JP2023114782A - Work target setting system, work machine, and work target setting program - Google Patents

Abstract

To adequately reset a work plan when a work position of a tip attachment of a work machine changes.SOLUTION: An automatic operation part 53 automatically actuates an attachment 15 so as to execute a plurality of cycles of a series of operations to move a specific site 15d1 along a target route Path. A work position change part 63 changes a work position PW in at least either one of the vertical direction Z or longitudinal direction X of the attachment 15 according to the progress of cycles of the series of operations. A work target correction part 65 corrects a portion from a path end position PE to the work position PW of the target route Path based on a work position change amount PWoffset that is the amount of the work position PW changed by the work position change part 63.SELECTED DRAWING: Figure 1

Description

The present invention relates to a work target setting system, a work machine, and a work target setting program for setting work targets for attachments of a work machine.

For example, Patent Literature 1 describes a work machine that automatically operates. In the technique described in the document, the tip attachment (the bucket in the document) repeatedly performs a series of operations (from excavation to dumping in the document). Then, the working position (digging depth in the document) at which the tip attachment works is changed for each series of operations.

JP-A-11-158933

The document describes that the work position (digging position in the document) of a series of operations can be changed. However, it is described how the target path of the tip attachment between a position different from the working position (for example, the dumping position in the same document) and the working position changes when the working position is changed. It has not been. It is desired that the work plan including the target route is appropriately reset when the work position is changed.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work target setting system, a work machine, and a work target setting program capable of appropriately resetting a work plan when the work position of the tip attachment of the work machine is changed. and

A work target setting system includes a machine body of a work machine, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has a working tip attachment. The controller includes a work target setting section, an automatic operation section, a work position changing section, and a work target correction section. The work target setting unit sets a target route. The target path is a target path of a specific portion of the tip attachment between a work position where the tip attachment performs work and a predetermined path end position. The automatic operation unit automatically operates the attachment so as to perform a series of operations for moving the specific part of the tip attachment along the target path for a plurality of cycles. The working position changing unit changes the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the cycle of the series of operations. The work target correction unit corrects a portion of the target route from the end position of the route to the work position based on the amount of change in the work position. The work position change amount is the amount by which the work position is changed by the work position changing unit.

A working machine includes a machine body, an attachment, and a controller. The attachment is operably attached to the machine body. The attachment has a working tip attachment. The controller is mounted on at least one of the machine body and the attachment. The controller includes a work target setting section, an automatic operation section, a work position changing section, and a work target correction section. The work target setting unit sets a target route. The target path is a target path of a specific portion of the tip attachment between a work position where the tip attachment performs work and a predetermined path end position. The automatic operation unit automatically operates the attachment so as to perform a series of operations for moving the specific part of the tip attachment along the target path for a plurality of cycles. The working position changing unit changes the working position in at least one of a vertical direction and a front-rear direction of the attachment according to the progress of the cycle of the series of operations. The work target correction unit corrects a portion of the target route from the end position of the route to the work position based on the amount of change in the work position. The work position change amount is the amount by which the work position is changed by the work position changing unit.

A work goal setting program is used on a work machine with attachments. The attachment is operably attached to the machine body. The attachment has a working tip attachment. The work target setting program causes the computer to execute a work target setting step, an automatic operation step, a work position change step, and a work target correction step. The work target setting step sets a target route. The target path is a target path of a specific portion of the tip attachment between a work position where the tip attachment performs work and a predetermined path end position. The automatic operation step automatically operates the attachment so as to perform a series of operations for moving the specific portion of the tip attachment along the target path for a plurality of cycles. The working position changing step changes the working position in at least one of a vertical direction and a longitudinal direction of the attachment according to the progress of the cycle of the series of operations. The work target correction step corrects a portion of the target path from the end position of the path to the work position based on the amount of change in the work position. The work position change amount is the amount by which the work position is changed by the work position change step.

The work target setting system, the work machine, and the work target setting program described above can appropriately reset the work plan when the work position of the tip attachment of the work machine is changed.

1 is a side view of a working machine 10 and the like of the work goal setting system 1; FIG. 2 is a block diagram of the work goal setting system 1 shown in FIG. 1; FIG. 3 is a flow chart of the operation of the controller 50 or the like shown in FIG. 2; 2 is a diagram showing a target trajectory Tr of a specific portion 15d1 shown in FIG. 1; FIG. This is a specific example of values such as the height position of the target trajectory Tr shown in FIG. 6 is a diagram showing five types of target trajectories Tr shown in FIG. 5. FIG. 2 is a top view of the work machine 10 shown in FIG. 1; FIG.

A work goal setting system 1 will be described with reference to FIGS. 1 to 7. FIG.

The work target setting system 1, as shown in FIG. 1, is a system that sets a work target (specifically, a target trajectory Tr including a target trajectory Path) for a specific portion 15d1 of the tip attachment 15d of the work machine 10. FIG. The work target setting system 1 includes a work machine 10, an attitude sensor 31, a position sensor 33, an input device 35 (see FIG. 2), and a controller 50 (computer).

The work machine 10 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. A case where the work machine 10 is a shovel will be described below. The work machine 10 is configured to be capable of automatic operation. The work machine 10 may be operated by a worker (operator) in a cab 13a (described later), or may be remotely operated. The work machine 10 includes a machine body 10a, an attachment 15, a drive control section 17 (see FIG. 2), and an actuator 21. As shown in FIG.

The machine main body 10 a is a main body portion of the work machine 10 . The machine body 10 a includes a lower body 11 and an upper revolving body 13 . The lower body 11 supports the upper revolving body 13 . For example, the lower main body 11 is a lower traveling body that allows the work machine 10 to travel. In this case, the lower body 11 may comprise crawlers and may comprise wheels. The upper revolving body 13 is rotatably attached (mounted) to the lower body 11 . The upper revolving body 13 has an operator's cab 13a. The driver's cab 13 a is a portion where a worker (operator) can operate the work machine 10 .

(direction)
A vertical direction Z is defined as the direction in which the rotating shaft of the upper rotating body 13 extends with respect to the lower body 11 . In the vertical direction Z, the side (orientation) from the lower main body 11 toward the upper revolving body 13 is defined as an upper side Za, and the opposite side is defined as a lower side Zb. The vertical direction Z may be the vertical direction. As shown in FIG. 7, the turning direction of the upper turning body 13 with respect to the lower body 11 is defined as turning direction Sw. A direction orthogonal to each of the up-down direction Z and the turning direction Sw is defined as a front-rear direction X. As shown in FIG. When viewed from the up-down direction Z, the front-rear direction X is the direction in which the central axis of the attachment 15 extending in the longitudinal direction of the attachment 15 extends (the front-rear direction X of the attachment 15). In the front-rear direction X, the side where the attachment 15 protrudes from the upper revolving body 13 is defined as the back side Xa, and the opposite side is defined as the front side Xb.

The attachment 15, as shown in FIG. 1, is a part that performs work, and includes, for example, a boom 15b, an arm 15c, and a tip attachment 15d. The boom 15b is attached to the upper revolving body 13 so as to be able to rise and fall (rotatable in the vertical direction Z). Arm 15c is rotatably attached to boom 15b. The tip attachment 15d is provided at the tip of the attachment 15 and rotatably attached to the arm 15c. The tip attachment 15d may be, for example, a bucket for scooping or excavating the work object O, a device for pinching the work object O (such as a grapple or a nibbler), or a device for crushing the work object O (breaker etc.). A specific portion of the tip attachment 15d is designated as a specific portion 15d1. The specific portion 15d1 may be the connecting portion (base end) of the tip attachment 15d to the arm 15c, or the tip portion (the end opposite to the base end) of the tip attachment 15d. The work target O is a work target of the work machine 10 (of the attachment 15, of the tip attachment 15d). For example, the work object O may be earth and sand, stone, wood, metal, waste, or a structure (such as a block).

The drive controller 17 (see FIG. 2) controls the actuator 21 . The drive control unit 17 controls a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d, which will be described later. The drive control unit 17 may include a hydraulic circuit that controls the hydraulic actuator 21 . The drive control unit 17 may include an electric circuit that controls the electric actuator 21 .

