WO2021010109A1

WO2021010109A1 - Work machine

Info

Publication number: WO2021010109A1
Application number: PCT/JP2020/024690
Authority: WO
Inventors: 展弘福尾; 山▲崎▼　洋一郎; 耕治山下; 佑介上村; 徳雄高木; 高幸飯野; 快右曽我
Original assignee: コベルコ建機株式会社
Priority date: 2019-07-18
Filing date: 2020-06-24
Publication date: 2021-01-21
Also published as: JP2021017711A

Abstract

The present invention reduces work required for transporting an article to be transported and prevents an attachment from contacting a detecting unit. A tip attachment (30) comprises a rotating device (31), a grasping device (33), and a detecting unit (45). The grasping device (33) is mounted to the rotating device (31) and can rotate with respect to a basal end attachment (23) by operation of the rotating device (31). The detecting unit (45) is for detecting the coordinates and orientation of an article (11) to be transported held by the grasping device (33). A controller (80) calculates, on the basis of values detected using the detecting unit (45), position deviation that is deviation in a detected position (P2) with respect to a target position (P1).

Description

Work machine

The present invention relates to a work machine capable of transporting a transported object.

For example, Patent Document 1 discloses a technique for transporting a transported object to a target position by a work machine. In the technique disclosed in the document, a detection device (bracket with prism in the document) for detecting the position of the transported object is attached to the transported object. Then, the transported object is transported in a state of being lifted by a work machine.

Japanese Unexamined Patent Publication No. 2017-25633

The technology disclosed in the same document requires a lot of work to transport the transported object, which is troublesome. Specifically, it is necessary to attach / detach the detection device to / from the transported object. In addition, it is necessary to adjust the position of the transported object (suspended load) using a kaishakunin rope or the like. Further, in the same technology, the attachment of the work machine may come into contact with the detection device due to an erroneous operation of the work machine, and the detection device may be damaged.

An object of the present invention is to provide a work machine capable of reducing the work required for transporting a transported object as compared with the conventional case and suppressing the attachment from coming into contact with the detection unit. is there.

Provided by the present invention is a work machine capable of transporting a transported object to a target position. The work machine includes a machine body, an attachment attached to the machine body so as to be movable relative to the machine body, and a controller. The attachment has a base end side attachment attached to the machine body and a tip end attachment attached to the tip end portion of the base end side attachment. The tip attachment is connected to a gripping device capable of gripping the transported object and the tip end portion of the proximal end side attachment, and the gripping device is rotated around at least one rotation center axis with respect to the proximal end side attachment. It has a rotating device that can be rotated to the surface, and a detecting unit for detecting the coordinates and posture of the transported object that is gripped by the gripping device. The controller has a storage unit that stores information on a target position of the transported object, and a current position of the transported object based on at least one of the coordinates and the posture detected by the detection unit. It has a position calculation unit that calculates a detection position, and further calculates a position deviation that is a deviation of the detection position with respect to the target position, and an output unit that outputs a signal corresponding to the calculated position deviation.

It is a figure which looked at the transportation system which concerns on one Embodiment of this invention from the top. It is a figure which looked at the work machine of the transportation system shown in FIG. 1 from the side. It is a block diagram of the transportation system shown in FIG. It is a perspective view of the transported object and a tip attachment shown in FIG. It is a perspective view of the jig shown in FIG. It is a figure which looked at the transported object and the jig shown in FIG. 2 from above, and is the figure which shows the structural example 1 of the detection part. 6 is a cross-sectional view of the transported object and jig shown in FIG. 6 as viewed along the arrows VII-VII of FIG. It is a figure which looked at the transported object and jig shown in FIG. 6 from the front-rear direction. It is a figure corresponding to FIG. 6, and is the figure which shows the structural example 2 of the detection part shown in FIG. It is a figure corresponding to FIG. 6, and is the figure which shows the structural example 3 of the detection part shown in FIG. It is a perspective view of the tip display part of the jig shown in FIG. It is a figure which looked at the work machine and the like shown in FIG. 2 from above, and is the figure which shows the control execution area.

The transportation system 1 including the work machine 20 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 12.

FIG. 1 is a top view of the transportation system 1 according to the present embodiment. FIG. 2 is a side view of the work machine 20 and the like of the transportation system 1 shown in FIG. FIG. 3 is a block diagram of the transportation system 1 shown in FIG. FIG. 4 is a perspective view of the transported object 11 and the tip attachment 30 shown in FIG. FIG. 5 is a perspective view of the jig 40 and the like shown in FIG. FIG. 6 is a view of the transported object 11 and the jig 40 shown in FIG. 2 as viewed from above, and is a diagram showing a configuration example 1 of the detection unit 45.

The transportation system 1 is a system for transporting the transported object 11 to the target position P1. The transportation system 1 includes a total station 15, a work machine 20, and a display unit 90.

As shown in FIG. 2, the transported object 11 is an object (transported object, structure) transported by the work machine 20. The transported object 11 is, for example, a structure provided on a road, a parking lot, a house, or the like. The transported object 11 is, for example, made of concrete, for example, a precast material, or the like, for example, a U-shaped groove or the like. As shown in FIG. 4, the reference line for arranging the transported object 11 is defined as the reference line 11a. The reference line 11a is a line extending in the longitudinal direction of the transported object 11, and is a line passing through the central portion in the width direction (horizontal direction and direction will be described later) of the transported object 11. The reference line 11a may pass, for example, the bottom portion (lower portion) of the transported object 11 or the central portion in the height direction of the transported object 11. The criteria for arranging the transported object 11 may be set in various ways. For example, a line extending in the width direction of the transported object 11 may be set as a reference line for arranging the transported object 11. For example, a specific point of the transported object 11 may be set as a reference point.

(direction)
The direction with respect to the transported object 11 shown in FIG. 5 and the direction with respect to the jig 40 attached to the transported object 11 are defined as follows. The direction in which the reference line 11a extends (for example, the longitudinal direction of the transported object 11) is defined as the front-rear direction X. One direction in the front-back direction X is defined as the front direction X1, and the opposite direction is defined as the back direction X2. The width direction Y is defined as the direction orthogonal to the reference line 11a and the horizontal direction when the transported object 11 is placed on the horizontal plane. As shown in FIG. 6, in the width direction Y, the direction approaching the center of the width direction of the transported object 11 is defined as the width direction inward Yi, and the direction away from the width direction center of the transported object 11 is defined as the width direction outward direction Yo. Defined. In the width direction Y, the right direction when facing the front direction X1 is defined as the right direction Yr, and the left direction when facing the front direction X1 is defined as the left direction Yl. As shown in FIG. 5, the direction orthogonal to each of the front-rear direction X and the width direction Y is defined as the height direction Z (vertical direction). In the height direction Z, the upward direction when the transported object 11 is placed on the horizontal plane is defined as the upward direction Z1, and the opposite direction is defined as the downward direction Z2. It should be noted that each of the above directions is for explaining the transportation system 1 according to the present embodiment, and does not limit the structure and usage mode of the work machine according to the present invention.

FIG. 7 is a cross-sectional view of the transported object 11 and the jig 40 shown in FIG. 6 as viewed along the arrows VII-VII of FIG.

The electronic tag 13 stores and transmits the information of the transported object 11 shown in FIG. 7. The electronic tag 13 is provided (attached) to the transported object 11. The electronic tag 13 may be embedded in the transported object 11 or may be attached to the transported object 11. The electronic tag 13 is, for example, an RFID (Radio Frequency Identifier) tag or the like.

The total station 15 is a device that detects the position of the prism 45a (described later) shown in FIG. The total station 15 detects the distance from the total station 15 to the prism 45a and the direction of the prism 45a with respect to the total station 15. The total station 15 has a function (automatic tracking function) of automatically continuing to track the prism 45a. The coordinates (mechanical points) of the total station 15 are obtained by the backward association method with reference to the two surveying reference points 16 (known coordinates). As a result, the coordinates of the total station 15 are associated with the coordinate system of the work site.

