WO2023074176A1

WO2023074176A1 - Work machine

Info

Publication number: WO2023074176A1
Application number: PCT/JP2022/034606
Authority: WO
Inventors: 龍之介宮嵜; 隆行土井; 大輔野田; 展弘福尾; 謙一寺内
Original assignee: コベルコ建機株式会社
Priority date: 2021-10-28
Filing date: 2022-09-15
Publication date: 2023-05-04

Abstract

Provided is a work machine (1) capable of continuing work by means of automatic operation over a wide range. The work machine (1) comprises a controller that causes an upper turning body (22) and a work device (30) to perform a series of operations including processing operation multiple times. The controller performs: when a processing work that is a work consisting of a series of operations reaches a predetermined stage, changing the start position of the processing operation in the next series of operations in the turning direction of the upper turning body (22); when the processing work reaches a predetermined stage in a state in which the start position has reached a change limit plane (75), causing a lower traveling body (21) to perform a range changing movement; and setting a post-movement start position such that the processing work after the range changing movement is continuous with the processing work before the range changing movement.

Description

working machine

The present invention relates to work machines that can be automatically operated.

Patent Document 1 discloses an automatic excavator that automatically performs work operations from excavating earth and sand to dumping soil. Specifically, Patent Document 1 discloses that when the excavation depth reaches a set value at a certain excavation position, the next excavation position is automatically moved in the turning direction of the upper rotating body.

However, even if the excavation position is moved in the revolving direction of the upper revolving body, there is a limit to the expansion of the working range. Autonomous excavators are expected to be able to continue working over a wider area.

JP-A-2001-123479

The purpose of the present invention is to provide a working machine that can continue to work automatically over a wide range.

What is provided is a work machine that includes a lower traveling body, an upper revolving body, a working device, and a controller. The undercarriage is capable of running. The upper revolving body is rotatably mounted on the lower traveling body. The working device is rotatably attached to the upper revolving body so as to be able to perform a processing operation for processing an object. The controller controls driving of the upper swing body and the attachment so that the upper swing body and the work device perform a series of operations including the processing operation by the work device a plurality of times. The controller changes a starting position of the processing operation included in the next series of operations in the turning direction of the upper rotating body when the work by the series of operations reaches a predetermined stage; When the processing work, which is the work by the series of operations, reaches the predetermined stage in a state in which the start position reaches the change limit surface that defines the limit of change of the start position in the turning direction, the lower travel is performed. causing the body to perform a range changing movement that is a movement for changing the range of the processing work; and continuing the processing work after the range changing movement and the processing work before the range changing movement. It is configured to set a post-movement start position, which is the start position of the processing operation after range change movement.

1 is a side view of a working machine according to a first embodiment of the present invention; FIG. 3 is a block diagram showing a control unit mounted on the working machine and elements connected thereto; FIG. FIG. 4 is a plan view of the working machine, showing the target trajectory of the tip of the bucket in a series of operations before and after range change movement; It is a top view of the said working machine, and shows the movement distance of the said range change movement. FIG. 4 is a plan view of the working machine and shows an example of setting of change limit planes; FIG. 11 is a plan view of the work machine showing range change movement for setting a post-movement start position upstream of the change limit plane in the movement direction, which is the direction of the range change movement. FIG. 7 is a plan view of the work machine and shows an example of setting the movement distance of the range change movement for setting the post-movement start position shown in FIG. 6 ; FIG. 4 is a plan view of the working machine showing movement of the change limit surface upstream in the direction of movement of the undercarriage. It is a top view of the said working machine, and shows the operation|work which moves earth and sand in the movement direction of the said range change movement. FIG. 4 is a plan view of the working machine showing the operation of forming a slope; 4 is a flow chart showing processing performed by a controller of the working machine; FIG. 11 is a plan view of the working machine according to the second embodiment of the present invention, showing a state in which the lower traveling body has changed range by a predetermined movement distance; FIG. 8 is a plan view of the working machine according to the second embodiment of the present invention, showing a state in which the undercarriage has moved by a distance different from the movement distance; FIG. 11 is a plan view of the working machine according to the second embodiment of the present invention, showing a state in which the post-movement start position exceeds the change limit plane due to range change movement.

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

FIG. 1 shows a working machine 1 according to the first embodiment of the invention. The working machine 1 can be operated automatically. The work machine 1 is a hydraulic excavator, and includes a machine body 25 including a lower travel body 21 and an upper revolving body 22 , a revolving device 24 , an attachment 30 , and a working drive device 40 .

The lower running body 21 includes a pair of crawlers, and can perform a running operation by moving the pair of crawlers. The upper revolving body 22 is mounted on the lower traveling body 21 so as to be able to perform a revolving motion of revolving with respect to the lower traveling body 21 . The revolving device 24 is a revolving driving device that causes the upper revolving body 22 to perform the revolving motion. The upper revolving body 22 includes a cab (cab) 23 that constitutes the front portion of the upper revolving body 22 .

The attachment 30 is a working device attached to the upper revolving body 22 so as to be able to perform processing operations. The processing operation is an operation for processing an object, and includes vertical rotation. The attachment 30 includes a boom 31 , an arm 32 and a bucket 33 . The boom 31 has a base end portion and a tip end portion on the opposite side, and is connected to the upper revolving body 22 so that the base end portion can be vertically rotated (raised). The arm 32 has a base end and a tip on the opposite side, and is connected to the tip of the boom 31 so that the base can rotate vertically. The bucket 33 is a tip attachment, and is attached to the tip of the arm 32 so as to be rotatable in the front-rear direction, thereby forming the tip of the attachment 30 . The bucket 33 has a shape that enables excavation, leveling, scooping, and the like of an object to be excavated, ie, the object to be treated, including earth and sand. The object to be excavated by the bucket 33 is not limited to earth and sand, and may be stones or waste (industrial waste, etc.). Moreover, the working machine according to the present invention is not limited to the excavating machine, and therefore the object to be processed is not limited to the excavating object. For example, the tip attachment that constitutes the tip of the working device according to the present invention is not limited to the bucket 33 that holds earth and sand as described above. A holding lifting magnet or the like may be used.