The actuator 21 drives (actuates) the work machine 10 . Actuator 21 drives attachment 15 . The actuator 21 includes a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The turning motor 21 a turns the upper turning body 13 with respect to the lower body 11 . The swing motor 21a may be a hydraulic motor or an electric motor. The boom cylinder 21 b raises and lowers the boom 15 b with respect to the upper swing body 13 . The boom cylinder 21b is, for example, a hydraulic telescopic cylinder (hydraulic cylinder) (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c with respect to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d with respect to the arm 15c. If the tip attachment 15d itself is drivable, for example, as in a device for pinching an object, a cylinder, motor, or the like for driving the tip attachment 15d may be provided.

The orientation sensor 31 detects the orientation of the work machine 10 . The orientation sensor 31 detects the orientation of the attachment 15 (having an attachment orientation information acquisition function). Posture sensor 31 may be mounted on work machine 10 or may be arranged outside work machine 10 (for example, at a work site). The orientation sensor 31 may be an imaging device, which will be described later. The position sensor 33 , the input device 35 (see FIG. 2 ), and the controller 50 may also be mounted on the work machine 10 or arranged outside the work machine 10 . The posture sensor 31 includes a turning sensor 31a, a boom sensor 31b, an arm sensor 31c, a tip attachment sensor 31d, and a reference position sensor 31e.

The turning sensor 31a detects the angle of the upper turning body 13 (the angle of turning direction Sw (see FIG. 7)) with respect to the lower body 11 (or the work site). The boom sensor 31b detects the attitude of the boom 15b. For example, the boom sensor 31b detects the angle (inclination or rotation angle) of the boom 15b with respect to the horizontal direction or the upper revolving structure 13 . The arm sensor 31c detects the posture of the arm 15c. Arm sensor 31c detects the angle of arm 15c with respect to the horizontal direction or boom 15b. The tip attachment sensor 31d detects the orientation of the tip attachment 15d. For example, tip attachment sensor 31d detects the angle of tip attachment 15d with respect to the horizontal direction or arm 15c. In FIG. 2, the "tip attachment" is described as "tip ATT" (the same applies to FIG. 3). The reference position sensor 31e detects the position and orientation of the reference portion of the work machine 10 shown in FIG. 1 with respect to the work site. The reference portion of the work machine 10 may be, for example, a specific portion of the upper revolving body 13 or the lower body 11, or may be, for example, a mounting portion (boom foot) of the boom 15b to the upper revolving body 13. It may be the center of rotation of the upper rotating body 13 . The reference position sensor 31e (see FIG. 2) may perform detection using a positioning system (for example, a satellite positioning system). The positioning system may be a satellite positioning system, for example a global navigation satellite system (GNSS). The positioning system may be one using a total station. The reference position sensor 31e may comprise an antenna 31e1 for using a satellite positioning system.

The position sensor 33 detects positional information of objects existing around the work position PW. For example, the position sensor 33 may detect position information on the ground, may detect position information on a released work target Oa (described later), or may detect position information on an obstacle or the like. The position sensor 33 may comprise, for example, an imaging device. The imaging device may detect two-dimensional information (for example, the position and shape in the image) of the object to be imaged. The imaging device may include a camera (monocular camera) that detects two-dimensional information. The imaging device may acquire a distance image, and may detect three-dimensional information (for example, three-dimensional coordinates and three-dimensional shape) of the object to be imaged based on the distance image. The imaging device may include a device that detects three-dimensional information using laser light, for example, may include LIDAR (Light Detection and Ranging), and may include, for example, TOF (Time Of Flight) sensor. . The imaging device may include a device (such as a millimeter wave radar) that detects three-dimensional information using radio waves. The imaging device may include a stereo camera. The imaging device may detect three-dimensional information of the imaging target based on the distance image and the two-dimensional image. Only one imaging device may be provided, or a plurality of imaging devices may be provided.

The input device 35 (see FIG. 2) is a device for the operator to input information. The input device 35 gives instructions to the controller 50 based on the operator's operation. When the input device 35 is provided in the work machine 10, the input device 35 may be, for example, a display or an operation lever provided in the operator's cab 13a. The input device 35 may be a mobile terminal (tablet, smartphone, etc.) or a personal computer. The input device 35 may be provided in a server or the like external to the work machine 10 . The input device 35 communicates with the controller 50 . This communication may be wireless communication or wired communication.

The controller 50 is a computer that performs input/output of signals, calculation (processing), and storage of information (calculation results, etc.). For example, the functions of the controller 50 are implemented by executing a program stored in a storage unit (not shown) of the controller 50 by a computing unit (not shown). The controller 50 may be mounted on the work machine 10 , more specifically, on at least one of the machine body 10 a and the attachment 15 . The controller 50 may be provided outside the work machine 10 (such as a server). For example, as shown in FIG. 2, the controller 50 receives detection results from the orientation sensor 31 and the position sensor 33 . Information input by the input device 35 is input to the controller 50 . For example, the controller 50 automatically operates the work machine 10 (see the description of the automatic operation section 53). For example, controller 50 outputs a command for operating work machine 10 to drive control unit 17 . The controller 50 includes a work target setting unit 51 , an automatic operation unit 53 , a work end determination unit 55 , a work limit position setting unit 61 , a work position change unit 63 and a work target correction unit 65 . Below, each component of the work machine 10 will be mainly described with reference to FIG. 1, and each component of the controller 50 will be described with reference to FIG. Also, each step of the flowchart shown in FIG. 3 will be described with reference to FIG.

The work target setting unit 51 sets the target trajectory Tr (work target) shown in FIG. 1 (work target setting step) (see step S10 in FIG. 3). As shown in FIG. 4, the target trajectory Tr is the target trajectory of the specific portion 15d1 of the tip attachment 15d. The target trajectory Tr includes a plurality of target points P. The target point P is information on the target position of the specific portion 15d1, specifically, three-dimensional position coordinates. Let the ordered set of the target points P be the target route Path. The target route Path is information including information on the position of the target point P and information on the order of the plurality of target points P. FIG. The target trajectory Tr is information obtained by adding time information to the information of the target route Path. The "time information" is specifically, for example, the time t between two points (see FIG. 2). The two-point time t is a target value of the movement time of the specific part 15d1 between two adjacent (sequential) target points P. Note that the work target setting unit 51 may set a work target (target route Path) that does not include the time t between two points. A case where the target trajectory Tr is set as the work plan will be mainly described below.

(Coordinates representing target trajectory Tr, etc.)
A variety of parameters representing the target trajectory Tr can be set, and any parameters that can derive the posture of the work machine 10 shown in FIG. 1 may be set. The coordinate axes of parameters representing the target trajectory Tr may be set in any manner. The origin (reference position) of this coordinate axis may be set at the work site. The origin of this coordinate axis may be set at a specific portion of the work machine 10, or may be set at a specific portion of the upper revolving body 13, for example. Specifically, for example, the origin of the coordinate axes may be set at the attachment portion (boom foot pin) of the boom 15 b to the upper swing body 13 , and set at the pivot center of the upper swing body 13 with respect to the lower body 11 . good too. The coordinate axes may include the longitudinal direction X, the vertical direction Z, and the swing angle SwingAng of the upper swing body 13 in the swing direction Sw. This coordinate axis may include, for example, the tip attachment angle Xi. The tip attachment angle Xi may be the angle of the tip attachment 15d with respect to the up-down direction Z, the front-rear direction X, the horizontal direction, or the arm 15c. A specific example of information indicating the target trajectory Tr is shown in FIG. In this example, the target trajectory Tr includes, for each of the plurality of target points P, information on the longitudinal direction X, the vertical direction Z, the tip attachment angle Xi, and the turning angle SwingAng. In addition, the target trajectory Tr includes information on the time t between two adjacent target points P. FIG.

(Target trajectory Trold before correction, target trajectory Trnew after correction)
As will be described later, the target trajectory Tr shown in FIG. 4 is corrected. The target trajectory Tr before correction is defined as a target trajectory Trold before correction, and the target trajectory Tr after correction is defined as a target trajectory Trnew after correction (see FIGS. 4 and 7).