(Position of cargo 11)
Hereinafter, the position of the transported object 11 in the coordinate system of the work site (the three-dimensional coordinate system associated with the survey reference point 16) is simply referred to as “the position of the transported object 11” or the like. The "position of the transported object 11" includes information on the coordinates of the transported object 11 and the posture of the transported object 11. The coordinates of the transported object 11 are coordinates (position coordinates) indicating the position of the transported object 11 in the coordinate system of the work site. The posture of the transported object 11 is the rotation angle of the transported object 11 in the coordinate system of the work site. The posture of the transported object 11 includes an inclination of the transported object 11 with respect to a horizontal plane (angle of inclination, direction of inclination) and an orientation of the transported object 11 when viewed from above (for example, the direction of the reference line 11a). For example, the posture of the transported object 11 is indicated by angles (yaw angle, pitch angle, roll angle) in each of the yaw direction, the pitch direction, and the roll direction. The rotation direction of the axially transported object 11 extending in the height direction of the transported object 11 shown in FIG. 4 is the yaw direction, and the rotational direction of the axially extending transported object 11 extending in the width direction is the pitch direction and the axially extending in the front-rear direction. The rotation direction of the transported object 11 is defined as the roll direction.

As shown in FIG. 2, the work machine 20 is a machine capable of carrying the transported object 11 to the target position P1. The work machine 20 is, for example, a construction machine that performs construction work, such as an excavator. The work machine 20 includes a machine body 21, an attachment 22, sensors 50 shown in FIG. 3, an operation guidance unit 61 (guidance information notification unit), a drive unit 63, and a controller 80.

As shown in FIG. 2, the machine body 21 (airframe) includes a lower traveling body 21a and an upper rotating body 21b. The lower traveling body 21a runs the work machine 20 and can travel on the ground. The upper swivel body 21b is mounted on the lower traveling body 21a so as to be swivelable around a swivel center axis extending in the vertical direction.

Attachment 22 (work attachment) is a device that performs work (transportation work) for transporting the transported object 11. The attachment 22 is attached to the machine body 21 so that it can move (undulate) relative to the machine body 21, and more specifically, the attachment 22 is attached to the upper swing body 21b. The attachment 22 includes a base end side attachment 23 and a tip end attachment 30.

The base end side attachment 23 is a portion of the attachment 22 that is arranged on the base end side (the side attached to the upper swivel body 21b). The base end side attachment 23 includes a boom 23a and an arm 23b. The boom 23a is undulating (rotatably up and down) attached to the upper swing body 21b. The direction in which the rotation axis of the boom 23a extends with respect to the upper swing body 21b is defined as the "lateral direction". The arm 23b is rotatably attached to the boom 23a about a rotation axis extending in the lateral direction.

The tip attachment 30 is attached to the tip of the base end side attachment 23 (the portion opposite to the "base end side"), and is particularly attached to the tip end of the arm 23b. As a result, the tip attachment 30 is arranged at the tip of the attachment 22. The tip attachment 30 includes a rotating device 31, a gripping device 33, and a jig 40.

The rotating device 31 (tilt rotator) is attached (connected) to the tip of the base end side attachment 23, and is particularly attached to the tip of the arm 23b. The rotating device 31 rotates (for example, rotates in an arbitrary direction) the gripping device 33 with respect to the arm 23b. The rotating device 31 rotates the gripping device 33 with respect to the arm 23b around three axes orthogonal to each other. The rotating device 31 includes a mounting portion 31a, a tilt portion 31b, and a rotating portion 31c. The attachment portion 31a is rotatably attached to the arm 23b about a rotation axis extending in the lateral direction. The tilt portion 31b is rotatably attached to the attachment portion 31a. The tilt portion 31b can rotate (tilt) with respect to the arm 23b so as to tilt laterally with respect to the longitudinal direction of the arm 23b (see FIG. 4). The rotating portion 31c is rotatably attached to the tilt portion 31b. The rotating portion 31c can rotate (rotate) with respect to the tilt portion 31b around the central axis of the tilt portion 31b (see FIG. 4). As a result, the rotating portion 31c can rotate about three axes orthogonal to each other with respect to the arm 23b. That is, the rotating device 31 is capable of rotating the gripping device 33 around at least one rotation center axis (in the present embodiment, around three rotation center axes) with respect to the base end side attachment 23.

The gripping device 33 grips the transported object 11. The gripping device 33 is attached to the rotating device 31. The gripping device 33 is rotatable (for example, rotatable in any direction) with respect to the proximal end side attachment 23 (more specifically, the arm 23b) by the operation of the rotating device 31. The gripping device 33 rotates in conjunction with the rotation of the mounting portion 31a with respect to the arm 23b, the rotation of the tilting portion 31b with respect to the mounting portion 31a (tilt operation), and the rotation of the rotating portion 31c with respect to the tilting portion 31b (rotation operation). .. As shown in FIG. 4, the gripping device 33 includes a base portion 33a and a gripping portion 33b. The base portion 33a is fixed to the rotating portion 31c. The grip portion 33b is a portion that comes into contact with the transported object 11 and grips the transported object 11. For example, a pair of grips 33b are provided on the base 33a. The pair of gripping portions 33b opens and closes (rotates) with respect to the base portion 33a, and grips (grasps) the transported object 11 so as to sandwich it from the outside in the width direction. The pair of gripping portions 33b may grip the transported object 11 so as to push and expand (extend, stretch) the transported object 11 from the inside of the transported object 11 (not shown). Hereinafter, a state in which the transported object 11 is gripped by the grip portion 33b (see FIG. 2) will be described.

The jig 40 is a device attached to the transported object 11. The jig 40 includes a frame unit 41, a positioning unit 43 shown in FIG. 6, a detection unit 45, and a reading device 47.

As shown in FIG. 5, the frame portion 41 can be attached (contacted) to the transported object 11 so as to move to the target position P1 integrally with the transported object 11. The frame portion 41 can be attached to, for example, an upper portion of the transported object 11. The frame unit 41 supports the detection unit 45. The frame portion 41 includes a frame main body portion 41a, a width stopper portion 41b, and front and rear stopper portions 41c.

The frame main body 41a is fixed to the base 33a as shown in FIG. The frame body portion 41a may be fixed directly to the base portion 33a, or may be fixed to the base portion 33a as a result of being fixed to the rotating portion 31c. The frame main body 41a has, for example, a plate shape or a rectangular parallelepiped shape. The frame body portion 41a projects (extends) in the front-rear direction with respect to the base portion 33a. The frame body portion 41a may project from the base portion 33a to at least one of the front side and the rear side. In the present embodiment, the frame main body 41a projects to the front side and the rear side, respectively. In this case, the frame body 41a includes a front frame body 41a1 projecting forward from the base 33a and a rear frame body 41a2 projecting rearward from the base 33a.

As shown in FIG. 5, the width stopper portion 41b limits the movement of the jig 40 with respect to the transported object 11 in the width direction. As shown in FIG. 6, the width stopper portion 41b can contact the outer surface of the transported object 11 in the width direction (for example, surface contact is possible). The width stopper portion 41b comes into contact with one surface (for example, the left surface) of both sides (left side and right side surfaces) on the outer side in the width direction of the transported object 11. The width stopper portion 41b that comes into contact with the other surface (for example, the right surface) on the outer side in the width direction of the transported object 11 may or may not be provided. As shown in FIG. 5, the width stopper portion 41b projects downward from the outer portion in the width direction of the frame main body portion 41a. The width stopper portion 41b has, for example, a plate shape. The width stopper portion 41b is fixed to the frame main body portion 41a. The width stopper portion 41b may be fixed to the front frame main body portion 41a1 or may be fixed to the rear frame main body portion 41a2 (not shown).