The work drive device 40 can cause the attachment 30 to perform the processing operation by hydraulically moving the attachment 30 . The work drive device 40 includes a plurality of hydraulic cylinders each capable of telescopic motion, and the plurality of hydraulic cylinders includes a boom cylinder 41 , an arm cylinder 42 and a bucket cylinder 43 .

The boom cylinder 41 is arranged so as to rotate the boom 31 in the hoisting direction (vertical direction) with respect to the upper rotating body 22 by performing the telescopic motion. The boom cylinder 41 has a base end rotatably connected to the upper rotating body 22 and a tip end rotatably connected to the boom 31 .

The arm cylinder 42 is arranged so as to vertically rotate the arm 32 with respect to the boom 31 by performing the telescopic motion. The arm cylinder 42 has a base end rotatably connected to the boom 31 and a tip end rotatably connected to the arm 32 .

The bucket cylinder 43 is arranged so as to rotate the bucket 33 with respect to the arm 32 by performing the telescopic motion. The bucket cylinder 43 has a base end rotatably connected to the arm 32 and a tip end rotatably connected to the link member 34 . The link member 34 is rotatably connected to the bucket 33 to connect the bucket cylinder 43 and the bucket 33 to each other.

The working machine 1 further includes a turning angle sensor 52 as a turning angle detector and a working attitude detector 60 .

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

The working posture detector 60 detects the working posture, which is the posture of the attachment 30, which is the working device. and a tilt angle sensor 63 .

The boom tilt angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31 . Specifically, the boom tilt angle sensor 61 is a sensor that acquires the tilt angle of the boom 31 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. Instead of the boom tilt angle sensor 61, the working posture detector 60 is a rotation angle sensor that detects the rotation angle of the boom 31 around a boom foot pin that is a support shaft at the base end of the boom, or a rotation angle sensor that detects the rotation angle of the boom. A stroke sensor that detects the stroke of the cylinder 41 may be included.

The arm tilt angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32 . Specifically, the arm tilt angle sensor 62 is a sensor that acquires the tilt angle of the arm 32 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. Instead of the arm tilt angle sensor 62, the working posture detector 60 is a rotation angle sensor that detects the rotation angle of the arm 32 around an arm connecting pin that is a support shaft of the base end of the arm 32, or a rotation angle sensor that detects the rotation angle of the arm 32. A stroke sensor that detects the stroke of the arm cylinder 42 may be included.

The bucket tilt angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33 . Specifically, the bucket tilt angle sensor 63 is a sensor that acquires the tilt angle of the bucket 33 with respect to the horizontal line, and is, for example, a tilt (acceleration) sensor. Instead of the bucket tilt angle sensor 63, the working posture detector 60 is a rotation angle sensor for detecting the rotation angle of the bucket 33 of a bucket connecting pin, which is a support shaft of the base end of the bucket 33, or the bucket cylinder. A stroke sensor may be included to detect 43 strokes.

The working machine 1 further includes an imaging device 26 . The imaging device 26 is attached to the upper swing body 22 . Alternatively, the imaging device 26 may be installed at a location remote from the working machine 1 . The imaging device 26 according to this embodiment is a lidar (LIDAR). However, if the working machine according to the present invention includes means for imaging, the means may be a camera, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a range image sensor, an infrared sensor, or the like.

The following description is for excavating earth and sand with the bucket 33.

As shown in FIG. 2, the work machine 1 includes a control unit 11 and a storage device 13.

Turning posture information and working posture information are input to the control unit 11 . The turning attitude information is information detected by the turning angle sensor 52 , that is, information about the turning angle (turning attitude) of the upper turning body 22 with respect to the lower traveling body 21 . The working posture information is information relating to the posture detected by the working posture detector 60, that is, the posture of the attachment 30, which is the working device. The work posture information includes information detected by the boom tilt angle sensor 61, that is, information regarding the posture of the boom 31, information detected by the arm tilt angle sensor 62, that is, information regarding the posture of the arm 32, and information detected by the bucket tilt angle sensor 63, that is, information on the posture of the bucket 33.

The control unit 11 according to this embodiment automatically controls the operation of the work machine 1. The control unit 11 functions as control means for controlling driving of the upper swing body 22 and the attachment 30 so as to cause the upper swing body 22 and the attachment 30 to perform a series of operations. That is, the working machine 1 is automatically operated. Specifically, the control unit 11 controls the driving of the upper swing body 22 by the swing device 24 and the operation of the work drive device 40 based on the information detected by the swing angle sensor 52 and the work posture detector 60 . automatically controls the drive of the attachment 30 by. In the present embodiment, the series of operations is an operation of excavating and discharging earth and sand. That is, the series of operations includes an excavation operation of excavating earth and sand with the bucket 33 . The excavation operation is an example of a processing operation for processing an object using the attachment 30, which is a working device.

The control unit 11 causes the upper rotating body 22 and the attachment 30 to perform the series of operations multiple times. The control unit 11 according to the present embodiment repeats the series of operations while changing the height of the tip of the bucket 33 during the excavation operation. As a result, a series of operations from excavation of earth and sand to unloading of earth and sand are repeated while changing the depth of excavation of earth and sand at the same excavation location.