(Path end position PE, work position PW)
The target trajectory Tr includes a plurality of target points P. A plurality of target points P (target trajectories Tr) include a path end position PE and a work position PW. Each of the path end position PE and the work position PW is the target point P at the end position of the target trajectory Tr. More specifically, one of both ends of the target trajectory Tr is the path end position PE, and the other (of the two ends of the target trajectory Tr which is not the path end position PE) is the work position PW. The working position PW is a position where the tip attachment 15d works.

[Work Example A1] For example, as shown in FIG. 1, the work of the tip attachment 15d at the work position PW may be release of the work object O (for example, earth dumping). In this case, the position where the work object O is released (here, the work position PW) may be set, for example, right above the ground. The position where the work object O is released (here, the work position PW) may be set, for example, at a position directly above a container (not shown) containing the work object O. Specifically, for example, , may be set directly above the bed of the transport vehicle. If the work at the work position PW is to release the work object O, the tip attachment 15d may perform the work of capturing the work object O (for example, digging) at the path end position PE. In this case, the position (here, the path end position PE) where the task of catching the work object O is performed is set to a place where the work objects O are gathered (for example, a mound of sand or a sand pit).

[Work example A2] For example, the work of the tip attachment 15d at the work position PW may be capturing the work object O (for example, excavation). In this case, the tip attachment 15d may perform the work of releasing the work object O at the path end position PE.

In both [work example A1] and [work example A2], the tip attachment 15d moves along the target path Path between the work position PW and the path end position PE. When the tip attachment 15 d moves along the target path Path, the upper swing body 13 swings with respect to the lower body 11 . The movement of the tip attachment 15d from the position where the tip attachment 15d captures the work object O (capturing position) to the position where the tip attachment 15d releases the work object O (release position) is referred to as a lifting turn. Movement of the tip attachment 15d from the release position to the capture position is referred to as a return pivot. A series of operations of catching the work object O, lifting and turning, releasing the work object O, and returning to turn are repeatedly performed.

It should be noted that the upper rotating body 13 does not have to rotate with respect to the lower main body 11 when the tip attachment 15d moves along the target path Path. The turning of the upper turning body 13 may not be included in the "series of operations". For example, in a series of operations, the tip attachment 15d (specific portion 15d1) may move only in at least one of the front-back direction X and the up-down direction Z, and may not move in the turning direction Sw (see FIG. 7).

For example, the i-th target point P is assumed to be the target point P(i) (i is 1, 2, 3, . . . n). Let the path end position PE be the target point P(1) and the work position PW be the target point P(n). In addition, the numerical value of i is for distinguishing the several target point P. FIG. The specific portion 15d1 may move in the order of target point P(1), target point P(2), . . . target point P(n). -1), .

(Setting initial target trajectory Tr)
The initial position of the target trajectory Tr is set before the work (work by the tip attachment 15d) is performed by the automatic operation of the work machine 10 (step S10 in FIG. 3). The initial position of the target trajectory Tr may be set in the work target setting unit 51 (see FIG. 2) by teaching, or may be set in the work target setting unit 51 by a method other than teaching (for example, numerical input by the input device 35). may

For example, teaching is performed as follows. A worker (operator) rides on the work machine 10 and operates the work machine 10 , or the worker remotely operates the work machine 10 . For example, the worker operates the work machine 10 to move the specific portion 15d1 along the route desired to be set as the target trajectory Tr at a speed desired to be set as the target trajectory Tr. Then, the work target setting unit 51 (see FIG. 2) sets the trajectory along which the specific portion 15d1 has moved as the target trajectory Tr. For example, the position coordinates at which the specific part 15d1 is arranged while the specific part 15d1 is moving are calculated every predetermined time (for example, every second). The position coordinates of the specific part 15 d 1 are calculated based on the orientation of the work machine 10 detected by the orientation sensor 31 . Each of the calculated position coordinates is set as the position coordinates of the plurality of target points P. FIG.

The automatic operation unit 53 (see FIG. 2) automatically operates the work machine 10 (automatic operation step) (see steps S20, S21, S22, S23, and S51 in FIG. 3). More specifically, the automatic operation unit 53 performs (repeatedly) a series of operations for moving the specific part 15d1 of the tip attachment 15d along the target path Path (according to the target path Tr). to operate automatically. The automatic operation unit 53 causes the attachment 15 to operate automatically. The automatic operation unit 53 may cause the upper swing body 13 to swing with respect to the lower body 11 by automatic operation. The automatic operation unit 53 operates the actuator 21 by outputting a command to the drive control unit 17 (see FIG. 2). The automatic driving unit 53 controls the operation of the working machine 10 based on the detected value of the attitude sensor 31 .

Specifically, for example, the automatic operation unit 53 (see FIG. 2) causes the work machine 10 to perform a series of operations of catching the work object O, lifting and turning, releasing the work object O, and returning to turn. The work machine 10 is automatically operated so as to perform a cycle. For example, in step S21 (see FIG. 3), the automatic driving unit 53 causes the tip attachment 15d to perform work (for example, capture) at the path end position PE. Further, in step S22 (see FIG. 3), the automatic driving unit 53 moves the tip attachment 15d from the path end position PE to the work position PW along the target trajectory Tr. Further, in step S23 (see FIG. 3), the automatic driving unit 53 causes the tip attachment 15d to perform work (for example, release) at the work position PW. Further, in step S51 (see FIG. 3), the automatic driving unit 53 moves the tip attachment 15d from the work position PW to the path end position PE along the target trajectory Tr. Then, the automatic operation section 53 may cause the tip attachment 15d to repeatedly perform these series of operations (steps S21, S22, S23, and S51). Note that step S51 is performed after the work position PW is changed (steps S40 to S43) in the example shown in FIG. 3, but before the work position PW is changed (after step S30 and before step S40). may be performed.

The work end determination unit 55 (see FIG. 2) determines whether or not the work end condition is satisfied (work end determination step) (see step S30 in FIG. 3). The work end condition is a condition for ending work in which a series of operations is performed in multiple cycles. Specifically, for example, the work end condition terminates the work of performing (repeating) a series of operations of catching the work object O shown in FIG. It is a condition. Various work end conditions can be set. Only one work end condition may be set, or a plurality of work end conditions may be set. When multiple work end conditions are set, controller 50 may cause work machine 10 to end a series of operations when even one of the multiple work end conditions is satisfied. The controller 50 may cause the work machine 10 to end the series of operations when two or more (for example, all) work end conditions are satisfied among a plurality of work end conditions.

The work end condition may include that the number of times (the number of cycles) of performing the series of operations has reached the "set number of times". The "set number of times" is set (in advance) in the controller 50 before the work end condition is determined by the work end determination unit 55 (see FIG. 2). The set number of times may be set based on information (for example, a numerical value indicating the set number of times) input by the input device 35 (see FIG. 2). The set number of times may be automatically calculated by the controller 50, or may be automatically set by the controller 50 according to, for example, the situation around the work machine 10 captured by the imaging device. The set number of times may be an initial value or the like preset in the controller 50 .

The work end condition may include that the work position PW has reached the "set position". More specifically, the work position changing unit 63 (see FIG. 2) changes the work position PW according to the progress of the cycle of the series of operations (described later). ” may be included. The "set position" is set (in advance) in the controller 50 before the work end condition is determined by the work end determination unit 55 (see FIG. 2). This set position may be the same position as the work limit position PWl, which will be described later, or a position different from the work limit position PWl. The set position may include a position in the vertical direction Z (set height), and may include a position in the front-rear direction X (set front-rear position) (see the work limit position PWl in FIG. 7).

[Example B1] For example, when the work at the work position PW is to release the work object O (e.g., dumping), a position where the amount of the work object O released in a series of operations of a plurality of cycles is appropriate. It is preferable that the setting position is set at . Specifically, for example, when the work at the work position PW is the work of loading the work object O into a container (such as a loading platform), the position where the work object O to be loaded into the container can be suppressed. A set position is preferably set.