The front-rear stopper portion 41c limits the movement of the jig 40 with respect to the transported object 11 in the front-rear direction. As shown in FIG. 6, the front-rear stopper portion 41c can come into contact with the front surface (one surface in the front-rear direction) of the transported object 11. The front / rear stopper portion 41c is provided at the front end portion of the front frame main body portion 41a1. The front-rear stopper portion 41c (not shown) that can come into contact with the rear surface (the other surface in the front-rear direction) of the transported object 11 may or may not be provided. As shown in FIG. 7, the front-rear stopper portion 41c projects downward from the outer portion (specifically, the front side portion) of the frame main body portion 41a in the front-rear direction. The front and rear stopper portions 41c have, for example, a plate shape. The front and rear stopper portions 41c are fixed to the frame main body portion 41a.

FIG. 8 is a view of the transported object 11 and the jig 40 shown in FIG. 6 as viewed from the front (front-back direction).

The positioning unit 43 positions the relative position of the transported object 11 (more specifically, the transported object 11 gripped by the gripping device 33) with respect to the gripping device 33 shown in FIG. The positioning unit 43 (see FIG. 6) positions the position of the transported object 11 relative to the base unit 33a. The positioning unit 43 (see FIG. 6) positions the position of the transported object 11 relative to the frame unit 41. The positioning unit 43 includes a reference line positioning unit 43b and a longitudinal positioning unit 43c.

The reference line positioning unit 43b (see FIG. 8) positions the relative position of the reference line 11a of the transported object 11 gripped by the gripping device 33 with respect to the gripping device 33. As shown in FIG. 8, the reference line positioning unit 43b positions the relative position of the reference line 11a of the transported object 11 with respect to the jig 40. The reference line positioning unit 43b positions the jig 40 and the transported object 11 so that the relative positions of the jig 40 and the reference line 11a are within a predetermined allowable range. Specifically, the reference line positioning portion 43b is a width stopper portion 41b that contacts the lower surface of the frame body portion 41a that contacts the upper surface of the transported object 11 and the outer surface of the transported object 11 in the width direction. It is composed of an inner surface in the width direction. The lower surface of the frame main body 41a positions the reference line 11a with respect to the jig 40 in the height direction. The inner surface of the width stopper portion 41b in the width direction is positioned on the reference line 11a with respect to the jig 40 in the width direction. That is, the reference line positioning unit 43b abuts on the transported object 11 so as to position the detection unit 45 of the jig 40 relative to the reference line 11a virtually set on the transported object 11.

The longitudinal positioning portion 43c (see FIG. 6) is a relative position of the transported object 11 gripped by the gripping device 33 with respect to the gripping device 33 shown in FIG. 5, and is relative to the longitudinal direction (front-back direction) of the transported object 11. Position the position. As shown in FIG. 6, the longitudinal positioning portion 43c positions the relative position of the transported object 11 with respect to the jig 40 in the front-rear direction. The longitudinal positioning portion 43c positions the jig 40 and the transported object 11 so that the relative positions of the jig 40 and the transported object 11 in the front-rear direction fall within a predetermined allowable range. Specifically, the longitudinal positioning portion 43c is composed of a rear surface of the front and rear stopper portions 41c that come into contact with the front surface of the transported object 11. That is, the longitudinal positioning unit 43c abuts on the transported object 11 so as to position the detection unit 45 of the jig 40 relative to the transported object 11.

As shown in FIG. 5, the detection unit 45 is a part for detecting the position (coordinates and posture) of the transported object 11 gripped by the gripping device 33. The detection unit 45 is a part of the tip attachment 30 (mounted on the tip attachment 30). The detection unit 45 is provided integrally with the base portion 33a and moves in conjunction with the movement of the base portion 33a. The detection unit 45 is provided at least in the frame unit 41 and is fixed to the frame unit 41. The detection unit 45 is attached to the upper surface of the frame unit 41. The detection unit 45 includes at least a prism 45a, and may further include an angle sensor 45b. The coordinates of the prism 45a (collimation prism) are detected by the total station 15 (see FIG. 1). The total station 15 may form a part of the detection unit 45. That is, the detection unit 45 is not limited to that provided in the frame unit 41. The angle sensor 45b detects the posture of the transported object 11. Of the detection unit 45, the relative positions of the prism 45a and the angle sensor 45b provided on the frame unit 41 and the gripping device 33 are fixed (FIG. 5). Therefore, if the relative positions of the gripping device 33 and the transported object 11 are fixed, the relative positions of the detection unit 45 and the transported object 11 are naturally fixed. Whether or not the angle sensor 45b is required differs depending on the position of the prism 45a in the frame portion 41 and the number of prisms 45a, and the number of axes that the angle sensor 45b needs to detect the rotation angle differs. .. Specifically, the detection unit 45 is configured as follows, for example, [Configuration Example 1] to [Configuration Example 3].

[Configuration Example 1]
As shown in FIG. 6, in the configuration example 1 (detection unit 45-1), two prisms 45a are provided. The two prisms 45a are arranged at positions separated from each other (shifted positions) in the front-rear direction. The positions of the two prisms 45a in the width direction are the same as each other. That is, when viewed from above, the two prisms 45a pass through a line extending in the front-rear direction (for example, a reference line 11a). In this case, the yaw angle and pitch angle of the transported object 11 can be calculated based on the coordinates of the two prisms 45a. On the other hand, the roll angle (rotation angle around the axis extending in the front-rear direction) of the transported object 11 cannot be calculated from the coordinates of the two prisms 45a. Therefore, the angle sensor 45b detects the rotation angle of one axis (specifically, the roll angle of the transported object 11).

When two prisms 45a are provided, the two prisms 45a may be arranged only in one of the front frame main body 41a1 and the rear frame main body 41a2. Further, as shown in FIG. 5, the two prisms 45a may be separately arranged in the front frame main body 41a1 and the rear frame main body 41a2, respectively.

[Configuration Example 2]
FIG. 9 is a diagram corresponding to FIG. 6, and is a diagram showing a configuration example 2 of the detection unit 45 shown in FIG. As shown in FIG. 9, in the configuration example 2 (detection unit 45-2), two prisms 45a are provided. The two prisms 45a are arranged at positions separated from each other in the front-rear direction, and are arranged at positions separated from each other in the width direction (left-right direction). In this case, the yaw angle, pitch angle, and roll angle of the transported object 11 can be calculated based on the coordinates of the two prisms 45a. Therefore, in this configuration example 2, the angle sensor 45b (see FIG. 6) is unnecessary. In addition, in FIG. 9 and FIG. 10 described later, the width stopper portion 41b and the front-rear stopper portion 41c shown in FIG. 6 are not shown.

[Configuration Example 3]
FIG. 10 is a diagram corresponding to FIG. 6, and is a diagram showing a configuration example 3 of the detection unit 45 shown in FIG. As shown in FIG. 10, in the configuration example 3 (detection unit 45-3), one prism 45a is provided. The prism 45a is arranged at a position where the relative position with respect to the transported object 11 is known (for example, a position at the center of the transported object 11 when viewed from the height direction). In this case, the posture of the transported object 11 cannot be calculated from the coordinates of the prism 45a. Therefore, the angle sensor 45b detects the yaw angle, the pitch angle, and the roll angle of the three axes, specifically, the transported object 11, respectively.

Note that the detection unit 45 may have a configuration other than the above [configuration example 1] to [configuration example 3] as long as the coordinates and posture of the transported object 11 can be detected. Further, depending on the type and shape of the transported object 11, only a part of the coordinates (x-axis, y-axis, z-axis) and posture (yaw angle, pitch angle, roll angle) is detected by the detection unit 45. May be done. Specifically, when the transported object 11 may be arranged at an arbitrary roll angle, such as when the transported object 11 has a cylindrical shape, the detection unit 45 may not be able to detect the roll angle.

As shown in FIG. 7, the reading device 47 reads the information (described later) of the transported object 11 from the electronic tag 13 and transmits it to the controller 80 (see FIG. 3). The reading device 47 is provided in the frame portion 41. The reading device 47 includes an antenna and the like. The antenna of the reading device 47 is provided, for example, on the surface of the frame portion 41 facing the electronic tag 13 (specifically, the lower surface of the frame portion 41).

