ground angle of the bucket 33 after correction based on the preset angle of the bucket 33 with respect to the ground. set. Here, the ground angle of the bucket 33 set in advance is the ground angle of the bucket 33 set by teaching, numerical input, or the like.

Specifically, the controller 11 sets the ground angle of the bucket 33 when penetrating the earth and sand to the ground angle of the bucket 33 when the bucket 33 is penetrating the earth and sand by the excavation operation before correction. The angle of the bucket 33 with respect to the ground when the bucket 33 penetrates the earth and sand is the angle at which the bucket 33 penetrates the earth and sand at the starting point A of the excavation operation before correction and the starting point X of the excavation operation after correction in FIG. It is the angle of the bucket 33 with respect to the ground when

When the bucket 33 penetrates, the bucket 33 can be reliably penetrated into the ground by using the ground angle of the bucket 33 due to the excavation operation before correction.

Further, the controller 11 sets the ground angle of the bucket 33 when extracting the bucket 33 from the earth and sand to the ground angle of the bucket 33 when extracting the bucket 33 from the earth and sand by excavation operation before correction. The angle of the bucket 33 with respect to the ground when the bucket 33 is pulled out from the earth and sand is the angle at which the bucket 33 is pulled out from the earth and sand at the end point B of the excavation operation before correction and the end point Y of the excavation operation after correction in FIG. is the angle of the bucket 33 with respect to the ground. In FIG. 18, end point B and end point Y are the same.

When extracting the bucket 33 from the earth and sand, it is possible to suppress the earth and sand from spilling from the bucket 33 by using the ground angle of the bucket 33 due to the excavation operation before correction.

In at least a part of the excavation operation, the controller 11 also controls the angle of the bucket 33 with respect to the ground at each of the start point A and the end point B of the excavation operation before correction, and the excavation operation before correction and the excavation operation after correction. and the path lengths of the trajectories 71 and 72 of the tip of the bucket 33 in , and the ground angle of the bucket 33 in the corrected excavation operation is set. In this embodiment, the entire excavation operation, that is, the entire range between the start point X and the end point Y, is targeted. A part of the range of may be the target.

FIG. 20 shows a trajectory 71 of the tip of the bucket 33 due to the excavation motion before correction and a trajectory 72 of the tip of the bucket 33 due to the excavation motion after correction. Let x be the ground angle of the bucket 33 at the start point A of the excavation operation before correction, and let y be the ground angle of the bucket 33 at the end point B of the excavation operation before correction. The ground angle of the bucket 33 at the corrected excavation operation start point X is also x, and the ground angle of the bucket 33 at the corrected excavation operation end point Y is also y. Let a be the path length of the locus 71 of the tip of the bucket 33 before correction, and let b be the path length of the locus 72 of the tip of the bucket 33 after correction. The controller 11 obtains the ground angle z of the bucket 33 at any position between the start point X and the end point Y on the trajectory 72 using the following formula (1). An arbitrary position on the locus 72 corresponds to an arbitrary position between the start point A and the end point B on the locus 71 . An arbitrary position on the trajectory 71 is separated from the starting point A by a distance c.
z=x+(y−x)×(c/a)×b Formula (1)

By setting the ground angle z of the bucket 33 as in the above equation (1), if the ground angle of the bucket 33 before correction is appropriate, the ground angle of the bucket 33 after correction is also appropriate. As a result, even if the trajectory of the tip of the bucket 33 changes due to the correction of the excavation operation, the excavation resistance can be suppressed and the earth and sand can be excavated appropriately.

The ground angle z of the bucket 33 at a position c on an arbitrary trajectory 72 between the start point X and the end point Y is obtained by using the following formula (2) instead of the above formula (1). may
z=x+(y−x)×(f/d)×e Expression (2)

Here, in equation (2), d is the horizontal length between the start point A and the end point B in the excavation motion before correction, and e is the start point X and the end point in the excavation motion after correction. Y is the horizontal length, and f is the horizontal distance between the starting point A and an arbitrary position between the starting point A and the ending point B on the trajectory 71 .

As in the above formula (2), the controller 11, at least in part of the excavation operation, sets the ground angle of the bucket 33 at each of the start point A and the end point B of the excavation operation before correction and the excavation operation before correction. and the horizontal lengths d and e between the start point and the end point of each corrected excavation operation, the ground angle z of the bucket 33 in the corrected excavation operation is set. Even if the ground angle z of the bucket 33 is set in this way, if the ground angle of the bucket 33 before correction is appropriate, the ground angle of the bucket 33 after correction will also be appropriate.