[Example B2] For example, when the work at the work position PW is to capture the work object O (for example, excavation), it is possible to suppress excess or deficiency in the capture of the work object O (to perform the work efficiently). A setting position is preferably set in the position. Specifically, for example, it is preferable to set the set position to a position that can prevent the tip attachment 15d from continuing the catching work even though the work object O to be caught has disappeared. Further, for example, it is preferable that the setting position is set at a position that can prevent the tip attachment 15d from finishing the catching operation even though there is still a work object O to be caught. When the work end determination unit 55 (see FIG. 2) determines that the work end condition is satisfied (YES in step S30 shown in FIG. 3), the automatic operation unit 53 (see FIG. 2) starts the work of the series of operations. terminate. When the work end determination unit 55 determines that the work end condition is not satisfied (NO in step S30 shown in FIG. 3), the work of the series of operations is continued. In this case, the target trajectory Tr may be corrected as described later (proceeding to step S40 in FIG. 3).

The work limit position setting unit 61 (see FIG. 2) sets the work limit position PWl (work limit position setting step). The work limit position PWl is a position (limit position) that is the limit of the range that can be set as the work position PW. When the work position PW is changed in the vertical direction Z, the work limit position PWl is at least one of the upper limit (upper Za limit) and lower limit (lower Zb limit) of the work position PW. When the working position PW is changed in the front-rear direction X (see FIG. 7), the working limit position PWl is at least one of the near side Xb and the far side Xa of the working position PW. Based on the work limit position PWl set in the work limit position setting unit 61 (see FIG. 2), the work position changing unit 63 (see FIG. 2) changes the work position within a range that can be set as the work position PW. Set PW.

(How to set the work limit position PWl)
The work limit position setting unit 61 (see FIG. 2) may set various work limit positions PWl. For example, the work limit position PWl may be set based on information (specification information) such as the dimensions and shape of the work machine 10 . Specifically, for example, the work limit position PWl may be set to a position that is the limit of the range physically reachable by the tip attachment 15d. The work limit position PWl may be set at the boundary position between the reachable range and the unreachable range of the tip attachment 15d. The work limit position PWl may be set to a position where the work machine 10 (for example, the attachment 15) does not come into contact with an obstacle or the like.

The work limit position setting unit 61 (see FIG. 2) may set the work limit position PWl based on teaching (see the description of the setting of the target trajectory Tr), which is input to the input device 35 (see FIG. 2). The work limit position PWl may be set based on the information (for example, numerical values) provided. The work limit position setting section 61 may automatically set the work limit position PWl based on the detection result of the imaging device (see the description of the position sensor 33). The work limit position PWl may be information that is calculated in advance based on the specification information of the work machine 10 and stored in the work limit position setting section 61 in advance.

The working position changing unit 63 (see FIG. 2) changes (corrects) the working position PW (working position changing step) (see step S40 in FIG. 3). The working position changing section 63 changes the working position PW according to the progress of the cycle of the series of operations. The working position changing section 63 may change the working position PW for each cycle, or may change the working position PW for each of a plurality of cycles. The timing of changing the working position PW by the working position changing unit 63 may be every fixed number of cycles or every non-fixed number of cycles. The working position changing section 63 changes the working position PW in at least one of the up-down direction Z and the front-rear direction X (see FIGS. 1 and 7). The working position changing section 63 changes the working position PW in at least one of the up-down direction Z and the front-rear direction X, and may further change the working position PW in the turning direction Sw (not shown). The work position changing unit 63 changes the work position PW by a predetermined work position change amount PWoffset (see FIG. 4) (described later).

[Example C1] For example, the work at the work position PW is the release of the work object O, and the work position changing unit 63 (see FIG. 2) changes the work position PW to at least one of the front-rear direction X and the upper side Za. , you get the following effect: In this case, by changing the working position PW, the tip attachment 15d comes into contact with the work object O already released from the tip attachment 15d (for example, the piled work object O) (released work object Oa). is suppressed.

[Example C2] For example, if the work at the work position PW is to capture the work object O, and the work position PW can be changed in at least one of the front-rear direction X and the lower side Zb, the following effects can be obtained. . In this case, by changing the working position PW, it is possible for the tip attachment 15d to efficiently capture the work object O with respect to the ever-changing shape of the work object O (for example, the ground). Become. In this case, for example, the tip attachment 15d is prevented from performing the action of catching the work object O at a position where the work object O does not exist (a position where the work object O has already been caught).

(Work position change amount PWoffset)
The amount of change (distance) of the work position PW at one time by the work position changing unit 63 (see FIG. 2) is defined as the work position change amount PWoffset, as shown in FIG. The working position PW before the working position changing portion 63 is changed is defined as the old working position PWold. The work position PW after the work position changing portion 63 is changed is defined as a new work position PWnew. The amount of change (distance) from the old work position PWold to the new work position PWnew is the work position change amount PWoffset. The work position change amount PWoffset may be a change amount from the work position PW in the initial (first cycle) target trajectory Tr to the current (latest) work position PW. Also, the work position change amount PWoffset may be the change amount of the work position PW before and after the previous (most recent) change.

For example, a case where the working position changing section 63 (see FIG. 2) changes the working position PW in the vertical direction Z will be described. Let Z(i) be the position of each target point P(i) in the vertical direction Z (also referred to as “height position”). Let Zold(i) be the height at each target point P(i) before correction. Let Znew(i) be the height position at each target point P(i) after correction. At this time, the height position at the path end position PE (target point P(1)) is Z(1). The height position at the old work position PWold (target point Pold(n)) is Zold(n). The height position at the new work position PWnew (target point Pnew(n)) is Znew(n). The work position change amount PWoffset in the vertical direction Z is defined as Zoffset(n). Zoffset(n) is Znew(n)-Zold(n).

(Method of changing working position PW)
The working position changing section 63 (see FIG. 2) can variously change the working position PW shown in FIG.

[Example D1] The work position changing unit 63 (see FIG. 2) may change the work position PW by a constant offset amount Cof set in the controller 50 according to the progress of the series of operations. In this case, the working position PW can be changed by simple parameter setting (setting of the offset amount Cof).

[Example D2] The work position changing unit 63 (see FIG. 2), based on the position information of an object existing around the work position PW detected by the position sensor 33 (for example, the work position PW where work was performed last time), A work position PW may be set.

[Example D2-1] For example, when the work at the work position PW is to release the work target O, the work position changing unit 63 (see FIG. 2) may be configured to prevent contact between the obstacle and the tip attachment 15d. It is preferable to set (change) the working position PW. This "obstacle" is, for example, the ground, a loading platform, the released work object Oa, or the like.

[Example D2-1a] Specifically, for example, the case where the working position changing unit 63 changes the working position PW to the upper side Za and the specific part 15d1 is set at the proximal end of the tip attachment 15d is examined. do. In this case, for example, the working position PW is located above the top of the released work object Oa (the end of the upper side Za) by the sum of the following length L15d and the clearance height α. set. The length L15d is, for example, the length of the tip attachment 15d in the vertical direction Z when the tip attachment 15d has the maximum length in the vertical direction Z when the tip attachment 15d is rotated with respect to the arm 15c. be. In this case, it is possible to prevent the tip attachment 15d from contacting the released work object Oa. For example, the clearance height α is set higher than the height at which the work object O is expected to pile up on the released work object Oa when the work object O is released from the tip attachment 15d.

[Example D2-1b] As shown in FIG. 7, when the work position PW is changed in the front-rear direction X, as in [Example D2-1a], the released work object Oa (see FIG. 1) and the tip end The working position PW is preferably set such that contact with the attachment 15d can be suppressed.

[Example D2-2] For example, when the work at the work position PW shown in FIG. It is preferable to set (change) the working position PW to a position that can be captured. In this case, the work machine 10 can catch the work object O efficiently.

[Example D3] The above [Example D1] and the above [Example D2] may be combined. Specifically, for example, the work position changing unit 63 sets the work position PW for the first cycle (first cycle) of the series of operations based on the position information detected by the position sensor 33 . Then, the working position changing section 63 may change the working position PW by the offset amount Cof in the second and subsequent cycles of the series of operations (the second cycle, the third cycle, and so on).

The work position changing unit 63 does not set the work position PW outside the work limit position PWl (outside the range that can be set as the work position PW) (limits the work position PW within the work limit position PWl). .