The sensors 50 (see FIG. 3) detect the state related to the work machine 20 shown in FIG. As shown in FIG. 3, the sensors 50 include a machine position detection unit 51 and an attitude detection unit 53.

The machine position detection unit 51 detects the position (coordinates, direction) of the machine body 21 shown in FIG. 2, and more specifically, detects the position of the upper swivel body 21b. The machine position detection unit 51 detects the position of the machine body 21 in the coordinate system of the work site. The machine position detection unit 51 may use a satellite positioning system (for example, GNSS (Global Navigation Satellite System)), or may use a total station provided separately from the total station 15.

The posture detection unit 53 (see FIG. 3) detects the posture of the attachment 22 with respect to the machine body 21. The posture of the attachment 22 detected by the posture detection unit 53 is used to calculate the position of the gripping device 33 (the position of the transported object 11) with respect to the machine body 21. The posture detection unit 53 shown in FIG. 3 includes, for example, an angle sensor. Specifically, the posture detection unit 53 includes a boom angle sensor 53a, an arm angle sensor 53b, and a tip attachment angle sensor 53c. The boom angle sensor 53a detects the rotation angle (undulation angle) of the boom 23a with respect to the upper swivel body 21b shown in FIG. The arm angle sensor 53b (see FIG. 3) detects the rotation angle of the arm 23b with respect to the boom 23a. The tip attachment angle sensor 53c (see FIG. 3) detects the rotation angle (of the mounting portion 31a) of the tip attachment 30 with respect to the arm 23b. The tip attachment angle sensor 53c (see FIG. 3) detects the rotation angle of the tilt portion 31b with respect to the arm 23b and the rotation angle (of the base portion 33a) of the rotation portion 31c with respect to the tilt portion 31b.

The operation guidance unit 61 (see FIG. 3) outputs (notifies) guidance information that assists the operator in operating at least one of the machine main body 21 and the attachment 22, so that the operator of the work machine 20 (see FIG. 3) It is possible to indicate (instruct) the operation to be performed by the machine operator). The operation guidance unit 61 provides guidance so that the transported object 11 is transported to the target position P1 (see FIG. 1) (details will be described later). The operation guidance unit 61 may output (notify) the guidance information by light, or may display (notify) the guidance information by voice. The guidance information by light may be a screen display or a light such as an LED (light emission diode) light. Specifically, when the operation guidance unit 61 outputs that the arm 23b should be operated to the pushing side, the operation guidance unit 61 displays "Please push the arm" or outputs a voice.

The drive unit 63 (see FIG. 3) is a part that drives the work machine 20. The drive unit 63 may include, for example, a hydraulic circuit or an electric circuit. The drive unit 63 receives a command signal and is capable of driving the lower traveling body 21a, the upper swivel body 21b, and the attachment 22 in response to the command signal. Further, the drive unit 63 can switch between a state in which the gripping device 33 grips the transported object 11 and a state in which the gripping device 33 releases the gripping of the transported object 11 in response to the command signal. A gripping drive unit capable of driving the gripping device 33 is included.

The controller 80 (see FIG. 3) performs signal input / output, calculation, storage, and the like. The controller 80 may be provided on the work machine 20 (see FIG. 3), or may be provided outside the work machine 20 as shown in FIG. The controller 80 may be provided integrally with the display unit 90, or may be a separate body from the display unit 90. As shown in FIG. 3, the controller 80 receives the detected information (direction information) from the angle sensor 45b. The controller 80 receives the detected information (coordinates of the prism 45a) from the total station 15. For example, the controller 80 receives information from the total station 15 via the receiving unit 80r. The controller 80 transmits information regarding the position deviation (described later) to the display unit 90. The controller 80 includes a target position storage unit 81, a detection position calculation unit 82, a position deviation calculation unit 83, a log unit 85, an automatic control unit 86, and a grip release prohibition unit 87 (grip control unit). (Details of each part will be described later).

The display unit 90 (deviation display unit, deviation display) displays information on the position deviation (described later). The display unit 90 may also be used as the operation guidance unit 61. The display unit 90 may be arranged outside the work machine 20 shown in FIG. 1, and may be, for example, a portable object (handy type) held by a worker in the vicinity of the transported object 11. The display unit 90 (see FIG. 3) may be included in the work machine 20 shown in FIG. 2, and may be provided, for example, in the cab of the work machine 20. The display unit 90 may be provided on the tip attachment 30, and specifically, the tip display unit 90t shown in FIG. 11 may be provided.

The tip display unit 90t is provided on the tip attachment 30. The tip display portion 90t may be provided on the frame portion 41 and may be attached to the frame portion 41 or may be integrated with the frame portion 41. The tip display unit 90t visually notifies the information regarding the position deviation to the periphery of the tip display unit 90t. The tip display unit 90t is arranged at a position easily visible to an operator in the vicinity of the transported object 11 (see FIG. 5). The tip display unit 90t is arranged at a position easily visible to the operator of the work machine 20 (see FIG. 2). For example, the tip display unit 90t is arranged outside the gripping device 33 shown in FIG. 5 (a position that is not hidden by the gripping device 33). As shown in FIG. 11, the tip display portion 90t is arranged, for example, on the upper surface of the frame portion 41 and is arranged parallel to the upper surface of the transported object 11 (see FIG. 5). The tip display portion 90t may be arranged in parallel with a surface (outer surface in at least one of the front-rear direction and the width direction) other than the upper surface of the transported object 11 (not shown). The tip display unit 90t includes a portion capable of emitting light, and includes, for example, an LED (light emission diode) or the like.

(Operation)
The transportation system 1 shown in FIG. 1 is configured to operate as follows.

(Gripping the transported object 11)
By operating the work machine 20 shown in FIG. 2, the gripping device 33 is brought closer to the transported object 11. Then, the jig 40 is attached (fitted) to the transported object 11. At this time, the positioning portion 43 shown in FIG. 8 comes into contact with the transported object 11. Specifically, the lower surface of the frame main body 41a comes into contact with the upper surface of the transported object 11. Further, the inner surface of the width stopper portion 41b in the width direction comes into contact with the outer surface of the transported object 11 in the width direction. Further, as shown in FIG. 6, the front-rear stopper portion 41c comes into contact with the front surface of the transported object 11. As a result, the jig 40 is positioned with respect to the transported object 11 (relative position is uniquely determined). As a result, the detection unit 45 (prism 45a or the like) is positioned with respect to the transported object 11 shown in FIG. As a result, the position of the transported object 11 can be calculated from the detection result of the detection unit 45. Further, the gripping device 33 grips the transported object 11. The timing at which the positioning unit 43 comes into contact with the transported object 11 and the timing at which the gripping device 33 starts gripping the transported object 11 may be simultaneous with each other, or one of them may be first.

(Example of arrangement of the transported object 11)
The transported object 11 shown in FIG. 1 is transported to the target position P1 and arranged (installed and laid). For example, when the transported object 11 has a U-shaped groove, the transported object 11 may be arranged as follows. First, the "first transported object 11" is arranged at the target position P1. At this time, the coordinates and posture of the first transported object 11 are arranged so as to match the target coordinates and posture. After that, the "second and subsequent transported objects 11" are arranged along the passage line P1a (the position of the target reference line 11a) in series with each other and in contact with each other so as to be continuous with each other. The second and subsequent transported objects 11 are arranged so as to be continuous with the already arranged transported objects 11. Further, the second and subsequent transported objects 11 are arranged so that the direction of the reference line 11a of the transported object 11 and the direction of the passage line P1a coincide with each other (the posture of the transported object 11 is adjusted to the target posture). ). As a result, the coordinates of the second and subsequent objects 11 match the target coordinates. As described above, when arranging the first transported object 11, the information on the coordinates and the posture is required, and when arranging the second and subsequent transported objects 11, the information on the posture is sufficient. The procedure for arranging the transported object 11 is an example, and the transported object 11 can be arranged by various procedures.

