JP2023114799A - Work target setting system, work machine, and work target setting program - Google Patents

Abstract

To adequately set a work position for a series of operations of a tip attachment of a work machine.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 of a tip attachment 15d along a target route Path. A work upper limit position setting part 61 sets a work upper limit position PWI that is an upper limit position of a work position PW. A work position change part 63 changes a position in the vertical direction Z of the work position PW according to the progress of the cycles of the series of operations. The work position change part 63 sets a work position (PW1) in the series of operations that is initially executed to a position of Zb below the work upper limit position PWI after the work upper limit position PWI is set by the work upper limit position setting part 61.SELECTED DRAWING: Figure 4

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, a series of operations of the work machine (in the document, a cycle of operations from excavation to dumping) is set (instructed) in the controller. Then, the work machine performs the set series of operations by automatic operation.

JP-A-11-264155

The series of actions includes the work of releasing the work object (discharging soil in the same document). It is desired that the position (work position) where this work is performed is appropriately set.

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 setting the work position of a series of operations of a tip attachment of a work machine.

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 upper limit position setting section, and a work position changing 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 the work of releasing the work object 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 work upper limit position setting unit sets a work upper limit position that is the upper limit of the work position. The work position changing unit changes the position of the work position in the vertical direction according to the progress of the cycle of the series of operations. The work position changing unit sets the work position in the first series of operations after the work upper limit position is set by the work upper limit position setting unit to a position lower than the work upper limit position. do.

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 upper limit position setting section, and a work position changing 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 the work of releasing the work object 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 work upper limit position setting unit sets a work upper limit position that is the upper limit of the work position. The work position changing unit changes the position of the work position in the vertical direction according to the progress of the cycle of the series of operations. The work position changing unit sets the work position in the first series of operations after the work upper limit position is set by the work upper limit position setting unit to a position lower than the work upper limit position. do.

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 upper limit position setting step, and a work position changing step. The work target setting step 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 the work of releasing the work target and a predetermined path end position. set. 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 work upper limit position setting step sets a work upper limit position that is the upper limit of the work position. The work position changing step changes the position of the work position in the vertical direction according to the progress of the cycle of the series of operations. In the work position changing step, after the work upper limit position is set in the work upper limit position setting step, the work position in the first series of operations is set to a position lower than the work upper limit position. do.

The work target setting system, the work machine, and the work target setting program described above can appropriately set the work position of the end attachment of the work machine for a series of operations.

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 an example of a working position PW shown in FIG. 1; FIG.

A work goal setting system 1 will be described with reference to FIGS. 1 to 4. 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. A turning direction of the upper turning body 13 with respect to the lower main body 11 is defined as a "turning direction". A direction perpendicular to each of the up-down direction Z and the turning direction 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 (not shown) of the attachment 15 extending in the longitudinal direction of the attachment 15 extends. 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 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.) can be used. 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 (angle in the turning direction) of the upper turning body 13 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 the released work object Oa (see FIG. 4, described later), or may detect position information on obstacles and the like. may 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 upper 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 portion 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 way. 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. 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.

(Path end position PE, work position PW)
The target trajectory Tr includes a plurality of target points P, as shown in FIG. 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 work position PW is a position where the tip attachment 15d performs the work of releasing the work object O (for example, dumping soil). For example, the working position PW may be set at a position directly above the ground. The work position PW may be set, for example, at a position directly above a container (not shown) containing the work object O, and specifically, for example, may be set directly above the loading platform of the transportation vehicle. . The path end position PE may be a position where the tip attachment 15d performs the task of catching (for example, excavating) the work object O. FIG. In this case, the path end position PE is set at a location where the work objects O are gathered (for example, a mound of sand or a sand pit).

Between the work position PW and the path end position PE, the tip attachment 15d moves along the target path Path. 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 (path end position PE) where the tip attachment 15d captures the work object O to the position (work position PW) where the tip attachment 15d releases the work object O is performed by lifting and turning. It says. The movement of the tip attachment 15d from the work position PW to the path end position PE is referred to as return turning. 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.

(Setting of reference target trajectory Trb)
Before the work by automatic operation of the work machine 10 (work by the tip attachment 15d) is performed, a reference target trajectory Trb, which is a reference target trajectory Tr, is set (step S10 in FIG. 3). For example, the reference target trajectory Trb 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 value 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 reference target trajectory Trb at a speed desired to be set as the reference target trajectory Trb. Then, the work target setting unit 51 (see FIG. 2) sets the trajectory along which the specific portion 15d1 has moved as the reference target trajectory Trb. 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 shown in FIG. 1 (automatic operation step) (see steps S20, S21, S22, S23, and S51 in FIG. described later). 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 operation section 53 causes the tip attachment 15d to perform work (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 work position PW shown in FIG. 4 has reached a work upper limit position PWl (described later). 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). It may include reaching PWl.