More specifically, when the work position PW calculated by the work position changing unit 63 is outside the work limit position PWl (when the work position PW reaches the work limit position PWl) (YES in step S41 of FIG. 3). , the working position changing unit 63 determines PW as follows. In this case, the work position changer 63 determines the work limit position PWl as the work position PW (step S42 in FIG. 3). In this case, for example, the work position PW that was about to be set outside the work limit position PWl is corrected (changed) by the work position changer 63 to the work limit position PWl. When the working position PW reaches the working limit position PWl, the working position PW is corrected to the working limit position PWl. It may be terminated (YES in step S30). Further, when the work position PW reaches the work limit position PWl, the cycle of the series of operations may end (YES in step S30) without correcting the work position PW to the work limit position PWl.

When the working position PW calculated by the working position changing section 63 is inside the working limit position PWl (NO in step S41 in FIG. 3), the working position changing section 63 changes the working position PW as follows. to decide. In this case, the working position changing section 63 directly determines the working position PW calculated by the working position changing section 63 (step S40 in FIG. 3) as the working position PW (step S43 in FIG. 3).

The work target correction unit 65 (see FIG. 2) corrects the target trajectory Tr (work target) (work target correction step) (see step S60 in FIG. 3). The work target correction unit 65 corrects a portion of the target trajectory Tr between the route end position PE and the work position PW. The work target correction unit 65 corrects the target path Path of the target trajectory Tr and the target moving speed of the specific portion 15d1 on the target trajectory Tr (for example, the target time t between two points (see FIG. 2)). good too. The work target correction unit 65 may correct the target path Path of the target trajectory Tr and not correct the target moving speed of the specific portion 15d1 on the target trajectory Tr. Note that, hereinafter, correction of the target trajectory Tr by the work target correction unit 65 may simply be referred to as correction.

The work target correction unit 65 (see FIG. 2) corrects the target trajectory Tr shown in FIG. 4 based on the work position change amount PWoffset. For example, the work target correction unit 65 adjusts the plurality of targets of the target trajectory Tr such that the larger the work position change amount PWoffset, the larger the change amount (Poffset(i)) before and after correction of each target point P(i). Each point P may be corrected.

(Specific example of correction of target route Path)
For example, when the work position changing section 63 (see FIG. 2) changes the work position PW in the vertical direction Z, the work target correction section 65 (see FIG. 2) may perform correction as follows. The work target correction unit 65 corrects the position (height position) of each target point P(i) of the target trajectory Tr in the vertical direction Z based on the work position change amount PWoffset. For example, the work target correction unit 65 corrects the target trajectory Tr so that the change amount Zoffset(i) increases as the work position change amount PWoffset (Zoffset(n)) in the vertical direction Z increases. The amount of change Zoffset(i) is the amount of change Poffset(i) of each target point P(i) in the vertical direction Z, and is the amount of change from Zold(i) to Znew(i). For example, the work target correction unit 65 may correct the target trajectory Tr such that the amount of change Zoffset(i) increases as the work position PW is approached from the path end position PE. In this case, the work target correction unit 65 can set the post-correction target trajectory Trnew so that the target trajectory Path from the trajectory end position PE to the new work position PWnew is smoothly connected.

(Further Specific Example of Correction of Target Route Path)
More specifically, for example, the work target correction unit 65 (see FIG. 2) calculates a change ratio (for example, the following change ratio Zratio (see FIG. 5)) based on the work position change amount PWoffset and the like. The target trajectory Tr may be corrected based on the ratio.

A change ratio Zratio when the work position PW is changed in the vertical direction Z is expressed, for example, by Equation 1 below.
Zratio=(Zdiff+Zoffset(n))/Zdiff (Formula 1)
Here, Zdiff is the height position of the old work position PWold with respect to the height position of the path end position PE, that is, Zold(n)-Zold(1). In this example, since the height position Zold(1) of the path end position PE does not change before and after the correction (that is, there is no need to distinguish between Zold(1) and Znew(1)), Zold( 1) was defined as Z(1). Zoffset(n) is the work position change amount PWoffset in the vertical direction Z, as described above, and is Znew(n)-Zold(n).

The work target correction unit 65 (see FIG. 2) calculates the height position Znew(i) at the target point P(i) after correction as shown in Equation 2 below.
Znew(i)=Z(1)+(Zold(i)-Z(1))×Zratio (equation 2)

FIG. 5 shows a specific example when the height position Znew(i) at the corrected target point P(i) is calculated based on the change ratio Zratio. In this example, first, the Z coordinate of the target trajectory Trold before correction is set. Next, for each of correction examples 1 to 4, Zoffset(n) (work position change amount PWoffset in vertical direction Z (see FIG. 4)) is determined. In FIG. 5, the target trajectory Trnew after correction in Correction Example 1 is "Trnew1", and the target trajectory Trnew after correction in Correction Example 2 is "Trnew2" (the same applies to Correction Examples 3 and 4) ( Fig. 6 is the same). Next, based on the Z coordinates of the path end position PE (i=1) and the work position PW (i=n) of the target trajectory Trold before correction, Zoffset (n), and Equation 1 above, correction A change ratio Zratio is calculated for each of Examples 1-4. Then, based on the coordinates of each target point P of the target trajectory Trold before correction, the change ratio Zratio, and the above equation 2, the Z coordinate of each target point P in correction examples 1 to 4 is obtained. .

A graph showing the obtained results is shown in FIG. FIG. 6 shows the target trajectory Trold before correction and the target trajectory Trnew after correction of correction examples 1-4. As shown in FIG. 6, when the change ratio Zratio is a positive number as in correction examples 1 to 3, the target trajectory Path (shape of the graph) of the target trajectory Trnew after correction is different from that of the target trajectory Trold before correction. It can be seen that the shape (for example, a similar shape) corresponds to the target route Path. In addition, when the change ratio Zratio is a negative number as in Correction Example 4, the target trajectory Trold before correction has a shape (for example, a similar shape) corresponding to the shape obtained by reversing the target trajectory Path in the vertical direction Z. I understand. For example, if the target trajectory Path of the target trajectory Trold before correction has a smooth curved shape, the target trajectory Path of the target trajectory Trnew after correction can also have a smooth curved shape.

(Correction of target movement speed)
The work target correction unit 65 (see FIG. 2) keeps the movement speed of the specific part 15d1 moving along the target trajectory Tr shown in FIG. It is preferable to correct the interval time t (see FIG. 2).

(Correction such that the post-correction movement speed Vnew is equal to or less than the pre-correction movement speed Vold)
For example, the work target correction unit 65 (see FIG. 2) may correct the target movement speed of the specific part 15d1 based on the target movement speed of the attachment 15 before and after the correction of the target trajectory Tr. For example, the work target correction unit 65 adjusts the specific portion 15d1 so that the post-correction movement speed Vnew at a predetermined portion (first predetermined portion) of the target trajectory Tr is equal to or less than the pre-correction movement speed Vold at this predetermined portion. Correct the target movement speed. Specifically, the above-mentioned "predetermined portion" is, for example, a portion (between two points) between two consecutive target points P (the same applies to a second predetermined portion and a third predetermined portion which will be described later). The "corrected moving speed Vnew" is the target moving speed of the specific portion 15d1 that moves in a predetermined portion of the corrected target trajectory Trnew. The "moving speed before correction Vold" is the target moving speed of the specific portion 15d1 that moves in a predetermined portion of the target trajectory Trold before correction. For example, the work target correction unit 65 sets the target of the specific portion 15d1 so that the post-correction movement speed Vnew is equal to or less than the pre-correction movement speed Vold over the entire target trajectory Tr (for example, between two points of all target points P). It is preferable to correct the moving speed.

(Correction such that the post-correction drive speed Dnew is equal to or less than the pre-correction drive speed Dold)
Specifically, for example, the work target correction unit 65 (see FIG. 2) corrects the target moving speed of the specific portion 15d1 based on the driving speed of the actuator 21 (see FIG. 1) before and after the correction of the target trajectory Tr. may For example, the work target correction unit 65 adjusts the specific portion 15d1 so that the post-correction driving speed Dnew at a predetermined portion (second predetermined portion) of the target trajectory Tr is equal to or less than the pre-correction driving speed Dold at this predetermined portion. Correct the target movement speed. The "corrected drive speed Dnew" is the drive speed of each of the plurality of actuators 21 (see FIG. 1) when the specific portion 15d1 moves along a predetermined portion of the corrected target trajectory Trnew. The "pre-correction drive speed Dold" is the drive speed of each of the plurality of actuators 21 when the specific portion 15d1 moves in a predetermined portion of the target trajectory Trold before correction. For example, the work target correction unit 65 adjusts the target trajectory Tr so that the post-correction drive speed Dnew is equal to or less than the pre-correction drive speed Dold over the entire target trajectory Tr (between all target points P). It is preferable to correct the moving speed.