Further, as shown in FIG. 18, a target point D is set at the lowest point on the boundary line of the restricted range 73 and immediately below the corrected start point X, and the range from the target point D to the end point Y is corrected. The ground angle of the bucket 33 in front may be set, and from the start point X to the target point D, the ground angle of the bucket 33 may be set by the above equations (1) and (2). Further, from the starting point X to the target point D, the ground angle x of the bucket 33 at the starting point X may be maintained.

Next, as shown in FIG. 21, which is a side view of the work machine 401, when excavating earth and sand with the soil surface indicated by the dotted line, the limit range 73 indicated by the dotted line is closer to the end point B of the excavation operation than the end point B of the excavation operation. Consider the case where it is set to pass through a position away from . The end point B is located at the height of the soil surface. The limit range 73 is set in the same manner as in FIG. In this case, when the excavation operation is performed along the trajectory 71 indicated by the dashed line, the tip of the bucket 33 exceeds the limit range 73 at the end point B of the excavation operation.

Therefore, if correction is performed to move the end point B to the boundary of the limit range 73 as in the first embodiment, the tip of the bucket 33 draws a trajectory 72 indicated by a solid line. The end point Y of the excavation operation after correction is positioned on the boundary line of the restricted range 73 . By correcting the excavation operation in this way, the trajectory of the tip of the bucket 33 is changed. This changes the angle of the bucket 33 with respect to the ground at least during the end portion of the digging operation.

In FIG. 21, the starting point A before correction and the starting point X after correction are the same. Also in this case, the ground angle of the bucket 33 is set by the method described with reference to FIGS. Therefore, detailed description is omitted.

Next, as shown in FIG. 22, which is a side view of work machine 401, consider a case where limit range 73 indicated by a dotted line is set above the lowest point of bucket 33 due to the excavation operation. The limit range 73 is set in the same manner as in FIG. In this case, when the excavation operation is performed along the locus 71 indicated by the dotted line, the tip of the bucket 33 exceeds the limited range in the middle of the locus 71 .

Therefore, if the lowest point of the bucket 33 is moved upward to the boundary of the restricted range 73 as in the first embodiment, the tip of the bucket 33 draws a trajectory 72 indicated by a solid line. By correcting the excavation operation in this way, the trajectory of the tip of the bucket 33 is changed. This changes the ground angle of the bucket 33 at least in the central portion of the excavation operation.

In the soil, if the ground angle of the bucket 33 changes in a direction in which the ground angle increases, the excavation resistance increases, and as a result, the earth and sand cannot be excavated well. Therefore, the controller (correction means) 11 sets the ground angle of the bucket 33 at the lowest point on the trajectory 72 to an angle equal to or less than the ground angle of the bucket 33 at which the bottom surface 33b (see FIG. 19) of the bucket 33 is horizontal. . Here, the lowest point on the trajectory 72 is the entire range between the target points E and F in FIG. Target point E and target point F are set at positions where locus 71 before correction and the lower boundary of limit range 73 intersect.

By setting the ground angle of the bucket 33 at the lowest point on the locus 72 to an angle equal to or less than the ground angle of the bucket 33 at which the bottom surface 33b of the bucket 33 is horizontal, the excavation resistance at the lowest point on the locus 72 is reduced. can be suppressed. Thereby, earth and sand can be excavated suitably.

(effect)
As described above, according to the work machine 401 according to the present embodiment, when the excavation operation is corrected, the bucket 33 after correction is adjusted based on the preset angle, which is the angle of the bucket 33 with respect to the ground, which has been set in advance. 33 ground angles are set. By correcting the excavation motion, the trajectory of the tip of the bucket 33 is changed. This changes the angle of the bucket 33 with respect to the ground during at least part of the excavation operation. In the soil, if the ground angle of the bucket 33 changes in a direction in which the ground angle increases, the excavation resistance increases, and as a result, the earth and sand cannot be excavated well. Therefore, the ground angle of the bucket 33 after correction is set based on the ground angle of the bucket 33 set in advance by teaching or the like. As a result, even if the trajectory of the tip of the bucket 33 changes due to the correction of the excavation operation, the excavation resistance can be suppressed and the earth and sand can be excavated appropriately.

Further, the ground angle of the bucket 33 when the bucket 33 penetrates the earth and sand is set to the ground angle of the bucket 33 when the bucket 33 penetrates the earth and sand by the excavation operation before correction. When the bucket 33 penetrates, the bucket 33 can be reliably penetrated into the ground by using the ground angle of the bucket 33 due to the excavation operation before correction.