The storage device 13 constitutes a controller together with the control unit 11 and stores the series of operations. The series of operations is set by, for example, teaching by an operator. Through the series of operations, the tip of the attachment 30, that is, the tip of the bucket 33 traces a predetermined trajectory. As will be described later, part of the locus may be corrected as the lower traveling body 21 moves.

FIG. 3 shows a target trajectory 71 of the tip of the bucket 33 in the series of operations. The series of operations includes an excavation operation, a lifting and turning operation, an earth-discharging operation, and a return turning operation. The excavation operation involves movement of the tip of the bucket 33 from point A to point B. As shown in FIG. The lifting and turning motion involves turning the tip of the bucket 33 from the point B to the point C. As shown in FIG. The lifting and turning operation is performed while the earth and sand are held in the bucket 33 . The dumping operation involves moving the tip of the bucket 33 from the point C to the point D, and rotating the bucket 33 in the opening direction during this movement. The earth and sand are unloaded on the loading platform of the An area from the point C to the point D has an unloading position. The return turning operation involves turning the tip of the bucket 33 from the point D to the point A in the return direction. The part to be controlled by the attachment 30 in this embodiment is the tip of the bucket 33, and the target trajectory of the tip of the bucket 33 is illustrated. However, the control target portion is not limited to the tip of the bucket 33 .

The control unit 11 sets the limit depth. The limit depth is a limit value set for the excavation depth, and the excavation depth is the depth at which earth and sand are excavated by the bucket 33 . As described above, a series of operations from excavation of earth and sand to discharge of earth are repeated while changing the excavation depth.

The control unit 11 determines that the work by repeating the series of operations has reached a predetermined stage when the excavation depth in the excavation operation reaches the limit depth. The control unit 11 terminates the repetition of the series of operations at the same excavation location when it determines that the processing work performed by repeating the series of operations reaches the predetermined stage.

The control unit 11 or the storage device 13 stores a target number of repetitions, which is the number of repetitions of the series of operations, and repeats the series of operations when the number of repetitions of the series of operations reaches the target number of repetitions. The control unit 11 may be configured to determine that the work by repeating the action has reached a predetermined stage.

When the control unit 11 determines that the work by repeating the series of operations has reached the predetermined stage, the control unit 11 changes the starting position of the excavation operation in the next series of operations from the point A to the revolving of the upper revolving body 22. It functions as a starting position changing means for changing the direction. Specifically, in FIG. 3, by turning the upper turning body 22, the starting position is shifted from the point A in the turning direction. The starting position is separated from the point A by a predetermined turning angle in the turning direction in which the upper turning body 22 moves away from the point D (direction opposite to the lifting turning movement; rightward in FIG. 3). position. Along with the change of the start position from the point A, the end position of the excavation operation is also changed from the point B in the same direction by the same turning angle.

After changing the start position of the excavation operation from the point A to a new position, the control unit 11 causes the upper swing body 22 and the attachment 30 to perform the following series of operations. In this way, the next series of operations at the new excavation site are processed.

In FIG. 3, the initial posture of the upper swing body 22 is indicated by a solid line. The initial posture is the swinging posture of the upper rotating body 22 corresponding to point A, which is the starting position of the excavating motion in the first series of motions. It is a posture of the upper rotating body 22 with respect to the lower traveling body 21 such that the tip of the bucket 33 is positioned. The tip of the bucket 33 is at a position separated from the soil position by the initial angle in the turning direction. As the starting position of the excavation operation is changed from the point A, the attitude (swivel attitude) of the upper rotating body 22 with respect to the lower traveling body 21 at the start of the excavating operation gradually changes from the initial attitude. Be changed. Each time the starting position is changed in this way, the series of operations is started from the changed starting position.

The control unit 11 functions as limit plane setting means for setting the change limit plane 75 shown in FIG. The change limit surface 75 defines the limit of change of the start position in the turning direction. , and is a straight line perpendicular to the movement direction as shown in FIG. The change limit plane 75 may be preset and stored in the control unit 11 .

By repeating the series of operations while changing the start position of the excavation operation in the turning direction, the start position finally reaches the change limit surface 75 from the point A. The control unit 11 controls the excavation depth on the change limit plane 75 when the operation by repeating the series of operations reaches a predetermined stage in a state where the start position reaches the change limit plane 75 . When reaches the limit depth, the lower running body 21 is caused to perform the running motion to move the lower running body 21 in its running direction. This movement of the lower traveling body 21 is range change movement for changing the range of processing work by the series of operations. The movement for changing the range is preferably a movement in a direction to bring the post-movement attitude of the upper rotating body 22 closer to the initial attitude. The post-movement posture is the posture (turning posture) of the upper rotating body 22 with respect to the lower traveling body 21 corresponding to the post-movement start position, and the post-movement start position is the first series of operations after the range change movement. is the starting position of the excavation motion in . The initial posture is the posture of the upper rotating body 22 with respect to the lower traveling body corresponding to the starting position of the processing operation included in the first series of operations. In FIG. 3, an arrow Dm indicates the movement direction, which is the direction of the range changing movement, and the position of the work machine 1 after the range changing movement is indicated by a two-dot chain line. Further, the control unit 11 controls the processing work by the series of actions started immediately after the range changing movement to be continued to the processing work by the series of actions immediately before the range changing movement. , ie, the post-movement start position.