(Operation of controller 80, etc.)
The outline of the operation of the controller 80 (see FIG. 3) is as follows. Information on the target position P1 of the transported object 11 shown in FIG. 5 is set (stored) in the target position storage unit 81 (see FIG. 3). The detection position calculation unit 82 (see FIG. 3) calculates the detection position P2, which is the current position of the transported object 11, based on the value detected by the detection unit 45. Note that FIG. 5 shows the target position P1 projected in the height direction and the current detection position P2. The position deviation calculation unit 83 (see FIG. 3) calculates a position deviation which is a deviation of the detection position P2 with respect to the target position P1. The controller 80 shown in FIG. 3 may output the operation guidance to the side that reduces the position deviation to the operation guidance unit 61. Further, the automatic control unit 86 may automatically operate the attachment 22 (see FIG. 2) on the side that reduces the position deviation. The controller 80 may display the position deviation information on the display unit 90. Details such as the operation of the controller 80 are as follows.

(Setting of target position P1)
Information on the target position P1 of the transported object 11 shown in FIG. 5 is set (stored) in advance (before each of the following calculations is performed) in the target position storage unit 81 (see FIG. 3) (storage unit). There is. The information of the target position P1 is information on the position of the target transported object 11 (installation position planning information, design information, three-dimensional information). The information of the target position P1 includes information on the coordinates (target coordinates) of the target transported object 11 and information on the posture (target posture) of the target transported object 11, respectively. For example, the information required when arranging the above-mentioned "first material handling object 11" is information on target coordinates and information on target posture. The information required when arranging the above-mentioned "second and subsequent transported objects 11" is information on the target posture. The information on the target coordinates of the second and subsequent objects 11 does not necessarily have to be set in the target position storage unit 81.

(Calculation of detection position P2)
The detection position calculation unit 82 (see FIG. 3) calculates the detection position P2 based on the value (detection result) detected by the detection unit 45. Specifically, the detection position P2 is the current (current, actual) position of the carrier 11 calculated based on the values detected by the detection unit 45 and the total station 15 (see FIG. 1). The detection position P2 includes the coordinates of the current carrier 11 (detection coordinates) and the posture of the current carrier 11 (detection posture). For example, the information required when arranging the "first transported object 11" is the information of the detection coordinates and the information of the detection posture. The information required when arranging the above-mentioned "second and subsequent transported objects 11" is the information on the detection posture. The detection position calculation unit 82 does not necessarily have to calculate the detection coordinates when the transported object 11 to be transported is the second or later.

(Acquisition of information on the transported object 11)
The controller 80 (see FIG. 3) acquires information necessary for transporting the transported object 11 (hereinafter, also referred to as “transported object information”). The transported object information may include information on the type of the transported object 11 (for example, whether it is a U-shaped groove or a block). The transported object information may include information on the dimensions of the transported object 11. The dimensional information of the transported object 11 acquired by the controller 80 is, for example, dimensional information from the portion of the transported object 11 positioned with respect to the jig 40 to the portion on the opposite side thereof. Specifically, the transported object information is dimensional information (that is, the transported object) from the front surface to the rear surface (opposite surface) of the transported object 11 to which the front and rear stopper portions 41c are in contact. Information on the length of 11 in the longitudinal direction) and the like may be included. The transported item information may include information on dimensions in directions other than the front-rear direction.

The transported information acquired by the controller 80 (see FIG. 3) can be acquired by various methods. For example, the transported object information may be acquired from the one provided on the transported object 11 (pasted, attached, embedded, etc.), or may be acquired from, for example, the electronic tag 13 (see FIG. 7). The information on the transported object 11 may be acquired from an object other than the transported object 11 (for example, a storage medium). The transported information may be acquired by input by the operator. When the transported object information is the information on the dimensions of the transported object 11, the transported object information may be acquired by an apparatus for measuring the dimensions of the transported object 11. Specifically, for example, the length of the transported object 11 in the front-rear direction is measured by a device that measures the dimension from the front surface to the rear surface by sandwiching the front surface and the rear surface of the transported object 11. Information may be obtained.

(Calculation of the position deviation of the detection position P2 with respect to the target position P1)
The position deviation calculation unit 83 (see FIG. 3) calculates a position deviation which is a deviation of the detection position P2 with respect to the target position P1. The position deviation includes a coordinate deviation and a posture deviation. The coordinate deviation is the deviation of the detected coordinates with respect to the target coordinates. The posture deviation is the deviation of the detected posture with respect to the target posture. The posture deviation is a deviation in the direction in which the reference line 11a extends with respect to the direction in which the passage line P1a extends. For example, the information required when arranging the above-mentioned "first transported object 11" is coordinate deviation information and attitude deviation information. The information required when arranging the above-mentioned "second and subsequent transported objects 11" is the attitude deviation information. The position deviation calculation unit 83 (see FIG. 3) does not necessarily have to calculate the coordinate deviation when the transported objects 11 to be transported are the second and subsequent objects. The detection position calculation unit 82 and the position deviation calculation unit 83 constitute the position calculation unit of the present invention. The position calculation unit calculates the detection position P2, which is the current position of the material handling 11 based on the coordinates detected by the detection unit 45 and the value of at least one of the postures, and detects the target position P1. The position deviation, which is the deviation of the position P2, is further calculated.

The position deviation calculated by the position deviation calculation unit 83 shown in FIG. 3 can be used in various ways. For example, the calculated position deviation may be used for guidance by the operation guidance unit 61, or may be used for automatic control by the automatic control unit 86. The position deviation calculation unit 83 functions as an output unit that outputs a signal corresponding to the calculated position deviation. The signal output from the position deviation calculation unit 83 is input to the display unit 90, the operation guidance unit 61, the automatic control unit 86, and the like.

(Guidance by operation guidance unit 61)
The controller 80 causes the operation guidance unit 61 to output operation guidance to the side that reduces the position deviation based on the values detected by the machine position detection unit 51 and the attitude detection unit 53. More specifically, the position deviation calculation unit 83 (guidance information input unit) of the controller 80 determines the guidance information so that the position deviation is reduced based on the detection results of the machine position detection unit 51 and the attitude detection unit 53. Then, the signal corresponding to the determined guidance information is input to the operation guidance unit 61. The operation guidance unit 61 indicates (instructs) the operator the content (“operation guidance information”) of the operation to be performed by the operator in order to reduce the position deviation. The transported object 11 shown in FIG. 2 can be installed at the target position P1 with high accuracy only by the operator operating the work machine 20 according to the operation guidance information.

The content of the operation guidance information is appropriately selected so that the position deviation can be reduced. The content of the operation guidance information includes, for example, at least one of the following [Example 1A] to [Example 1F]. [Example 1A] Traveling (forward, reverse) of the lower traveling body 21a. [Example 1B] A turn (right turn, left turn) of the upper turning body 21b with respect to the lower traveling body 21a. [Example 1C] Rotation (raising, lowering) of the boom 23a with respect to the upper swivel body 21b. [Example 1D] Rotation (push, pull) of the arm 23b with respect to the boom 23a. [Example 1E] Rotation of the tip attachment 30 with respect to the arm 23b. More specifically, [Example 1E] includes the following [Example 1Ea] to [Example 1Ec]. [Example 1Ea] Rotation (push, pull) of the mounting portion 31a with respect to the arm 23b. [Example 1Eb] Rotation of the tilt portion 31b with respect to the mounting portion 31a (tilt to the right, tilt to the left). [Example 1Ec] Rotation of the rotating portion 31c with respect to the tilting portion 31b (clockwise rotation, counterclockwise rotation). That is, the rotation of the gripping device 33 with respect to the tilt portion 31b. [Example 1F] Rotation of the grip portion 33b with respect to the base portion 33a (grip, grip release).