Further, the ground angle of the bucket 33 when the bucket 33 is extracted from the earth and sand is set to the ground angle of the bucket 33 when the bucket 33 is extracted from the earth and sand by the excavation operation before correction. When extracting the bucket 33 from the earth and sand, it is possible to suppress the earth and sand from spilling from the bucket 33 by using the ground angle of the bucket 33 due to the excavation operation before correction.

In at least a part of the excavation operation, the ground angle of the bucket 33 at each of the start point A and the end point B of the excavation operation before correction, and the angle of the bucket 33 in each of the excavation operation before correction and the excavation operation after correction. The ground angle of the bucket 33 in the post-correction excavation operation is set based on the path lengths of the trajectories 71 and 72 of the tip. By setting the ground angle of the bucket 33 in this way, if the ground angle of the bucket 33 before correction is appropriate, the ground angle of the bucket 33 after correction is also appropriate. As a result, even if the trajectory of the tip of the bucket 33 changes due to the correction of the excavation operation, the excavation resistance can be suppressed and the earth and sand can be excavated appropriately.

In at least a part of the excavation operation, the angle of the bucket 33 with respect to the ground at each of the start point A and the end point B of the excavation operation before correction, and the start points of each of the excavation operation before correction and the excavation operation after correction. The ground angle of the bucket 33 in the post-correction excavation operation is set based on the horizontal length from the end point. By setting the ground angle of the bucket 33 in this way, if the ground angle of the bucket 33 before correction is appropriate, the ground angle of the bucket 33 after correction is also appropriate. As a result, even if the trajectory of the tip of the bucket 33 changes due to the correction of the excavation operation, the excavation resistance can be suppressed and the earth and sand can be excavated appropriately.

Further, the ground angle of the bucket 33 at the lowest point on the trajectory of the tip of the bucket is set to an angle equal to or less than the ground angle of the bucket 33 at which the bottom surface of the bucket 33 is horizontal. As a result, excavation resistance can be suppressed at the lowest point on the trajectory of the tip of the bucket 33 . Thereby, earth and sand can be excavated suitably.

Although the embodiments of the present invention have been described above, the specific examples are merely illustrated, and the present invention is not particularly limited. Further, the actions and effects described in the embodiments of the invention are merely enumerations of the most suitable actions and effects resulting from the present invention, and the actions and effects of the present invention are described in the embodiments of the invention. are not limited to those listed.

1 working machine 3 mobile terminal 4 management device 5 dump truck 6 carrier 11 controller (control means, setting means, correction means, update means, operation display control means, position display control means, intermediate point setting means, notification means, stop control means)
12 working machine side communication device 13 storage device 15 mobile terminal side controller (operation display control means, position display control means, notification means)
16 mobile terminal side communication device 17 display (operation display device, position display device)
21 lower traveling body 22 upper rotating body 23 cab 24 rotating device 25 machine main body 26 GNSS sensor (coordinate detecting device)
27 LiDAR (acquisition device, height detection device)
30 attachment 31 boom 32 arm 33 bucket 34 link member 40 cylinder 41 boom cylinder 42 arm cylinder 43 bucket cylinder 52 angle sensor 60 tilt angle sensor 61 boom tilt angle sensor 62 arm tilt angle sensor 63 bucket tilt angle sensor 71, 72, 74, 75 Trajectory 73 Limit range

Claims (24)