The control unit 11 according to the present embodiment sets the movement distance L as shown in FIG. 4 so that the processing work after the range changing movement is continuous with the processing work before the range changing movement. The moving distance L is the target moving distance of the lower running body 21 in the range changing movement, and in this embodiment is the sum of the starting position distance L1 and the critical surface distance L2 shown in FIG. The start position distance L1 is the distance in the movement direction from the start position (point A) of the work machine 1 in which the upper revolving body 22 is in the initial posture to the revolving central axis 20 of the upper revolving body 22. is. The limit surface distance L2 is the distance from the turning center axis 20 to the change limit surface 75 in the movement direction.

As will be described later, when the movement distance L of the lower traveling body 21 is smaller than the sum of the start position distance L1 and the limit surface distance L2, the excavation operation included in the series of operations after the range change movement. , ie, the post-movement start position, is located upstream of the change limit surface 75 in the movement direction.

As indicated by the arrow Dm, the movement direction, which is the direction of the range change movement of the lower traveling body 21, is the right direction in FIG. It is the same direction that is changed, that is, the same direction that the range of the repeated sequence of movements is gradually shifted.

The control unit 11 functions as attitude setting means for setting the post-movement attitude of the upper swing body 22 to the same attitude as the initial attitude. The post-movement posture is a revolving posture of the upper revolving body 22 corresponding to the start position of the excavation operation included in the series of operations after the range change movement, that is, the post-movement start position. The form is the posture of the upper rotating body 22 with respect to the lower traveling body 21 for positioning the tip of the bucket 33, which is the part to be controlled, at the post-movement start position. That is, the post-movement posture of the upper swing body 22 is returned to the same posture as the initial posture, ie, a posture in which the swing angle of the upper swing body 22 with respect to the lower traveling body 21 is equal to the initial swing angle. The control unit 11 thus restarts the series of operations by the upper rotating body 22 and the attachment 30 in the same posture as the initial posture, and then repeats them. As a result, the processing work by the above series of operations is repeated at the new excavation location. This allows the processing operations from the posture after the range change movement to be continuous with the processing operations before the range change movement. Further, not only changing the start position of the excavation operation in the turning direction before the movement for changing the range but also making the lower traveling body 21 perform the movement for changing the range makes it possible to continue the processing work in a wider range. enable

The control unit 11 functions as work range setting means for setting a work range 80 as shown in FIG. The working range 80 is the range over which the attachment 30 is permitted to move to perform the processing task. As shown in FIG. 3, the control unit 11 changes the starting position of the excavating motion within the working range 80, thereby allowing the attachment 30 to move in the series of motions regardless of the change in the starting position. Avoid deviating from the working range 80 . Further, the control unit 11 sets the post-movement start position within the work range 80 so that the processing work after the range changing movement is continued to the processing work before the range changing movement. This prevents the attachment 30 from deviating from the work range 80 due to the series of operations even after the range change movement, thereby causing the attachment 30 to interfere with obstacles outside the work range 80. can prevent you from doing it.

As shown in FIG. 3, the change limit surface 75 is such that the upper revolving body 22 is shifted from the initial posture, that is, the posture in which the tip of the bucket 33 is at the starting position of the first excavation operation, by a preset limit angle θ. It is set on a plane passing through the position of the tip of the bucket 33 when it turns away from the point D, that is, in the direction opposite to the direction of the lifting and turning operation. Alternatively, the change limit plane 75 may be set to a plane passing through the start position after the start position of the excavation operation has been changed by a preset allowable number of changes.

Alternatively, the change limit surface 75 may be set as the downstream boundary surface of the earth volume detection range 81 as shown in FIG. The soil amount detection range 81 is set within the work range 80 . The downstream boundary surface is a surface that defines the boundary of the soil amount detection range 81 on the downstream side (the right side in FIG. 5) in the moving direction of the lower traveling body 21 and is a surface orthogonal to the moving direction. The control unit 11 specifies the soil volume within the soil volume detection range 81 from the image information acquired by the imaging device 26, and when the detected soil volume, which is the specified soil volume, becomes equal to or less than a predetermined volume. , the lower running body 21 is controlled to change the range.

If a series of operations after the range change movement of the lower traveling body 21 were performed at a position beyond the change limit surface 75 in the movement direction, for example, the work machine 1 would be positioned at two points in FIG. When the series of motions are performed at the position indicated by the dashed line, a non-working area 77 as shown in FIG. 3 is generated. The non-work area 77 is an area in which neither the processing work before the range changing movement nor the processing work after the range changing movement is performed. In order to reduce such a non-working area 77, the control unit 11, for example, as shown in FIG. point A1) is preferably set on the upstream side (left side in FIG. 6) of the change limit surface 75 in the movement direction of the lower traveling body 21. As shown in FIG.

In order to set the post-movement start position (point A1) as shown in FIG. It is good to be Specifically, it is as follows.
(i) A modification end plane 78 shown in FIG. 7 is set. The change end plane 78 is a plane passing through the end position of the excavation operation (point B2 in FIG. 7) at the time of the maximum change of the start position and perpendicular to the movement direction of the range change movement of the lower traveling body 21. set. The start position maximum change time is the time when the start position of the excavation operation is changed to the maximum before the range change movement. Specifically, the start position is the point A2 shown in FIG. This is the time when the position on the change limit surface 75 has been changed. The maximum starting position change time point is the time point when the changing angle from the first starting position A to the latest starting position (the angle corresponding to the turning angle of the upper turning body 22) reaches a preset limit angle θ. or when the number of times the start position has been changed reaches a preset number of times.
(ii) A movement end plane 79 shown in FIG. 7 is set. The movement end surface 79 is such that the end position (point B1 in FIG. 7) of the excavation operation immediately after movement, which is the excavation operation in the first series of operations after the range change movement, is a position on the change end surface 78. A plane passing through the start position of the excavation operation immediately after movement (point A1 in FIG. 7) and perpendicular to the movement direction is set.
(iii) The distance until the start position (the point A1) of the excavation operation immediately after movement reaches the movement end plane 79 is set as the movement distance.