The work end condition may include a condition other than that the work position PW has reached the work upper limit position PWl. For example, the work end condition may include that the number of times (the number of cycles) that a series of operations has been performed has reached a "set number of times". The work end condition may include that the work position PW reaches a "set position" different from the work upper limit position PWl. The "set number of times" and "set position" are set (in advance) in the controller 50 before the work end condition is determined by the work end determination unit 55 (see FIG. 2).

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 upper limit position setting unit 61 (see FIG. 2) sets the work upper limit position PWl (work upper limit position setting step) (see step S11 in FIG. 3). The work upper limit position PWl is the upper limit of the work position PW, and more specifically, the upper limit Za of the range that can be set as the work position PW.

(How to set the work upper limit position PWl)
The work upper limit position setting unit 61 (see FIG. 2) may set various work upper limit positions PWl. [Example A1] For example, the work upper limit position setting unit 61 may set the work upper limit position PWl based on the position (the taught position) where the tip attachment 15d is arranged. Specifically, for example, a worker (operator) operates the work machine 10 to dispose the tip attachment 15d at a position desired to be set as the work upper limit position PWl. The work upper limit position setting unit 61 may set the position where the tip attachment 15d is arranged at this time as the work upper limit position PWl. In this case, the work upper limit position PWl can be set within a range of positions physically reachable by the tip attachment 15d. Further, the worker (operator) can easily (intuitively) set the work upper limit position PWl.

[Example A1a] In this case, teaching may be performed to set only the work upper limit position PWl. [Example A1b] Alternatively, the work upper limit position PWl may be set by teaching for setting the reference target trajectory Trb. More specifically, when the reference target trajectory Trb is set by teaching, the working position PW of the reference target trajectory Trb is set. At this time, the work upper limit position setting unit 61 may set the work position PW of the reference target trajectory Trb as the work upper limit position PWl.

[Example A2] The work upper limit position setting unit 61 may set the work upper limit position PWl based on information input by a method other than teaching (for example, numerical input).

(Specific example of work upper limit position PWl)
The work upper limit position PWl may be set at various positions. [Example B1] For example, it is preferable that the work upper limit position PWl is set at a position where the amount of the work object O released in the series of operations is appropriate. 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 work upper limit position PWl may be set.

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). After the work upper limit position PWl is set by the work upper limit position setting unit 61, the work position PW in the first series of operations (first cycle) is defined as an initial work position PW1. The work position changing unit 63 sets the initial work position PW1 to a position Zb below the upper work position PWl. The work position changing unit 63 sets the initial work position PW1 to a position that can prevent the work object O released from the initial work position PW1 from dropping vigorously (a position that can restrain the drop speed and impact). preferably. For example, the working position changing section 63 may set the initial working position PW1 based on the detection result of the position sensor 33 (described later). The work position changing unit 63 may set the initial work position PW1 based on information (such as numerical values) input by the operator to the input device 35 (see FIG. 2). The work upper limit position PWl may be a value (initial value) preset in the controller 50 (see FIG. 2).

(Working position PW in a series of operations after the second time)
The working position changing unit 63 (see FIG. 2) changes the position (height position) of the working position PW in the vertical direction Z 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 part 63 changes the working position PW in the vertical direction Z. As shown in FIG. The working position changing section 63 changes the working position PW in at least the vertical direction Z, and may also change the working position PW in at least one of the front-rear direction X and the turning direction (not shown).

The working position changing section 63 (see FIG. 2) changes the working position PW to the upper side Za according to the progress of the cycle of the series of operations. For example, the following effects can be obtained by changing the working position PW to the upper side Za by the working position changing section 63 . In this case, by changing the working position PW to the upper side Za, the work object O already released from the tip attachment 15d (for example, the piled work object O) (released work object Oa) is moved to the tip attachment 15d. contact is suppressed. It should be noted that the working position changing section 63 may change the working position PW to the lower side Zb depending on the circumstances around the working position PW. Specifically, for example, when the number of released work objects Oa decreases (for example, when earth and sand collapse), the work position changing unit 63 may change the work position PW to the lower side Zb.

(Method of changing working position PW)
The working position changing unit 63 (see FIG. 2) can variously change (set) 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, the working position changing unit 63 (see FIG. 2) preferably sets (changes) the working position PW so that the obstacle does not come into contact with the tip attachment 15d. 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 D3] The above [Example D1] and the above [Example D2] may be combined. Specifically, for example, the work position changing unit 63 sets the initial work position PW1 based on the position information detected by the position sensor 33, and sets the second and subsequent cycles of a series of operations (second cycle, third cycle, . . . ). ), the working position PW may be changed by the offset amount Cof.