Specifically, for example, the work target correction unit 65 determines that the speed of the boom cylinder 21b (see FIG. 1) at a predetermined portion of the target trajectory Trold before correction is equal to or less than the speed of the boom cylinder 21b at this predetermined portion after correction. The target speed of the specific portion 15d1 is corrected such that The same applies to the actuators 21 other than the boom cylinder 21b. The "driving speed of each of the plurality of actuators 21" is, for example, the driving speed (extension speed) of each of the boom cylinder 21b, the arm cylinder 21c, and the tip attachment cylinder 21d shown in FIG. The "driving speed of each of the plurality of actuators 21" may include the driving speed (rotational speed) of the turning motor 21a. The actuator 21, boom cylinder 21b, arm cylinder 21c, and tip attachment cylinder 21d will be described below with reference to FIG.

(Specific example of correction in which the post-correction drive speed Dnew is equal to or less than the pre-correction drive speed Dold)
A further specific example will be described in which the work target correction unit 65 (see FIG. 2) corrects the target moving speed of the specific portion 15d1 so that the post-correction driving speed Dnew is equal to or less than the pre-correction driving speed Dold. For example, in the target trajectory Trold before correction shown in FIG. , with the following values:
・Moving distance of boom cylinder 21b: 80 mm
・Moving distance of arm cylinder 21c: 60 mm
・Moving distance of tip attachment cylinder 21d: 40 mm

In this example, the point-to-point time t between two specific points is assumed to be 1 second. In this case, the target movement speed of each actuator 21 between two specific points is the following value.
・Target movement speed of boom cylinder 21b: 80 mm/s
・Target movement speed of arm cylinder 21c: 60 mm/s
・Target movement speed of tip attachment cylinder 21d: 40 mm/s

Assume that the cylinder movement distance between two specific points on the corrected target trajectory Trnew is calculated as follows.
・Moving distance of boom cylinder 21b: 120 mm
・Moving distance of arm cylinder 21c: 80 mm
・Moving distance of tip attachment cylinder 21d: 40 mm

When the post-correction driving speed Dnew is equal to the pre-correction driving speed Dold, the time required to move the movement distance of each actuator 21 is as follows.
・Moving distance of boom cylinder 21b: 120 mm, target moving speed: 80 mm/s
Necessary two-point time t in this case: 1.5s
・Moving distance of arm cylinder 21c: 80 mm, target moving speed: 60 mm/s
Required time t between two points in this case: 1.33 s
・Moving distance of tip attachment cylinder 21d: 40 mm, target moving speed 40 mm/s
Necessary time between two points in this case t: 1s

The work target correction unit 65 (see FIG. 2) sets the longest time (1.5 s for the boom cylinder 21b in the above example) among the required two-point time t for each actuator 21 as the target after correction. It is set as the time t between two specific points on the trajectory Trnew. Then, the drive speed of each actuator 21 between two specific points after correction (drive speed after correction Dnew) is the drive speed of each actuator 21 between two specific points before correction (drive speed before correction Dold). It is as follows. More specifically, for the boom cylinder 21b, the post-correction drive speed Dnew between the specific two points is equal to or less than the pre-correction drive speed Dold between the specific two points. Further, regarding the arm cylinder 21c, the post-correction driving speed Dnew between the two specific points becomes equal to or less than the pre-correction driving speed Dold between the specific two points. The same applies to the tip attachment cylinder 21d.

(Correction of target movement speed according to amount of change in target trajectory Tr before and after correction)
The work target correction unit 65 (see FIG. 2) may correct the target movement speed of the specific portion 15d1 according to the amount of change in the target trajectory Tr before and after the correction. For example, the work target correction unit 65 corrects the target trajectory Tr at a predetermined portion based on the pre-correction movement speed Vold at a predetermined portion (third predetermined portion) of the target trajectory Tr and the amount of change in the target trajectory Tr before and after the correction. The rear moving speed Vnew is corrected (determined). For example, the work target correction unit 65 may be based on the pre-correction movement speed Vold between two specific points on the target trajectory Tr and the change amount Poffset(i) of any target point P between the two specific points. to correct (determine) the post-correction moving speed Vnew at the predetermined portion. Note that the above-mentioned "any target point P between two specific points" may be, for example, the target point P closer to the work position PW among the two target points P that are the "two specific points".

For example, the work target correction unit 65 (see FIG. 2) increases the amount of change (for example, Poffset(i)) in the target trajectory Tr before and after the correction, for the pre-correction moving speed Vold at the predetermined portion. , the post-correction moving speed Vnew may be greatly changed.

(Specific example of correction of target movement speed according to work position change amount PWoffset)
When the work position PW changes in the vertical direction Z, the work target correction unit 65 (see FIG. 2) may perform correction as follows. Here, the area between consecutive target points P(i-1) and P(i) is defined as a "predetermined portion". Let held(i) be the time t between two points in this predetermined portion before correction of the target trajectory Tr. Let tnew(i) be the corrected time t between two points. For example, the work target correction unit 65 adds β seconds per 1 mm (the unit can be changed in various ways) of the amount of change before and after the correction at the target point P(i) to tall(i), i). Specifically, for example, the work target correction unit 65 calculates tnew(i) using the following equation.
tnew(i)=told(i)+|(Znew(i)−Zold(i))|×β

The above "β" can be set variously. For example, β may be set such that the post-correction movement speed Vnew is (or tends to be) equal to or less than the pre-correction movement speed Vold. β may be set so that the drive speed after correction Dnew is equal to or less than the drive speed before correction Dold (or is likely to be). If the distance of the predetermined portion after correction (distance between two points) is shorter than the distance of the predetermined portion before correction, β may be a negative number (the work target correction unit 65 adjusts the time t between two points to can be shortened).

(Effect of the first invention)
The effects of the work goal setting system 1 shown in FIG. 1 are as follows. The work target setting system 1 includes a machine body 10a, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has a tip attachment 15d for working. As shown in FIG. 2 , the controller 50 includes a work target setting section 51 , an automatic operation section 53 , a work position changing section 63 and a work target correction section 65 . The work target setting unit 51 sets the target route Path shown in FIG. The target path Path is a target path of the specific portion 15d1 of the tip attachment 15d between the work position PW where the tip attachment 15d performs work and a predetermined path end position PE. The automatic operation unit 53 (see FIG. 2) automatically rotates the upper rotating body 13 with respect to the lower body 11 and actuates the attachment 15 so as to perform a series of operations for moving the specific part 15d1 along the target path Path in a plurality of cycles. Have them do it by driving.

[Configuration 1] The working position changing unit 63 (see FIG. 2) changes the working position in at least one of the vertical direction Z and the front-rear direction X (the front-rear direction X of the attachment 15) according to the progress of the cycle of the series of operations. Change PW. The work target correction unit 65 (see FIG. 2) corrects the portion of the target path Path between the path end position PE and the work position PW based on the work position change amount PWoffset (see FIG. 4). The work position change amount PWoffset is the amount by which the work position changing unit 63 changes the work position PW.

In the above [Configuration 1], the working position PW is changed by the working position changing section 63 (see FIG. 2). In this case, the work target correction unit 65 (see FIG. 2) corrects the target path Path based on the work position change amount PWoffset shown in FIG. Therefore, it is possible to appropriately reset (correct) the work plan when the work position PW (the work position PW of the tip attachment 15d of the work machine 10) changes. For example, even if the operator does not manually reset the target path Path, the work target correction unit 65 automatically corrects the target path Path. Therefore, it is possible to reduce the trouble of resetting the target path Path when the work position PW changes.