The control unit 11 specifies the amount of soil at the unloading position between the points C and D from the image information captured by the imaging device 26 . That is, the control unit 11 functions as a soil amount detector together with the imaging device 26 . When the detected earth volume is equal to or greater than a preset allowable amount, the control unit 11 sets the change limit surface 75 to the movement direction of the range change movement as indicated by an arrow Dr in FIG. move in the opposite direction. This advances the timing of starting the movement for changing the range, thereby moving the lower traveling body 21 and changing the range of the processing work before the amount of soil at the unloading position becomes too large. enable.

The unloading position between the points C and D shown in FIGS. It is in. However, as in the modification shown in FIG. 9, the earth and sand excavated by the bucket 33 may be discharged to the earth unloading position within the working range 80 . The control unit 11 according to this modification performs the excavation immediately after the range change movement so that the earth and sand discharged to the earth unloading position before the range change movement is excavated by the excavation operation after the range change movement. Set the start position of the movement, that is, the post-movement start position. The moving direction of the range changing movement is leftward as indicated by the arrow Dm in FIG. In the control according to this modification, the work machine 1 repeats the operation of excavating the earth and sand discharged to the unloading position before the range changing movement and discharging the earth and sand to a new earth unloading position after the range changing movement. make it possible. This action allows the earth to move over a wider range in the same direction as the direction of movement.

The processing operation for processing the object by the attachment 30 is not limited to the excavation operation for excavating earth and sand with the bucket 33 as described above. The processing operation may be, for example, an operation of scraping the slope 85 with the bucket 33, as shown in FIG. A slope can be formed by cutting the slope 85 . The operation of cutting the slope 85 may be performed only once for the same portion of the slope 85, or may be performed twice or more. When the operation of scraping the slope 85 is performed twice or more on the same portion of the slope 85 , these operations may be repeated while changing the height of the tip of the bucket 33 . The range of processing work including such processing operations can also be expanded by the range changing movement of the lower traveling body 21 .

Next, the processing for operation control performed by the control unit 11 will be described with reference to the flowchart of FIG.

The control unit 11 sets the change limit plane 75 in the working range 80 (step S1). The control unit 11 sets the posture of the upper rotating body 22 to the initial posture (step S2). The control unit 11 causes the upper rotating body 22 and the attachment 30 to perform a series of operations from the initial posture (step S3).

Next, the control unit 11 determines whether or not the excavation depth has reached the limit depth (step S4). When it is determined that the excavation depth has not reached the limit depth (NO in step S4), the control unit 11 changes the excavation depth (step S5). The following series of operations are performed at the changed excavation depth (step S3). In this way, the series of operations is repeated while changing the height of the tip of the bucket 33 during the excavation operation.

When it is determined that the excavation depth has reached the limit depth (YES in step S4), the control unit 11 determines whether the amount of soil at the unloading position is equal to or greater than a predetermined amount, Only when it is determined that the amount of earth at the unloading position is equal to or greater than the predetermined amount (YES in step S6), the change limit surface 75 is moved in the direction opposite to the moving direction of the lower traveling body 21 (step S7). .

The control unit 11 determines whether or not the start position of the excavation operation gradually changed as described above has reached the change limit surface 75 (step S8). If it is determined that the start position has not yet reached the change limit plane 75 (NO in step S8), the control unit 11 rotates the upper swing body 22 by a predetermined swing angle to The start position of the excavation operation is changed in the turning direction of the upper turning body 22 (step S9). This causes the sequence of operations to be repeated at the new excavation site.

When it is determined that the start position of the excavation operation, which is gradually changed as described above, has reached the change limit surface 75 (YES in step S8), the control unit 11 changes the range to the lower traveling body 21. It is caused to move (step S10). This range changing movement is controlled so that the processing work by a series of operations after the range changing movement is continued to the processing work before the range changing movement, and the turning posture of the upper rotating body 22 is the same as the initial posture. (step S2). Even after the range change movement, the processes after step S3 are repeated.

Next, a second embodiment of the invention will be described with reference to FIGS. 12 to 14. FIG. Note that the description of the configuration common to the first embodiment and the effects produced thereby will be omitted, and mainly the differences from the first embodiment will be described. In addition, the same code|symbol as 1st Embodiment is attached|subjected about the same member as 1st Embodiment.

12 to 14 show the work machine 101 according to the second embodiment. The control unit 11 according to the present embodiment is a lower traveling body moving means for causing the lower traveling body 21 to move to change the range when the work by a series of operations reaches a predetermined stage in a state where the starting position reaches the change limit surface 75. However, the movement distance of the range change movement is the movement distance L according to the first embodiment, that is, the start position of the excavation operation immediately before the range change movement and the range change movement It is different from the distance at which the posture after movement for matching the start position of the excavation operation immediately after becomes the same posture as the initial posture. The control unit 11 according to the present embodiment controls the lower traveling body 21 after the range changing movement so that the processing work by the series of operations after the range changing movement is continued to the processing work before the range changing movement. A post-movement posture, which is the orientation (rotating posture) of the upper rotating body 22, is set.

As shown in FIG. 12, when the movement distance of the range change movement is greater than the movement distance L set in the first embodiment as shown in FIG. The post-movement posture is changed to the initial posture so that the start position of the excavation operation in the first series of operations after the range change movement in 21, that is, the post-movement start position (point A1) is located on the change limit plane 75. , the upper swing body 22 swings with respect to the lower traveling body 21 in a direction opposite to the moving direction (leftward direction in the figure).