(Conditions for guidance)
The guidance by the operation guidance unit 61 shown in FIG. 3 may be always performed during the transportation work of the transported object 11 (see FIG. 2), or may be performed only when a predetermined condition is satisfied. Whether or not the guidance by the operation guidance unit 61 is performed may be switched by an operation of the operator (for example, an operation of pressing a switch). Guidance by the operation guidance unit 61 may be performed only when the detection position P2 of the transported object 11 shown in FIG. 12 is inside the control execution area A1. Specifically, when the gripping portion 33b grips the transported object 11 (conveyed object 11B before work) placed outside the control execution area A1 and starts transporting the transported object 11, the operation guidance unit 61 (see FIG. 3) does not provide guidance. The control execution area A1 is set in the controller 80 (see FIG. 3), and is an area set to include the target position P1 and the periphery of the target position P1. For example, the control execution area A1 is an area set so that the position deviation is equal to or less than a predetermined value. The controller 80 (see FIG. 3) may change the range of the control execution area A1 (manually or automatically) according to some conditions.

(Changes in guidance content)
The controller 80 shown in FIG. 3 changes the content of the operation guidance (work assistance information) output to the operation guidance unit 61 according to the change in the posture of the attachment 22 detected by the posture detection unit 53. More specifically, the controller 80 keeps grasping the posture of the attachment 22 detected by the posture detection unit 53 (see FIG. 3) during the transportation work of the transported object 11 (see FIG. 2). When the posture of the attachment 22 changes, the controller 80 selects the content of the operation guidance information suitable for reducing the position deviation based on the changed posture of the attachment 22. That is, the position deviation calculation unit 83 of the controller 80 determines the guidance information so that the guidance information changes according to the change in the posture of the attachment 22. Then, the controller 80 (position deviation calculation unit 83) inputs a signal corresponding to the content of the selected operation guidance information to the operation guidance unit 61, and outputs (notifies) the operation guidance information to the operation guidance unit 61. This makes it possible to more reliably provide guidance for moving the transported object 11 shown in FIG. 5 to the target position P1.

(Control by automatic control unit 86)
The automatic control unit 86 (see FIG. 3) automatically operates the work machine 20 (see FIG. 1) so as to transport the transported object 11 to the target position P1. More specifically, the automatic control unit 86 (see FIG. 3) automatically attaches the attachment 22 to the side that reduces the position deviation based on the value (detection result) detected by the machine position detection unit 51 and the attitude detection unit 53. To operate. In particular, the automatic control unit 86 determines the command signal so that the position deviation is reduced, and inputs the determined command signal to the drive unit 63 to automatically operate the attachment 22. The content of the automatic control by the automatic control unit 86 is appropriately selected so that the position deviation can be reduced. The content of the automatic control by the automatic control unit 86 includes at least one of the above [Example 1A] to [Example 1F] as well as the content of the operation guidance information described above. For example, the automatic control unit 86 automatically controls the rotation angle of each rotation axis of the attachment 22. In addition, when the automatic control unit 86 "automatically operates the attachment 22 on the side that reduces the position deviation", the attachment 22 is automatically operated (moved) as a result of automatically traveling the lower traveling body 21a. Includes letting. The automatic control by the automatic control unit 86 includes automatically operating the attachment 22 as a result of automatically turning the upper turning body 21b with respect to the lower traveling body 21a.

(Conditions for automatic control)
The automatic control by the automatic control unit 86 shown in FIG. 3 may always be performed during the transportation work of the transported object 11 (see FIG. 2), or may be performed only when a predetermined condition is satisfied. The automatic control by the automatic control unit 86 may be performed only when the detection position P2 of the transported object 11 shown in FIG. 12 is included in the control execution area A1. In addition, both the guidance by the operation guidance unit 61 shown in FIG. 3 and the automatic control by the automatic control unit 86 may be performed. In this case, the control execution area A1 (see FIG. 12) where guidance is performed and the control execution area A1 where automatic control is performed may be the same or different from each other.

(Prohibition of releasing the grip of the grip device 33)
The gripping release prohibition unit 87 shown in FIG. 3 is the transported object 11 by the gripping device 33 until the detection position P2 of the transported object 11 shown in FIG. 5 substantially coincides with the target position P1 (until the position deviation becomes substantially zero). It is prohibited to release the grip of. Specifically, a position deviation threshold value, which is a threshold value related to the magnitude of the position deviation, is preset (stored) in the grip release prohibition unit 87 (see FIG. 3). The position deviation threshold value may be stored in the target position storage unit 81 (storage unit) instead of the grip release prohibition unit 87. When the calculated position deviation (positional deviation of the transported object 11 gripped by the gripping device 33) is larger than the position deviation threshold value, the gripping release prohibiting unit 87 releases the gripping of the transported object 11 by the gripping device 33. Is prohibited. In this case, the grip release prohibition unit 87 (see FIG. 3) invalidates the operation of releasing the grip of the transported object 11 by the grip device 33 even if the operator performs the operation. In this case, for example, the pair of gripping portions 33b does not open regardless of the operation by the operator. When the calculated position deviation is equal to or less than the position deviation threshold value, the grip release prohibition unit 87 (see FIG. 3) permits the grip device 33 to release the grip of the transported object 11. In this case, when the operator releases the grip of the transported object 11 by the gripping device 33, the gripping device 33 releases the grip of the transported object 11 (for example, the pair of gripping portions 33b opens). ).

As described above, in the present embodiment, when the calculated position deviation is larger than the position deviation threshold value, the grip release prohibition unit 87 continues to grip the transported object 11 with respect to the grip device 33 and releases the grip. Is input to the gripping drive unit of the drive unit 63, while the calculated position deviation is equal to or less than the position deviation threshold value, a signal permitting the gripping device 33 to release the grip of the transported object 11 (released). A signal) is input to the gripping drive unit of the drive unit 63, respectively. The controller 80 further has a determination unit (not shown) for determining the magnitude relationship between the calculated position deviation and the position deviation threshold value.

As described above, the position deviation includes the coordinate deviation and the attitude deviation. Here, the gripping release prohibition unit 87 (see FIG. 3) may prohibit the gripping device 33 from releasing the grip of the transported object 11 until the coordinate deviation becomes substantially zero (hereinafter [Example 2A]). Further, the grip release prohibiting unit 87 (see FIG. 3) may prohibit the gripping device 33 from releasing the grip of the transported object 11 until the posture deviation becomes substantially zero (hereinafter [Example 2B]).

[Example 2A] A coordinate deviation threshold value, which is a threshold value related to the magnitude of the coordinate deviation, is preset in the grip release prohibition unit 87 shown in FIG. When the calculated coordinate deviation is larger than the coordinate deviation threshold value, the grip release prohibiting unit 87 prohibits the gripping device 33 shown in FIG. 5 from releasing the grip of the transported object 11. When the calculated coordinate deviation is equal to or less than the coordinate deviation threshold value, the grip release prohibiting unit 87 (see FIG. 3) permits the grip device 33 to release the grip of the transported object 11. In this example, for example, the gripping device 33 is allowed to release the grip of the transported object 11 in a state where the detected coordinates of the “first transported object 11” match or substantially match the target coordinates.

[Example 2B] The posture deviation threshold value, which is a threshold value related to the magnitude of the posture deviation, is preset in the grip release prohibition unit 87 shown in FIG. When the calculated posture deviation is larger than the posture deviation threshold value, the grip release prohibiting unit 87 prohibits the gripping device 33 shown in FIG. 5 from releasing the grip of the transported object 11. When the calculated posture deviation is equal to or less than the posture deviation threshold value, the grip release prohibition unit 87 (see FIG. 3) permits the grip device 33 to release the grip of the transported object 11. In this example, for example, the gripping device 33 is allowed to release the grip of the transported object 11 in a state where the detected posture of the “second and subsequent transported objects 11” matches or substantially matches the target posture.

(Log part 85)
The controller 80 shown in FIG. 3 stores the status (for example, progress status) of the transportation work of the transported object 11 (see FIG. 4) in the log unit 85. The controller 80 may display the information stored in the log unit 85 on the display unit 90.