(Effect of the second invention)
[Arrangement 2] The target route Path includes a plurality of target points P that are information on the target position of the specific portion 15d1. The work target correction unit 65 (see FIG. 2) corrects the plurality of target points P so that the larger the work position change amount PWoffset, the larger the change amount Poffset(i) of the plurality of target points P(i) before and after correction. Correct each of (i).

In [Configuration 2] above, when the target path Path includes a plurality of target points P, it is possible to appropriately correct the target path Path according to the magnitude of the work position change amount PWoffset.

(Effect of the third invention)
[Configuration 3] The work target correction unit 65 (see FIG. 2) corrects the target movement speed of the specific portion 15d1 so that the post-correction movement speed Vnew is equal to or less than the pre-correction movement speed Vold. The corrected moving speed Vnew is the target moving speed of the specific portion 15d1 that moves along the first predetermined portion of the corrected target route Path (corrected target trajectory Trnew). The pre-correction moving speed Vold is the target moving speed of the specific portion 15d1 that moves in the first predetermined portion of the pre-correction target path Path (pre-correction target trajectory Trold).

With the above [Configuration 3], the target movement speed of the specific portion 15d1 at the first predetermined portion after correction does not become higher than the target movement speed of the specific portion 15d1 at the first predetermined portion before correction. Therefore, it is possible to suppress the feeling of uneasiness given to the operator who is looking at the attachment 15 operated by automatic operation. Further, when the movement of the specific portion 15d1 before correction is not abrupt but smooth, the movement of the specific portion 15d1 after correction can be smooth rather than abrupt. Therefore, it is possible to prevent the operator looking at the attachment 15 from feeling uneasy.

(Effect of the fourth invention)
[Configuration 4] As shown in FIG. 1 , the work target setting system 1 includes a plurality of actuators 21 that drive the attachment 15 . The work target correction unit 65 (see FIG. 2) corrects the target moving speed of the specific portion 15d1 on the target path Path so that the post-correction driving speed Dnew is equal to or less than the pre-correction driving speed Dold. The "corrected driving speed Dnew" is the number of actuators 21 (see FIG. 1) when the specific part 15d1 moves in the second predetermined portion of the corrected target trajectory Path (corrected target trajectory Trnew) shown in FIG. ) are the respective driving speeds. The "pre-correction drive speed Dold" is the drive speed of each of the plurality of actuators 21 when the specific portion 15d1 moves in the second predetermined portion of the pre-correction target path Path (pre-correction target trajectory Trold).

In the above [configuration 4], the work target correction unit 65 (see FIG. 2) corrects the target moving speed of the specific part 15d1 on the target path Path based on the driving speed of the actuator 21 (see FIG. 1) before and after the correction. . In this case, the same effect as the above "(effect of the third invention)" can be obtained.

(Effect of the fifth invention)
[Arrangement 5] The work target correction unit 65 (see FIG. 2) corrects the target moving speed of the specific part 15d1 in the third predetermined portion of the target route Path after correction (target trajectory Trnew after correction). The work target correction unit 65 performs this correction based on the target moving speed of the specific portion 15d1 in the third predetermined portion of the target path Path before correction (target trajectory Trold before correction) and the amount of change in the target path Path before and after correction. (for example, the amount of change Poffset(i)).

According to [Configuration 5] described above, the target movement speed of the specific portion 15d1 can be appropriately set according to the amount of change in the target path Path before and after the correction (for example, the amount of change Poffset(i)). As a result, the same effect as the above "(Effect of the third invention)" can be obtained more reliably.

(Effect of the sixth invention)
[Configuration 6] The work target correction unit 65 (see FIG. 2) adjusts the post-correction movement speed Vold to the pre-correction movement speed Vold as the change amount (for example, the change amount Poffset(i)) of the target path Path before and after the correction increases. The velocity Vnew is greatly changed. The pre-correction moving speed Vold is the target moving speed of the specific portion 15d1 in the third predetermined portion of the pre-correction target path Path (pre-correction target trajectory Trold). The corrected moving speed Vnew is the target moving speed of the specific portion 15d1 in the third predetermined portion of the corrected target route Path (corrected target trajectory Trnew).

According to [Configuration 6], the target movement speed of the specific portion 15d1 can be appropriately set according to the amount of change in the target path Path before and after the correction (for example, the amount of change Poffset(i)). As a result, the same effect as the above "(Effect of the third invention)" can be obtained more reliably.

(Effect of the seventh invention)
[Configuration 7] As shown in FIG. 1, the working position changing unit 63 (see FIG. 2) changes the working position PW by a constant offset amount Cof set in the controller 50 according to the progress of the cycle of the series of operations. Let

With the above [configuration 7], the working position PW can be changed by simple parameter setting.

(Effect of the eighth invention)
[Arrangement 8] The work target setting system 1 includes a position sensor 33 for detecting position information of objects existing around the work position PW. The working position changing section 63 (see FIG. 2) changes the working position PW based on the position information detected by the position sensor 33. FIG.

With the above [Configuration 8], an appropriate work position PW can be set based on the position information of the object detected by the position sensor 33 . Therefore, the tip attachment 15d can work efficiently. For example, if the work performed at the work position PW is to release the work object O, it is possible to suppress interference between the tip attachment 15d and the released work object Oa. For example, when the work performed at the work position PW is to catch the work object O, it is possible to prevent the tip attachment 15d from contacting the work object O (for example, whiffing).

(Effect of the ninth invention)
[Arrangement 9] The controller 50 includes a work limit position setting section 61 (see FIG. 2). The work limit position setting unit 61 sets a work limit position PWl that is the limit of the range that can be set as the work position PW. Based on the work limit position PWl set in the work limit position setting unit 61, the work position changing unit 63 (see FIG. 2) sets the work position PW within a range that can be set as the work position PW.

According to [Configuration 9], the working position PW changed by the working position changing section 63 (see FIG. 2) can be limited within a range that can be set as the working position PW.

(Effect of the tenth invention)
[Arrangement 10] As shown in FIG. The work end determination unit 55 determines whether or not a work end condition for ending work in which a series of operations is performed in a plurality of cycles is satisfied. The work end condition includes that the number of times (the number of cycles) that the series of operations has been performed has reached the set number of times set in the controller 50 .

According to [Configuration 10] described above, the work end condition can be set using simple parameters.

(Effect of the eleventh invention)
[Arrangement 11] The controller 50 includes a work end determination section 55 . The work end determination unit 55 determines whether or not a work end condition for ending work in which a series of operations is performed in a plurality of cycles is satisfied. The work end condition includes that the work position PW (see FIG. 1) has reached the set position set in the controller 50 .

When the set position is set to an appropriate position according to the above [Configuration 11], the timing at which the work position PW (see FIG. 1) reaches a position suitable for ending the "work in which a series of operations is performed in a plurality of cycles" can finish this task.

(Effect of the twelfth invention)
The effects of the working machine 10 shown in FIG. 1 are as follows. The work machine 10 includes a machine body 10a, an attachment 15, and a controller 50. The attachment 15 is operably attached to the machine body 10a. The attachment 15 has a tip attachment 15d for working.

[Arrangement 12-1] The controller 50 is mounted on at least one of the machine main body 10a and the attachment 15. FIG.

[Configuration 12-2] As shown in FIG. 2, the controller 50 includes a work target setting unit 51, an automatic operation unit 53, a work position changing unit 63, and a work target correction unit 65. The work target setting unit 51 sets the target route Path shown in FIG. The target path Path is a target path of the specific portion 15d1 of the tip attachment 15d between the work position PW where the tip attachment 15d performs work and a predetermined path end position PE. The automatic operation unit 53 (see FIG. 2) automatically rotates the upper rotating body 13 with respect to the lower body 11 and operates the attachment 15 so as to perform a plurality of cycles of a series of operations for moving the specific portion 15d1 along the target path Path. Have them do it by driving.

[Configuration 12-3] The working position changing unit 63 (see FIG. 2) moves in at least one of the vertical direction Z and the front-rear direction X (the front-rear direction X of the attachment 15) according to the progress of the cycle of the series of operations. Change the working position PW. The work target correction unit 65 (see FIG. 2) corrects the portion of the target path Path between the path end position PE and the work position PW based on the work position change amount PWoffset (see FIG. 4). The work position change amount PWoffset is the amount by which the work position changing unit 63 changes the work position PW.