On the other hand, as shown in FIG. 13, when the movement distance is shorter than the movement distance L shown in FIG. The post-movement posture of the upper swing body 22 is changed from the initial posture to a posture in which the upper swing body 22 swings in the same direction as the moving direction (rightward direction in the drawing) so as to achieve the above-mentioned position.

12 and 13 show the posture change angle θc in each case, and the post-movement posture is such that the upper swing body 22 is shifted from the swing posture immediately before the range change movement by the posture change angle θc from the lower traveling body 21 . 12 is set to a posture that is turned in a direction opposite to the moving direction (leftward in FIG. 12). In other words, after the range changing movement, control is performed to turn the upper rotating body 22 by the attitude change angle θc, and the starting position is determined by the attitude of the upper rotating body 22 after the rotation. Before the movement to change the range, the revolving posture of the upper revolving body 22 is changed by a predetermined revolving angle each time the work by repeating the series of operations reaches a predetermined stage. As a result, the start position of the excavation operation is also gradually moved from the initial position of point A. As shown in FIG. 12, when the moving distance of the range changing movement of the lower running body 21 is longer than the moving distance L shown in FIG. It is larger than the posture change angle of the upper swing body 22 from the initial posture to the swing posture just before the range change movement. Conversely, as shown in FIG. 13, when the movement distance of the range change movement is smaller than the movement distance L shown in FIG. It is smaller than the posture change angle of the upper swing body 22 up to the swing posture.

Furthermore, in this embodiment, the trajectory drawn by the tip of the attachment 30 (the tip of the bucket 33) is corrected according to the post-movement posture of the upper rotating body 22.

The setting of the post-movement posture makes it possible to suitably continue the processing work by the series of operations after the range change movement to the processing work before the range change movement.

The control unit 11 according to this embodiment functions as movement limit setting means for setting the movement limit position 88 of the lower traveling body 21 . In this embodiment, the movement limit position 88 is such that when the range change movement of the lower traveling body 21 is stopped at this movement limit position 88, the processing work after the range change movement is performed before the range change movement. It is set in a position so as to be continuous with the processing operation. More specifically, the start position of the excavation operation in the first series of operations in a state where the range changing movement of the lower traveling body 21 is stopped at the movement limit position 88, that is, the post-movement start position (point A1) The movement limit position 88 is set so as to be on the change limit surface 75 . The control unit 11 causes the lower traveling body 21 to perform the range changing movement, and stops the range changing movement when the lower traveling body 21 reaches the movement limit position 88. function as Such range-changing movement control makes it possible to preferably continue the processing work after the range-changing movement with the processing work before the range-changing movement.

The movement limit position 88 may be set based on the work plan. For example, setting the movement limit position 88 at the boundary of the range in which work is planned makes it possible to suppress work that deviates from the work plan. Alternatively, the movement limit position 88 may be set based on the position of an obstacle or the like imaged by the imaging device 26 . Setting the movement limit position 88 on the front side of the position of the obstacle or the like prevents the attachment 30 from interfering with the obstacle or the like.

When the movement limit position 88 is not set and the movement distance of the range change movement of the lower traveling body 21 is excessively large, the post-movement start position (point A1) may exceed the change limit plane 75 in the movement direction, as shown in FIG. 14, for example.

In this case, the control unit 11 preferably functions as a notification means that causes a notification device to notify that the post-movement start position has exceeded the change limit surface 75 . Specifically, the control unit 11 causes a mobile terminal (tablet terminal, smartphone, etc.) possessed by an administrator who manages the operation of the work machine 101 to display a message to that effect on the display, or to emit a warning sound or the like to indicate that effect. is preferably configured to output from a speaker. This is because when the excavation operation is started at a position beyond the change limit surface 75, the non-work area in which the processing operation is not performed becomes large both before and after the range change movement. Notifying the manager or the like of the work machine 1 of such a situation is to warn the manager or the like so as to prevent the excavation operation from being performed at the start position beyond the change limit plane 75. can encourage

Further, the control unit 11, as shown in FIG. 14, when the range change movement is performed such that the post-movement start position (point A1) exceeds the change limit surface 75, the control unit 11 It is preferable that the lower traveling body 21 is moved in a direction opposite to the movement direction of the range change movement so as to bring the post-movement start position closer to the change limit plane 75 so as to function as reverse run control means. Movement of the lower traveling body 21 in the opposite direction makes it possible to reduce an area in which neither the processing work before the range change movement nor the processing work after the range change movement is performed, that is, the non-work area. to

Also in the second embodiment, it is preferable that the working range 80 is set as shown in FIGS. In this embodiment, the revolving posture of the upper revolving body 22 with respect to the lower traveling body 21 is set so that the tip of the bucket 33 is contained within the working range 80 .

Also in the second embodiment, as in the form shown in FIG. 6, in order to reduce the non-working area similar to the non-working area 77 shown in FIG. The post-movement start position (point A<b>1 ) may be set so as to be located on the upstream side (left side in FIG. 6 ) of the change limit surface 75 in the movement direction. Specifically, in the second embodiment, the post-movement start position (point A1) is positioned upstream (left side in the figure) in the movement direction of the lower traveling body 21 relative to the change limit surface 75. The post-movement posture, that is, the orientation (swivel posture) of the upper swing body 22 with respect to the lower traveling body 21 for realizing the post-movement start position is set.