a lower running body;
an upper revolving body rotatably attached to the upper part of the lower running body;
an attachment rotatably attached to the upper revolving body;
control means for controlling the upper rotating body and the attachment so that the upper rotating body and the attachment perform a series of operations;
setting means for setting a limited range of movement of the attachment;
When at least part of the attachment exceeds or is likely to exceed the limit range in at least part of the series of operations, the series of operations is performed so that at least part of the attachment does not exceed the limit range. a compensating means for compensating for motion;
A working machine characterized by having 2. The working machine according to claim 1, wherein the setting means sets the restricted range based on a plurality of possible positions of the specific portion of the attachment. 2. The working machine according to claim 1, wherein the setting means sets the restricted range based on information about the surrounding conditions from a management device that manages the surrounding conditions of the work site. Having an acquisition device that acquires the surrounding conditions of the work site,
The working machine according to claim 1, wherein the setting means sets the restricted range based on the surrounding conditions acquired by the acquisition device. The control means causes the upper rotating body and the attachment to perform the series of operations by controlling the upper rotating body and the attachment such that a specific part of the attachment passes through a plurality of target points in order,
between the two target points in the series of motions before the correction, when at least part of the attachment may exceed the limited range, midway between the two target points and within the limited range Having intermediate point setting means for setting points,
The working machine according to any one of claims 1 to 4, wherein the correction means corrects the series of operations so that the specific part passes through the intermediate point. 6. The working machine according to claim 5, wherein said intermediate point setting means sets said intermediate point on a line connecting said two target points. The intermediate point setting means selects, of the two target points, the downstream target point, which is the target point on the downstream side of the series of motions before correction, by the series of motions before correction. 6. The working machine according to claim 5, wherein the intermediate point is set on a straight line that is inclined from the horizontal plane at an angle formed by the actual horizontal plane and the movement direction of the attachment and that passes through the downstream target point. The intermediate point setting means selects, of the two target points, the downstream target point, which is the target point on the downstream side of the series of operations before correction, between the horizontal plane and the horizontal plane when the attachment performs a predetermined work. 6. The working machine according to claim 5, wherein the intermediate point is set on a straight line that is inclined from the horizontal plane at an angle formed by the movement direction of the attachment and passes through the downstream target point. the attachment has a bucket;
at least part of the series of operations is an excavation operation of excavating an object to be excavated with the bucket;
Having a height detection device that detects the height of the surface of the excavation object,
The correcting means corrects the excavation operation starting point or the end point of the excavation operation when the end point located at the height of the surface is located outside the restricted range in the excavation operation before correction. The work machine according to any one of claims 1 to 4, wherein the excavating operation is horizontally moved so that the end point of the excavating operation is positioned at the height of the surface within the restricted range. When the amount of excavation of the bucket decreases as a result of horizontal movement of the excavation operation, the correction means increases the depth of excavation of the object to be excavated by the bucket so as to compensate for the decreased amount of excavation. A work machine according to claim 9, characterized in that: The correction means corrects the trajectory of the bucket caused by the excavation operation so that the bucket moves smoothly over the entire range of the excavation operation when the depth of excavation of the object to be excavated by the bucket is increased. 11. The work machine of claim 10, wherein: the attachment has a bucket;
at least part of the series of operations is an excavation operation of excavating an object to be excavated with the bucket;
4. The correcting means, when correcting the excavation operation, sets the corrected ground angle of the bucket based on a preset angle of the bucket. The working machine according to any one of 1 to 4. The correction means sets the ground angle of the bucket when the bucket penetrates the excavation object to the ground angle of the bucket when the bucket penetrates the excavation object by the excavation operation before correction. 13. The work machine of claim 12, wherein: The correction means sets the ground angle of the bucket when extracting the bucket from the excavation object to the ground angle of the bucket when extracting the bucket from the excavation object by the excavation operation before correction. 13. The work machine of claim 12, wherein: In at least a part of the excavation operation, the correction means is configured to adjust the angle of the bucket with respect to the ground at each of the start point and the end point of the excavation operation before correction and the angle of the excavation operation before correction and the excavation operation after correction. 13. The working machine according to claim 12, wherein the ground angle of the bucket in the excavation operation after correction is set based on the path length of the trajectory of the tip of the bucket in each case. In at least a part of the excavation operation, the correction means is configured to adjust the angle of the bucket with respect to the ground at each of the start point and the end point of the excavation operation before correction and the angle of the excavation operation before correction and the excavation operation after correction. 13. The working machine according to claim 12, wherein the ground angle of the bucket in the excavation operation after correction is set based on the horizontal length between the start point and the end point of each. . 3. The correcting means sets the ground angle of the bucket at the lowest point on the trajectory of the tip of the bucket to an angle equal to or less than the ground angle of the bucket at which the bottom surface of the bucket is horizontal. 13. The working machine according to 12. The working machine according to any one of claims 1 to 4, further comprising notifying means for notifying when said correcting means corrects said series of operations. When it becomes difficult for the control means to cause the upper swing body and the attachment to perform the series of actions as a result of the correcting means correcting the series of actions, the upper swing body and the attachment are operated. The working machine according to any one of claims 1 to 4, further comprising stop control means for stopping the a coordinate detection device for detecting coordinates of any one of the lower traveling body, the upper revolving body, and the attachment in the work site;
The setting means sets the limit range in the coordinate system of the work site,
The working machine according to any one of claims 1 to 4, further comprising update means for updating the distance from the coordinates to the restricted range based on the coordinates detected by the coordinate detection device. A working machine according to any one of claims 1 to 4, wherein at least part of said attachment is a tip of said attachment. The working machine according to any one of claims 1 to 4, wherein at least part of the attachment is a portion other than the tip of the attachment. The working machine according to any one of claims 1 to 4, further comprising operation display control means for displaying information on the series of operations and correction results by the correction means on an operation display device. 4. Position display control means for displaying on a position display device the limit range set by the setting means and the positional relationship of the upper rotating body and the attachment with respect to the limit range. The working machine according to any one of 1.

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