The work position change unit 63 (see FIG. 2) is configured to change the work position PW within a range that can be set as the work position PW based on the work upper limit position PWl set in the work upper limit position setting unit 61 (see FIG. 2). set. The work position changing unit 63 does not set the work position PW above the work upper limit position PWl (outside the range that can be set as the work position PW) (limits the work position PW within the work upper limit position PWl). .

More specifically, when the work position PW calculated by the work position changing unit 63 is above the work upper limit position PWl (when it reaches the work upper limit position PWl) (if YES in step S41 of FIG. 3), The working position changer 63 determines the working position PW as follows. In this case, the work position changing unit 63 determines the work upper 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 above the work upper limit position PWl Za is corrected (changed) to the work upper limit position PWl by the work position changing unit 63 . When the work position PW reaches the work upper limit position PWl, the work position PW is corrected to the work upper limit position PWl. It may be terminated (YES in step S30). Further, when the work position PW reaches the work upper 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 upper limit position PWl.

When the work position PW calculated by the work position changing unit 63 is equal to or lower than the work upper limit position PWl (NO in step S41 in FIG. 3), the work position changing unit 63 changes the work position PW as follows. 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. For example, the work target correction unit 65 may correct the target trajectory Tr based on the target route Path of the reference target trajectory Trb and the work position PW after change by the work position change unit 63 . For example, the work target correction unit 65 may correct the target trajectory Tr so that the path end position PE and the changed work position PW are smoothly connected. For example, the work target correction unit 65 may correct the target trajectory Tr so that the shape of the target trajectory Path of the target trajectory Tr after correction becomes similar to the shape of the target trajectory Path of the reference target trajectory Trb. .

(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 10 a of the work machine 10 , a tip attachment 15 d 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 upper limit position setting section 61 and a work position changing section 63 . 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 the work of releasing the work object O and a predetermined path end position PE. be. The automatic operation unit 53 (see FIG. 2) automatically operates the attachment 15 so as to perform multiple cycles of a series of operations for moving the specific portion 15d1 of the tip attachment 15d along the target path Path.

[Arrangement 1] As shown in FIG. 4, the work upper limit position setting section 61 (see FIG. 2) sets the work upper limit position PWl, which is the upper limit of the work position PW. The working position changing unit 63 (see FIG. 2) changes the position of the working position PW in the vertical direction Z according to the progress of the cycle of the series of operations. After the work upper limit position PWl is set by the work upper limit position setting unit 61, the work position changing unit 63 sets the work position PW (initial work position PW1) in the first series of operations below the work upper limit position PWl. Set to the position on side Zb.

In the above [Configuration 1], the initial work position PW1 is set at a position Zb below the upper work position PWl. Therefore, compared to the case where the initial work position PW1 is set to the work upper limit position PWl, it is possible to prevent the work target O released from the tip attachment 15d from dropping vigorously. Therefore, the working position PW of the series of operations of the tip attachment 15d of the working machine 10 can be appropriately set. Specifically, for example, the falling speed of the work object O released from the tip attachment 15d and the impact of the work object O when it falls can be suppressed.

(Effect of the second invention)
[Configuration 2] The working position changing section 63 (see FIG. 2) changes the working position PW to the upper side Za according to the progress of the cycle of the series of operations.

According to the above [configuration 2], when the work object O (more specifically, the released work object Oa) is piled up as the cycle of the series of operations progresses, the released work object Oa and the tip attachment 15d Interference can be suppressed.

(Effect of the third invention)
[Arrangement 3] The work upper limit position setting unit 61 (see FIG. 2) sets the work upper limit position PWl based on the position where the tip attachment 15d is arranged.

According to the above [Configuration 3], the operator can set the upper working position PWl by operating the tip attachment 15d and arranging it at a position desired to be set as the upper working position PWl. Therefore, the operator can easily (for example, intuitively) set the upper working limit position PWl compared to the case where the operator inputs a numerical value representing the height position of the upper working upper limit position PWl.

(Effect of the fourth invention)
[Arrangement 4] The work target setting system 1 includes a position sensor 33 that detects 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.

According to [Configuration 4] described above, an appropriate work position PW can be set based on the position information detected by the position sensor 33 . Therefore, the tip attachment 15d can work efficiently. Specifically, for example, when the work object O is released at the work position PW, interference between the tip attachment 15d and obstacles (for example, the released work object Oa, the ground, the loading platform, etc.) is suppressed. can do.

(Effect of the fifth invention)
[Configuration 5] 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 (see FIG. 2) according to the progress of the cycle of the series of operations.

With the above [Configuration 5], the working position PW can be changed by simple parameter setting.

(Effect of the sixth invention)
[Arrangement 6] The controller 50 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 work position PW (see FIG. 1) reaches the work upper limit position PWl shown in FIG.