In the second embodiment, similarly to the embodiment shown in FIG. 9, the control is performed so that the operation of excavating the earth and sand discharged to the unloading position and unloading it to a new earth unloading position is repeated. may be done. In the second embodiment, the orientation (turning attitude) of the upper rotating body 22 with respect to the lower traveling body 21 is set so that the earth and sand discharged to the earth unloading position are excavated after the lower traveling body 21 moves. be done. Also in the second embodiment, the processing operation is not limited to the excavation operation by the bucket 33, but may be the operation of scraping the slope 85 by the bucket 33 as shown in FIG. 10, for example.

Although the embodiment of the present invention has been described above, it is merely a specific example and does not particularly limit the present invention, and the specific configuration and the like can be appropriately modified in design. Further, the actions and effects described in the embodiments of the invention are merely enumerations of the most suitable actions and effects resulting from the present invention, and the actions and effects of the present invention are described in the embodiments of the invention. are not limited to those listed.

As described above, a work machine that can continue to work automatically in a wide range is provided. The work machine includes a lower traveling body, an upper revolving body, a working device, and a controller. The upper revolving body is rotatably mounted on the lower traveling body. The working device is rotatably attached to the upper revolving body so as to be able to perform a processing operation for processing an object. The controller controls driving of the upper swing body and the attachment so that the upper swing body and the work device perform a series of operations including the processing operation by the work device a plurality of times. The controller changes the starting position of the processing operation included in the next series of operations in the revolving direction of the upper revolving body when the work by the series of operations reaches a predetermined stage. As a result, a series of operations are performed while changing the start position of the excavation operation. Further, the controller performs a processing operation, which is an operation performed by the series of operations, in a state in which a start position of the excavation operation is set in advance and reaches a change limit plane that defines a limit of change of the start position in the turning direction. reaches a predetermined stage, the lower traveling body is caused to perform a range change movement for changing the range of the processing work, and the processing work after the range change movement is changed to the processing before the range change movement. A post-movement start position, which is the start position of the processing operation after the range change movement, is set so as to continue the work. The range changing movement enables the work to be continued in a wide range while continuing the processing work after the range changing movement and the processing work before the range changing movement.

The movement for changing the range includes the post-movement attitude of the upper rotating body with respect to the lower traveling body at the post-movement start position, which is included in the first series of operations. It is preferable that the movement is in the direction of approaching the initial posture, which is the posture of the upper rotating body with respect to the traveling body. In this way, bringing the post-movement posture, which is the posture of the upper rotating body corresponding to the start position immediately after the range change movement, closer to the initial posture, allows the processing work after the range change movement to be performed before the range change movement. To enable the processing work to be performed over a wide range even after the range change movement while continuing the processing work of .

The controller sets the post-movement posture to the same posture as the initial posture, and performs the range change movement so that the processing work after the range change movement is continuous with the processing work before the range change movement. It is preferably arranged to set the distance. Despite the fact that the posture of the upper rotating body (post-movement posture) after the range-changing movement is returned to the same posture as the initial posture, the movement distance set in this manner is the same as the initial posture after the range-changing movement. It is possible to preferably continue the processing work by motion to the processing work before the range change movement.

The controller causes the lower traveling body to perform the range-changing movement by a preset moving distance, and performs the processing work by the series of operations after the range-changing movement as the processing work before the range-changing movement. , the post-movement posture (that is, the orientation of the upper rotating body with respect to the lower traveling body after the range changing movement) is set. This means that while the range changing movement is performed by a simple control of moving the lower traveling body only by a preset movement distance, the processing work after the range changing movement is performed by the upper turning of the lower traveling body. By setting the turning posture (orientation) of the body, it is possible to preferably continue the processing work before the movement for changing the range.

It is preferable that the controller is configured to cause an annunciator to notify that effect when the post-movement start position exceeds the change limit surface due to the range change movement at the movement distance. The notification can prompt the manager of the work machine or the like to prevent the excavation operation from being performed from the start position after movement beyond the change limit surface, thereby preventing the non-work area from being performed. The occurrence can be suppressed.

Further, the controller is configured to move the lower traveling body in a direction opposite to the movement direction of the range changing movement when the post-movement start position exceeds the change limit surface due to the range changing movement. is preferred. The reverse movement of the undercarriage makes it possible to correct the post-movement start position beyond the change limit plane in a direction approaching the change limit plane, whereby the non-working area, i.e., the It is possible to effectively reduce the area where neither the processing work before range change movement nor the processing work after range change movement is performed.

It is preferable that the controller is configured to stop the range-changing movement when the lower traveling body reaches a preset movement limit position due to the range-changing movement. This makes it possible to appropriately control the range change movement by a simple process of comparing the actual position of the undercarriage with the preset movement limit position. For example, when the movement limit position is set based on a work plan, stopping the range changing movement of the undercarriage at the movement limit position effectively prevents work deviating from the work plan. can be suppressed. Further, when the movement limit position is set in front of an obstacle or the like, stopping the range changing movement of the lower traveling body at the movement limit position prevents interference between the working machine and the obstacle or the like. can do.

It is preferable that the controller changes the starting position within a preset working range. Accordingly, it is possible to prevent the work device from deviating from the work range due to a series of operations after the change of the start position. Furthermore, it is preferable that the controller sets the post-movement start position within the work range so that the processing work after the range changing movement is continuous with the processing work before the range changing movement. It is also possible to prevent the working device from deviating from the working range due to the series of operations after the movement for changing the range. For example, when there is an obstacle outside the work range, the series of operations prevents the work device from interfering with the obstacle after the change of the start position and after the movement to change the range. can be prevented.