(Display of information on position deviation)
The controller 80 causes the display unit 90 to display information on the position deviation (more specifically, information on the position deviation). For example, the controller 80 causes the tip display unit 90t shown in FIG. 11 to display the position deviation information. When the tip display unit 90t displays the position deviation information, the operator (at least one of the operator in the vicinity of the transported object 11 and the operator of the work machine 20) has the position deviation displayed on the tip display unit 90t. It is possible to work while visually observing the information of the above and the transported object 11 at the same time.

An example of the position deviation information displayed by the display unit 90 (for example, the tip display unit 90t) is as follows. The position deviation information displayed by the display unit 90 may include information on the direction of the position deviation. More specifically, the position deviation information displayed by the display unit 90 includes information on which direction the detection position P2 is deviated from the target position P1 shown in FIG. 5, that is, in which direction the transported object 11 is moved. It may contain information about what should be done. The position deviation information displayed by the display unit 90 shown in FIG. 11 may include information regarding the magnitude of the position deviation. The position deviation information displayed by the display unit 90 may include that the detection position P2 is in a coincident state (matched or substantially matched state) with respect to the target position P1 shown in FIG.

(Advantages of using total station 15)
When the position (detection position P2) of the transported object 11 gripped by the gripping device 33 shown in FIG. 1 is calculated from the values detected by the machine position detecting unit 51 and the posture detecting unit 53 shown in FIG. 3, the movable shaft of the attachment 22 is calculated. Therefore, the error in the position of the transported object 11 may become large. On the other hand, in the present embodiment, the detection position P2 of the transported object 11 is calculated by using the prism 45a and the total station 15. Therefore, the error of the detection position P2 of the transported object 11 can be reduced.

The effects of the work machine 20 shown in FIG. 1 are as follows.

The work machine 20 includes a machine body 21, an attachment 22 attached to the machine body 21, and a controller 80. The attachment 22 includes a base end side attachment 23 attached to the machine body 21 and a tip end attachment 30 attached to the tip end portion of the base end side attachment 23. As shown in FIG. 2, the tip attachment 30 includes a rotating device 31 and a gripping device 33. The rotating device 31 is attached to the tip end portion of the base end side attachment 23. The gripping device 33 is attached to the rotating device 31 and can rotate with respect to the base end side attachment 23 by the operation of the rotating device 31, and grips the transported object 11.

As shown in FIG. 1, the tip attachment 30 includes a detection unit 45. The detection unit 45 is for detecting the coordinates and the posture of the transported object 11 gripped by the gripping device 33.

Information on the target position P1 of the transported object 11 is set in the controller 80 (see FIG. 3). The controller 80 calculates the detection position P2, which is the current position of the transported object 11, based on the value detected by the detection unit 45. The controller 80 calculates a position deviation, which is a deviation of the detection position P2 with respect to the target position P1.

According to the above configuration, the controller 80 calculates the position deviation of the current detection position P2 of the transported object 11 with respect to the target position P1 of the transported object 11. Therefore, this position deviation can be used for various purposes (for example, guidance and automatic control).

According to the above configuration, the detection unit 45 is provided in the tip attachment 30. Therefore, if the tip attachment 30 grips the transported object 11, the detection unit 45 is attached to the transported object 11. Therefore, it is possible to eliminate the work of attaching and detaching the detection device (which has the same function as the detection unit 45) provided separately from the tip attachment 30 to and from the transported object 11. Therefore, the work required to transport the transported object 11 can be reduced. Since the work of attaching / detaching the detection device provided separately from the tip attachment 30 (attachment / detachment work) to / from the transported object 11 can be eliminated, the operator who performs this attachment / detachment work can be eliminated (labor can be saved).

Further, according to the above configuration, since the detection unit 45 is provided in the tip attachment 30, the tip attachment 30 does not come into contact with the detection unit 45 due to an erroneous operation. Therefore, it is possible to prevent the attachment 22 from coming into contact with the detection unit 45 due to an erroneous operation. As a result, damage to the detection unit 45 (for example, prism 45a) due to contact of the attachment 22 with the detection unit 45 can be suppressed. As a result, it is possible to suppress the problem that the detection unit 45 is damaged and the position of the transported object 11 cannot be accurately detected.

According to the above configuration, the transported object 11 is gripped by the gripping device 33 that is rotatable with respect to the base end side attachment 23. Here, when the transported object 11 is lifted by a crane and transported (in the case of suspension work), the following problems may occur. It is prohibited by law for workers to come into direct contact with the suspended load (here, the transported object 11). For this reason, a plurality of slingers (for example, about two people) may work while balancing the suspended load while pulling the suspended load through a kaishakunin rope or the like. On the other hand, in the above configuration, the transported object 11 can be transported in a state of being gripped by the gripping device 33. Therefore, it is possible to eliminate the work that the slinging worker had to perform in the hanging work. Therefore, the work required to transport the transported object 11 can be reduced. As a result, the number of workers required for the transportation work of the transported object 11 can be reduced (labor can be saved).

Further, as shown in FIG. 8, the work machine 20 includes a reference line positioning unit 43b. The reference line positioning unit 43b positions the relative position of the reference line 11a of the transported object 11 gripped by the gripping device 33 with respect to the gripping device 33 shown in FIG.

According to the above configuration, when the gripping device 33 grips the transported object 11, the reference line positioning unit 43b (see FIG. 8) determines the relative position of the reference line 11a of the transported object 11 with respect to the gripping device 33. Therefore, it is not necessary to separately set the relative position of the reference line 11a of the transported object 11 with respect to the gripping device 33 (by an operation or operation different from that of gripping the transported object 11 by the gripping device 33).

Further, as shown in FIG. 8, the work machine 20 includes a positioning unit 43. The positioning unit 43 positions the relative position of the transported object 11 gripped by the gripping device 33 with respect to the gripping device 33 shown in FIG.

According to the above configuration, when the gripping device 33 grips the transported object 11, the positioning portion 43 (see FIG. 8) determines the position of the transported object 11 with respect to the gripping device 33. Therefore, it is not necessary to separately set the position of the transported object 11 with respect to the gripping device 33 (by an operation or operation different from that of gripping the transported object 11 by the gripping device 33).

Further, as shown in FIG. 3, the work machine 20 includes a machine position detection unit 51, a posture detection unit 53, and an operation guidance unit 61. The machine position detection unit 51 detects the position of the machine body 21 (see FIG. 2). The posture detection unit 53 detects the posture of the attachment 22 (see FIG. 2).

Further, the operation guidance unit 61 shown in FIG. 3 outputs guidance (work assistance information). The controller 80 causes the operation guidance unit 61 to output operation guidance to the side that reduces the position deviation based on the values detected by the machine position detection unit 51 and the attitude detection unit 53.

According to the above configuration, the operator can easily perform the operation to reduce the position deviation by operating according to the output of the operation guidance unit 61. Therefore, even if the operator is not accustomed to the operation of transporting the transported object 11 shown in FIG. 1, the transported object 11 can be accurately transported to the target position P1.

Further, the controller 80 shown in FIG. 3 changes the content of the operation guidance output to the operation guidance unit 61 according to the change in the posture of the attachment 22 detected by the posture detection unit 53.

According to the above configuration, the operation guidance unit 61 can output appropriate operation guidance according to the change in the posture of the attachment 22.

Further, the work machine 20 includes a machine position detection unit 51 and a posture detection unit 53. The machine position detection unit 51 detects the position of the machine body 21 (see FIG. 2). The posture detection unit 53 detects the posture of the attachment 22 (see FIG. 2).

The controller 80 automatically operates the attachment 22 on the side that reduces the position deviation based on the values detected by the machine position detection unit 51 and the attitude detection unit 53.

According to the above configuration, the transported object 11 can be transported to the target position P1 without the operator operating the work machine 20 shown in FIG. Therefore, the operator does not need to get used to the operation of accurately transporting the transported object 11 to the target position P1, or the operator can be eliminated (labor can be saved).

Further, the controller 80 is set with a position deviation threshold value which is a threshold value related to the magnitude of the position deviation. When the position deviation is larger than the position deviation threshold value, the controller 80 prohibits the gripping device 33 from releasing the grip of the transported object 11. When the position deviation is equal to or less than the position deviation threshold value, the controller 80 permits the gripping device 33 to release the grip of the transported object 11.