When the work upper limit position PWl is set to an appropriate position according to the above [configuration 6], the work position PW (see FIG. 1) reaches a position suitable for completing the "work involving a plurality of cycles of a series of operations". This work can be completed in time.

(Effect of the seventh 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 7-1] The controller 50 is mounted on at least one of the machine body 10a and the attachment 15 .

[Configuration 7-2] As shown in FIG. 2, the controller 50 includes a work target setting section 51, an automatic operation section 53, a work upper limit position setting section 61, and a work position changing section 63. 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 the work of releasing the work object O and a predetermined path end position PE. be. The automatic operation unit 53 (see FIG. 2) automatically operates the attachment 15 so as to perform multiple cycles of a series of operations for moving the specific portion 15d1 of the tip attachment 15d along the target path Path.

[Arrangement 7-3] As shown in FIG. 4, the work upper limit position setting unit 61 (see FIG. 2) sets the work upper limit position PWl, which is the upper limit of the work position PW. The working position changing unit 63 (see FIG. 2) changes the position of the working position PW in the vertical direction Z according to the progress of the cycle of the series of operations. After the work upper limit position PWl is set by the work upper limit position setting unit 61, the work position changing unit 63 sets the work position PW (initial work position PW1) in the first series of operations below the work upper limit position PWl. Set to the position on side Zb.

[Configuration 7-3] provides the same effect as [Configuration 1] (see "(Effect of the first invention)"). Further, in the above [configuration 7-1], 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 eighth 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 step, an automatic operation step, a work upper limit position setting step, and a work position changing step. The work target setting step (see step S10 in FIG. 3) 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 the work of releasing the work object O and a predetermined path end position PE. be. The automatic operation step (see step S20 in FIG. 3, etc.) automatically operates the attachment 15 so as to perform multiple cycles of a series of operations for moving the specific portion 15d1 of the tip attachment 15d along the target path Path. .

[Structure 8] In the work upper limit position setting step (see step S11 in FIG. 3), as shown in FIG. 4, a work upper limit position PWl, which is the upper limit of the work position PW, is set. The work position change step (see step S40 in FIG. 3) changes the position of the work position PW in the vertical direction Z according to the progress of the cycle of the series of operations. In the work position changing step, after the work upper limit position PWl is set in the work upper limit position setting step, the work position PW (initial work position PW1) in the first series of operations is changed below the work upper limit position PWl by Zb. position.

[Configuration 8] 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, variations of the above embodiments may be combined in various ways. For example, fixing, coupling, etc. between components may be direct or indirect. For example, the connection of 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 values (eg, α above), ranges, etc.) may be preset in the controller 50, or may be set directly by manual operation by the operator. 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 15 attachment 15d tip attachment 15d1 specific part 50 controller (computer)
51 Work target setting unit 53 Automatic operation unit 55 Work end determination unit 61 Work upper limit position setting unit 63 Work position change unit Cof Offset amount O Work object Path Target path PE Path end position PW Work position PWl Work upper limit position Z Vertical direction Za upper side

Claims (8)

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 for setting 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 the work of releasing the work object 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 work upper limit position setting unit that sets a work upper limit position that is a position that is the upper limit of the work position;
a working position changing unit that changes the position of the working position in the vertical direction according to the progress of the cycle of the series of actions;
with
The work position changing unit sets the work position in the first series of operations after the work upper limit position is set by the work upper limit position setting unit to a position lower than the work upper limit position. do,
Work goal setting system. A work goal setting system according to claim 1,
The working position changing unit changes the working position upward according to the progress of the cycle of the series of actions.
Work goal setting system. The work goal setting system according to claim 1 or 2,
The work upper limit position setting unit sets the work upper limit position based on the position where the tip attachment is arranged.
Work goal setting system. The work goal setting system according to any one of claims 1 to 3,
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 3,
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 5,
The controller includes a work end determination unit that determines whether or not a work end condition for ending the work of repeating the series of actions is satisfied,
The work end condition includes that the work position has reached the work upper limit position,
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 for setting 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 the work of releasing the work object 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 work upper limit position setting unit that sets a work upper limit position that is a position that is the upper limit of the work position;
a working position changing unit that changes the position of the working position in the vertical direction according to the progress of the cycle of the series of actions;
with
The work position changing unit sets the work position in the first series of operations after the work upper limit position is set by the work upper limit position setting unit to a position lower than the work upper limit position. do,
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 the work of releasing the work object 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 work upper limit position setting step of setting a work upper limit position that is the upper limit of the work position;
a working position changing step of changing the position of the working position in the vertical direction according to the progress of the cycle of the series of actions;
on the computer, and
In the work position changing step, after the work upper limit position is set in the work upper limit position setting step, the work position in the first series of operations is set to a position lower than the work upper limit position. do,
Work goal setting program.

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