With the above [configuration 12-3], the same effect as the above [configuration 1] (see “(Effect of the first invention)”) can be obtained. Further, in [Configuration 12-1] above, the controller 50 is mounted on at least one of the machine body 10a and the attachment 15 . Therefore, it is not necessary to provide the controller 50 outside the working machine 10 .

(Effect of the thirteenth invention)
The effects of the work goal setting program are as follows. A work goal setting program is used for work machine 10 . Work machine 10 includes an attachment 15 . The attachment 15 is operably attached to the machine body 10a. The attachment 15 has a tip attachment 15d for working. The work target setting program causes the controller 50 (computer) to execute a work target setting section step, an automatic operation step, a work position change step, and a work target correction step. The work target setting step (see step S10 in FIG. 3) sets a target route Path. The target path Path is a target path of the specific portion 15d1 of the tip attachment 15d between the work position PW where the tip attachment 15d performs work and a predetermined path end position PE. The automatic operation step (see step S20 in FIG. 3, etc.) includes turning of the upper turning body 13 with respect to the lower body 11 and movement of the attachment 15 so as to perform a plurality of cycles of a series of operations for moving the specific portion 15d1 along the target path Path. is operated by automatic operation.

[Constitution 13] The step of changing the working position (see step S40 in FIG. 3) is performed in at least one of the vertical direction Z and the front-rear direction X (the front-rear direction X of the attachment 15) according to the progress of the cycle of the series of operations. Change the working position PW. The work target correction step (see step S60 in FIG. 3) corrects the portion of the target path Path between the path end position PE and the work position PW based on the work position change amount PWoffset (see FIG. 4). . The work position change amount PWoffset is the amount by which the work position PW is changed by the work position changing step (change amount of the work position PW in the work position change step).

[Configuration 13] provides the same effect as [Configuration 1] (see "(Effect of the first invention)").

(Modification)
The above embodiments may be modified in various ways. For example, the number of components (including variations) of the above embodiments may be changed, and some of the components may not be provided. For example, the connections between each component shown in FIG. 2 may be changed. For example, the containment relationship of components may be varied. For example, a component described as being included in a certain higher-level component may not be included in this higher-level component, and may be included in another component. For example, what has been described as a plurality of different members or parts may be treated as a single 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. For example, various parameters (setting ranges and setting values (e.g. clearance height α, “β”)) may be preset in the controller 50, and can be directly operated by the operator (operation of the input device 35). may be set to Various parameters may be calculated by the controller 50 based on information set by the operator's manual operation, or may be calculated by the controller 50 based on information detected by a sensor (such as an imaging device). For example, various parameters may not be changed, may be changed manually, or may be automatically changed by the controller 50 according to some conditions. 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 component may have only a portion of each feature (function, arrangement, shape, actuation, etc.).

1 work target setting system 10a machine body 15 attachment 15d tip attachment 15d1 specific part 21 actuator 33 position sensor 50 controller (computer)
51 Work target setting unit 53 Automatic operation unit 55 Work end determination unit 61 Work limit position setting unit 63 Work position change unit 65 Work target correction unit Cof Offset amount O Work target P Target point Path Target path PE Path end position PW Work position PWl Work limit position (set position)
PWoffset Work position change amount

Claims (13)

a machine body of the working machine;
an attachment operably attached to the machine body and having a working tip attachment;
a controller;
with
The controller is
a work target setting unit that sets a target path, which is a target path of a specific portion of the tip attachment, between a work position where the tip attachment performs work and a predetermined path end position;
an automatic operation unit that automatically operates the attachment so as to perform a series of operations for moving the specific part of the tip attachment along the target path in a plurality of cycles;
a working position changing unit that changes the working position in at least one of the up-down direction and the front-rear direction of the attachment according to the progress of the cycle of the series of actions;
A work target correction unit that corrects a portion of the target path from the end position of the path to the work position based on a work position change amount that is an amount by which the work position is changed by the work position change unit. and,
comprising
Work goal setting system. A work goal setting system according to claim 1,
The target route includes a plurality of target points that are information of the target position of the specific part,
The work target correction unit corrects each of the plurality of target points such that the larger the work position change amount, the larger the change amount of the plurality of target points before and after correction.
Work goal setting system. The work goal setting system according to claim 1 or 2,
The work target correction unit sets the target movement speed of the specific portion moving along the first predetermined portion of the target path after correction to the target speed of the specific portion moving along the first predetermined portion of the target path before correction. correcting the target movement speed of the specific part so that it is equal to or less than the movement speed;
Work goal setting system. The work goal setting system according to any one of claims 1 to 3,
A plurality of actuators for driving the attachment,
The work target correction unit is configured such that the driving speed of each of the plurality of actuators when the specific part moves along the second predetermined portion of the target path after correction is equal to the second predetermined portion of the target path before correction. correcting the target movement speed of the specific portion on the target path so as to be equal to or lower than the driving speed of each of the plurality of actuators when the specific portion moves;
Work goal setting system. The work goal setting system according to any one of claims 1 to 4,
The work target correction unit calculates the target path after correction based on a target movement speed of the specific part in a third predetermined portion of the target path before correction and a change amount of the target path before and after correction. correcting the target movement speed of the specific part at the third predetermined part of
Work goal setting system. A work goal setting system according to claim 5,
The work target correction unit increases the target movement speed of the specific part in the third predetermined portion of the target route before correction as the amount of change in the target route before and after correction increases. significantly changing the target movement speed of the specific portion in the third predetermined portion of the route;
Work goal setting system. The work goal setting system according to any one of claims 1 to 6,
The working position changing unit changes the working position by a constant offset amount set in the controller according to the progress of the cycle of the series of operations.
Work goal setting system. The work goal setting system according to any one of claims 1 to 6,
A position sensor for detecting position information of objects existing around the working position,
The working position changing unit changes the working position based on the position information detected by the position sensor.
Work goal setting system. The work goal setting system according to any one of claims 1 to 8,
The controller includes a work limit position setting unit that sets a work limit position that is a limit of a range that can be set as the work position,
The work position changing unit sets the work position within a range that can be set as the work position based on the work limit position set by the work limit position setting unit.
Work goal setting system. The work goal setting system according to any one of claims 1 to 9,
The controller includes a work end determination unit that determines whether or not a work end condition for ending the work of performing a plurality of cycles of the series of operations is satisfied,
The work end condition includes that the number of times the series of actions has been performed has reached a set number of times set in the controller.
Work goal setting system. The work goal setting system according to any one of claims 1 to 10,
The controller includes a work end determination unit that determines whether or not a work end condition for ending the work of performing a plurality of cycles of the series of operations is satisfied,
The work end condition includes that the work position has reached a set position set in the controller,
Work goal setting system. machine body and
an attachment operably attached to the machine body and having a working tip attachment;
a controller mounted on at least one of the machine body and the attachment;
with
The controller is
a work target setting unit that sets a target path, which is a target path of a specific portion of the tip attachment, between a work position where the tip attachment performs work and a predetermined path end position;
an automatic operation unit that automatically operates the attachment so as to perform a series of operations for moving the specific part of the tip attachment along the target path in a plurality of cycles;
a working position changing unit that changes the working position in at least one of the up-down direction and the front-rear direction of the attachment according to the progress of the cycle of the series of actions;
A work target correction unit that corrects a portion of the target path from the end position of the path to the work position based on a work position change amount that is an amount by which the work position is changed by the work position change unit. and,
comprising a
working machine. A work target setting program for use in a working machine comprising an attachment operably attached to a machine body and having a tip attachment for performing work,
a work target setting step of setting a target path, which is a target path of a specific part of the tip attachment, between a work position where the tip attachment performs work and a predetermined path end position;
an automatic operation step of automatically operating the attachment so as to perform multiple cycles of a series of operations for moving the specific portion of the tip attachment along the target path;
a working position changing step of changing the working position in at least one of the up-down direction and the front-rear direction of the attachment according to the progress of the cycle of the series of actions;
A work target correction step of correcting a portion of the target path from the end position of the path to the work position based on a work position change amount, which is an amount by which the work position is changed by the work position change step. and,
cause the computer to run
Work goal setting program.

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