With the above configuration, when the position deviation is larger than the position deviation threshold value, it is possible to prevent the transported object 11 from falling from the gripping device 33 due to an erroneous operation.

(Modification example)
The above embodiment may be variously modified. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection of the block diagram shown in FIG. 3 may be changed. For example, the threshold value and the range (for example, the control execution area A1) may be constant, may be changed by manual operation, or may be automatically changed according to some condition. For example, the number of components may be changed, and some of the components may not be provided. For example, what has been described as a plurality of members or parts that are different from each other may be regarded as one member or part. For example, what has been described as one member or part may be divided into a plurality of different members or parts.

According to this configuration, the position calculation unit of the controller calculates the position deviation of the current detection position of the transported object with respect to the target position of the transported object. Then, since the output unit outputs a signal corresponding to the position deviation, this position deviation can be used for various purposes (for example, guidance, automatic control, etc.) by using the signal.

Further, since the detection unit is provided in the tip attachment, if the gripping device of the tip attachment grips the transported object, the transported object and the detection unit can move integrally. Therefore, it is possible to eliminate the work of attaching and detaching the detection device to and from the transported object as in the case where another detection device having the same function as the detection unit is provided separately from the tip attachment. Therefore, the work required to transport the transported object can be reduced.

In addition, since the transported object and the detection unit can be moved together, the tip attachment does not collide with the detection unit due to an erroneous operation, and damage to the detection unit can be suppressed. As a result, it is possible to suppress the problem that the detection unit is damaged and the position of the transported object cannot be accurately detected.

In the above configuration, the tip attachment further has a reference line positioning portion that abuts on the transported object so as to position the detection unit relative to a reference line virtually set on the transported object. Is desirable.

According to this configuration, when the gripping device grips the transported object, the reference line positioning unit determines the relative position of the detection unit with respect to the reference line of the transported object. Therefore, the position (coordinates and posture) of the transported object can be accurately detected by the detection unit with the reference line as a reference.

In the above configuration, it is desirable that the tip attachment further has a positioning portion that comes into contact with the transported object so as to position the detection unit relative to the transported object.

According to this configuration, when the gripping device grips the transported object, the positioning unit determines the relative position of the detection unit with respect to the transported object. Therefore, the position (coordinates and posture) of the transported object can be accurately detected by the detection unit.

In the above configuration, a machine position detection unit that detects the position of the machine body, an attitude detection unit that detects the posture of the attachment with respect to the machine body, and an operator at least one of the machine body and the attachment. The controller further includes a guidance information notification unit capable of transmitting guidance information assisting the operation, and the controller has the position deviation based on the detection results of the machine position detection unit and the posture detection unit. It is desirable to further have a guidance information input unit that determines the guidance information so as to decrease and inputs a signal corresponding to the determined guidance information to the guidance information notification unit.

According to this configuration, the operator can easily perform an operation such that the position deviation is reduced by operating the work machine according to the guidance information notified from the guidance information notification unit. Therefore, even if the operator is not accustomed to the operation of transporting the transported object, the transported object can be accurately transported to the target position.

In the above configuration, it is desirable that the guidance information input unit of the controller determines the guidance information so that the guidance information changes according to the change in the posture of the attachment detected by the posture detection unit.

According to this configuration, the guidance information notification unit can notify the operator of appropriate guidance information according to the change in the posture of the attachment.

In the above configuration, a machine position detection unit that detects the position of the machine body, an attitude detection unit that detects the posture of the attachment with respect to the machine body, and a command signal are received and the attachment is driven in response to the command signal. Further provided with a capable drive unit, the controller determines the command signal so that the position deviation is reduced based on the detection results of the machine position detection unit and the attitude detection unit, and the determination is made. It is desirable to further have an automatic control unit that automatically operates the attachment by inputting the command signal to the drive unit.

According to this configuration, the transported object can be transported to the target position without the operator operating the work machine. Therefore, it is not necessary for the operator to get used to the operation of accurately transporting the transported object to the target position, or the operator can be eliminated (labor can be saved).

In the above configuration, the gripping device can be driven so that the gripping device can switch between the state in which the gripping device grips the transported object and the state in which the gripping device releases the gripping of the transported object. The storage unit of the controller further stores a position deviation threshold value which is a threshold value related to the magnitude of the position deviation, and the controller has a position deviation larger than that of the position deviation threshold value. If it is large, a signal for continuing to grip the transported object and prohibiting the release of the grip is input to the grip drive unit, while the position deviation is equal to or less than the position deviation threshold value. It is desirable to further have a grip control unit for inputting a signal for permitting the release of grip of the transported object by the grip device to the grip drive unit.

According to this configuration, when the position deviation is larger than the position deviation threshold value, it is possible to prevent the transported object from falling from the gripping device due to an erroneous operation.

Claims

It is a work machine that can transport the transported object to the target position.
With the machine body
An attachment attached to the machine body so that it can move relative to the machine body,
With the controller
With
The attachment is
The base end side attachment attached to the machine body and
The tip attachment attached to the tip of the base end side attachment and
Have,
The tip attachment is
A gripping device capable of gripping the transported object and
A rotating device connected to the tip of the proximal attachment and capable of rotating the gripping device around at least one central axis of rotation with respect to the proximal attachment.
A detection unit for detecting the coordinates and posture of the transported object gripped by the gripping device,
Have,
The controller
A storage unit that stores information on the target position of the transported object,
The detection position, which is the current position of the transported object, is calculated based on the values of at least one of the coordinates and the posture detected by the detection unit, and is the deviation of the detection position with respect to the target position. A position calculation unit that further calculates the position deviation,
An output unit that outputs a signal corresponding to the calculated position deviation,
Has a working machine.
The work machine according to claim 1.
The tip attachment is a work machine further comprising a reference line positioning portion that abuts on the transported object so as to position the detection unit relative to a reference line virtually set on the transported object.
The work machine according to claim 1.
The tip attachment is a work machine further having a positioning portion that comes into contact with the transported object so as to position the detection unit relative to the transported object.
The work machine according to any one of claims 1 to 3.
A machine position detection unit that detects the position of the machine body,
A posture detection unit that detects the posture of the attachment with respect to the machine body, and
A guidance information notification unit capable of transmitting guidance information that assists the operator in operating at least one of the machine body and the attachment.
With more
The controller determines the guidance information so that the position deviation is reduced based on the detection results of the machine position detection unit and the posture detection unit, and the guidance information is a signal corresponding to the determined guidance information. A work machine further having a guidance information input unit to be input to the notification unit.
The work machine according to claim 4.
The guidance information input unit of the controller determines the guidance information so that the guidance information changes according to a change in the posture of the attachment detected by the posture detection unit.
The work machine according to any one of claims 1 to 3.
A machine position detection unit that detects the position of the machine body,
A posture detection unit that detects the posture of the attachment with respect to the machine body, and
A drive unit capable of receiving a command signal and driving the attachment in response to the command signal,
With more
The controller determines the command signal so as to reduce the position deviation based on the detection results of the machine position detection unit and the posture detection unit, and inputs the determined command signal to the drive unit. A work machine further comprising an automatic control unit that automatically activates the attachment.
The work machine according to any one of claims 1 to 6.
A gripping drive unit capable of driving the gripping device so that the gripping device can switch between a state in which the gripping device grips the transported object and a state in which the gripping device releases the gripping of the transported object. Further prepare
The storage unit of the controller further stores a position deviation threshold value which is a threshold value related to the magnitude of the position deviation.
When the position deviation is larger than the position deviation threshold value, the controller inputs a signal to the gripping drive unit to continue gripping the transported object and prohibit the release of the gripping device. A work machine further comprising a grip control unit for inputting a signal permitting the gripping device to release the grip of the transported object to the grip drive unit when the position deviation is equal to or less than the position deviation threshold value.