It is preferable that the controller is configured to set the post-movement start position to a position on the upstream side in the movement direction with respect to the change limit surface. This means that the non-work area (the processing work before the range change movement and the processing after the range change movement) due to the processing operation being started at the position beyond the change limit plane (downstream position) after the range change movement. This makes it possible to prevent the occurrence of areas where no work is done).

When the processing operation is an excavating operation for excavating earth and sand, the controller causes the upper rotating body and the working device to repeat the series of operations while changing the height of the tip of the working device in the processing operation. is preferably configured to Again, the range-changing movement of the undercarriage allows the excavation operation to be performed over a wide range.

When the series of operations includes an earth unloading operation for discharging earth and sand to the earth unloading position, the work machine further includes a soil volume detector for detecting the volume of soil at the unloading position, and the controller detects the volume of soil at the unloading position. It is preferable that the change limit surface is moved in a direction opposite to the moving direction when the amount of soil at the unloading position detected by the detector is equal to or greater than a preset allowable amount. The movement of the change limit plane makes it possible to advance the timing of starting the range change movement and change the processing work range by the range change movement before the amount of soil at the earth unloading position becomes too large. to

Further, when the processing operation is an operation of excavating earth and sand, and the series of operations includes an earth and sand unloading operation of discharging earth and sand to the earth unloading position, the controller controls the earth and sand unloaded to the unloading position. is preferably configured to set the post-movement start position such that is excavated by the processing operation after the range change movement. This makes it possible to repeat the operation of excavating the earth and sand unloaded to the unloading position after the range changing movement and unloading it to a new unloading position. To enable the work of moving the earth and sand in the moving direction of , to be performed in a wide range.

Alternatively, the processing operation may be an operation of cutting a slope. Also in this case, the range-changing movement of the undercarriage allows the work of forming a slope to be carried out over a wide range.

Claims

a working machine,
a lower running body capable of performing a running motion;
an upper rotating body mounted on the lower traveling body so as to be able to turn with respect to the lower traveling body;
a working device rotatably attached to the upper revolving body so as to be able to perform a processing operation for processing an object;
a controller for controlling driving of the upper revolving body and the work device so as to cause the upper revolving body and the work device to perform a series of operations including the processing operation by the work device a plurality of times;
The controller changes a starting position of the processing operation included in the next series of operations in the turning direction of the upper rotating body when the processing work, which is the work by the series of operations, reaches a predetermined stage. , the undercarriage when the processing operation reaches the predetermined stage in a state in which the starting position reaches a change limit plane preset for defining the limit of change of the starting position in the turning direction; to perform range change movement, which is movement for changing the range of the processing work, and the range so that the processing work after the range change movement and the processing work before the range change movement are continuous and setting a post-movement start position, which is the start position of the processing operation after the change movement.
2. The work machine according to claim 1, wherein said range changing movement includes a post-movement posture, which is a posture of said upper rotating body with respect to said lower traveling body at said post-movement start position, in said first series of motions. movement in a direction approaching an initial posture, which is the posture of the upper rotating body with respect to the lower traveling body at the starting position of the processing operation performed by the working machine.
3. The work machine according to claim 2, wherein the controller sets the post-movement posture to the same posture as the initial posture, and sets the processing work after the range changing movement to the processing work before the range changing movement. and setting the distance of the range-changing movement to be continuous with the processing operation.
3. The work machine according to claim 2, wherein the controller causes the undercarriage to perform the range-changing movement by a preset movement distance, and the processing work after the range-changing movement is performed within the range. A work machine configured to set the post-movement posture so as to be continuous with the processing work before the change movement.
5. The work machine according to claim 4, wherein the controller causes an annunciator to notify when the post-movement start position exceeds the change limit surface due to the range change movement in the movement distance. A work machine configured to:
6. The work machine according to claim 4 or 5, wherein when the range-changing movement at the movement distance causes the post-movement start position to exceed the change limit surface, the controller controls the direction of the range-changing movement to reverse the direction of the range-changing movement. A work machine configured to move the undercarriage in the direction of
The work machine according to any one of claims 1 to 3, wherein the controller stops the range changing movement when the lower traveling body reaches a preset movement limit position due to the range changing movement. A working machine constructed to:
8. The work machine according to any one of claims 1 to 7, wherein the controller changes the start position within a preset work range, and changes the processing work after the range change movement to the range change. A work machine configured to set the post-movement start position within the work envelope so as to be continuous with the pre-movement processing operation.
The work machine according to any one of claims 1 to 8, wherein the controller is configured to set the post-movement start position to a position upstream of the change limit surface in the direction of the range change movement. A working machine.
The work machine according to any one of claims 1 to 9, wherein the processing operation is an operation of excavating earth and sand, and the controller changes the height of the tip of the work device in the processing operation while changing the height of the top end of the work device. A work machine configured to cause the revolving structure and the work device to repeat the series of operations.
11. The work machine according to claim 10, wherein the series of operations includes an earth unloading operation of discharging earth and sand to an earth unloading position, and the work machine detects the earth volume at the earth unloading position. and the controller moves the change limit surface in a direction opposite to the direction of the range change movement when the amount of soil detected by the soil amount detector is equal to or greater than a preset allowable amount. A work machine configured to:
The work machine according to any one of claims 1 to 9, wherein said processing operation is an operation of excavating earth and sand, said series of operations includes an earth unloading operation of discharging earth and sand to an earth unloading position, and said The working machine, wherein the controller sets the post-movement start position such that the earth and sand discharged to the earth unloading position is excavated by the processing operation after the range change movement.
The working machine according to any one of claims 1 to 9, wherein the processing operation is an operation of scraping a slope.