WO2025192005A1 - Work machine control device, work machine, external device, work machine system, and workability improvement method - Google Patents

Abstract

A work machine control device (40) is provided with a controller (50) that performs prescribed control for making it possible to acquire the position information on a work target position (TP) at a work site when the position information on the work target position (TP) cannot be acquired on the basis of work site information which is information related to the work site and is inputted from a position information acquisition device (20).

Description

Work machine control device, work machine, external device, work machine system, and workability improvement method

This disclosure relates to technology for work machines such as hydraulic excavators.

Patent Document 1 discloses technology aimed at providing a shovel with high excavation efficiency by appropriately grasping the terrain of the work target. This shovel is equipped with a spatial recognition device and a control device, and the control device combines first data acquired by the spatial recognition device placed at a first viewpoint with second data acquired by the spatial recognition device placed at a second viewpoint different from the first viewpoint.

Patent Document 2 discloses technology aimed at measuring piles of earth and sand that extend from inside the bucket to outside the bucket. The excavator in Patent Document 2 has a lower running body, an upper rotating body that is rotatably mounted on the lower running body, an attachment including a boom, arm, and bucket attached to the upper rotating body, and a distance measuring device that measures the distance to the ground in the digging direction of the bucket while digging is being performed.

Patent Document 3 discloses an automatically operated shovel that excavates while sequentially changing the excavation depth within a limited excavation depth. This automatically operated shovel comprises a hydraulic shovel and an automatic operation controller built into the hydraulic shovel that repeatedly performs a cycle of operations from excavation to soil discharge through playback operations. The automatic operation controller comprises means for setting the number of times excavation can be repeated at different excavation depths corresponding to the limited excavation depth, and means for repeating the cycle of operations the set number of times during playback, deepening the excavation depth with each cycle of operations.

Work machines use a bucket to excavate soil and perform a series of operations to move the soil held in the bucket to another location. For example, during the excavation operation of moving the bucket toward the undercarriage, some of the soil may overflow from the bucket or fall to the ground. In this case, soil may accumulate between the undercarriage and the target position for the bucket's work. The accumulated soil can reduce the productivity of the work performed by the work machine.

The above issues can arise not only when the tip attachment is a bucket and the work object is soil and sand, but also when the tip attachment is other equipment such as a fork, grapple, or lifting magnet and the work object is other objects such as wood or waste materials.

Japanese Patent Application Laid-Open No. 2021-008776 Japanese Patent Application Laid-Open No. 2022-059042 Japanese Patent Application Publication No. 11-158933

The purpose of this disclosure is to provide a work machine control device, work machine, external device, work machine system, and workability improvement method that can reduce, compared to conventional methods, the decline in work productivity caused by obstacles such as soil and sand that accumulate during work.

A work machine control device according to one aspect of the present disclosure includes a controller that performs predetermined control to enable acquisition of position information for a work target position when position information for the work target position at the work site cannot be acquired based on work site information, which is information about the work site input from a position information acquisition device.

A work machine according to another aspect of the present disclosure includes a machine body, a work device rotatably supported on the machine body, a position information acquisition device that acquires work site information that is information related to the work site, and the work machine control device.

An external device according to another aspect of the present disclosure includes the work machine control device.

A work machine system according to another aspect of the present disclosure includes a work machine and an external device. The work machine system includes the work machine control device.

A workability improvement method according to another aspect of the present disclosure includes a step in which a controller acquires position information of a work target position at a work site based on work site information, which is information about the work site, input from a position information acquisition device, and a step in which, if the controller is unable to acquire the position information, the controller performs predetermined control to enable acquisition of the position information of the work target position.

This disclosure provides a work machine control device, work machine, external device, work machine system, and workability improvement method that can reduce, compared to conventional methods, the decline in work productivity caused by obstacles such as soil and sand that accumulate during work.

1 is a diagram showing a work machine system according to an embodiment, the work machine system including a work machine according to an embodiment and an external device. FIG. 2 is a block diagram illustrating components of the work machine system. 3 is a flowchart showing a calculation process performed by a controller of the work machine control device according to the embodiment. FIG. 2 is a plan view for explaining a work area and a plurality of work target positions at a work site. 4 is a conceptual diagram for explaining the positional relationship between the position information acquisition device of the work machine, the work target range, and a predetermined height. FIG. 10 is a conceptual diagram for explaining the positional relationship between the position information acquisition device, the task target position, the obstacle (deposit), and the predetermined height. FIG. 10 is a conceptual diagram for explaining a case where an object other than the deposit is present between the position information acquisition device and the task target position. FIG. FIG. 10 is a conceptual diagram for explaining a predetermined height in a modified example of the embodiment. 3A to 3C are conceptual diagrams for explaining an excavation operation, a lifting and swinging operation, an earth-discharging operation, and a return swinging operation as examples of operations performed by the work machine. 10 is a flowchart showing a calculation process performed by a controller of a work machine control device according to a modified example of the embodiment. 10 is a flowchart showing a calculation process performed by a controller of a work machine control device according to another modified example of the embodiment.

Embodiments of the present disclosure will be described with reference to the drawings. FIG. 1 is a side view showing a work machine system 300 according to an embodiment. The work machine system 300 includes a work machine 100 and an external device 200. FIG. 2 is a block diagram showing the components of the work machine system 300.

The work machine 100 comprises a lower running body 1 including a travelling device, an upper rotating body 2 supported on the lower running body 1 so as to be rotatable relative to the lower running body 1 about a rotation axis Z extending vertically, a work device 3 supported on the upper rotating body 2, multiple actuators, a position information acquisition device 20, an attitude detection unit 30, and a work machine control device 40. The work machine control device 40 comprises a controller 50. The controller 50 controls the operation of the work machine 100. The lower running body 1 and the upper rotating body 2 are examples of the machine body in this disclosure.

The work machine 100 in this embodiment is a hydraulic excavator, but the work machine in this disclosure is not limited to hydraulic excavators and may be other work machines such as cranes or bulldozers.

The forward/backward and left/right directions shown in the figure may be directions based on the orientation of the upper rotating body 2, may be directions based on the orientation of the lower running body 1, or may be directions based on one of the various coordinate systems (e.g., the reference coordinate system) described below.

The upper rotating body 2 comprises a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1 and forms the base portion of the upper rotating body 2.

The cab 2B is located, for example, at the front left of the revolving frame 2A. A driver's seat, operating devices, etc. are located inside the cab 2B. The operating devices include controls that receive various operations from the operator, such as boom operation to raise and lower the boom 4, arm operation to rotate the arm 5, tip attachment operation to rotate the tip attachment 6, swing operation to swing the upper swing body 2 relative to the undercarriage 1, and travel operation to travel the undercarriage 1. The controls may be composed of at least one of an operating lever, an operating pedal, and an operating button. The operating devices are used when the operator is inside the cab 2B and operates the work machine 100. The operating devices are not used when the work machine 100 is operated automatically or when the work machine 100 is remotely controlled.

The rear outer wall 2C is located behind the cab 2B and is an outer wall that defines the machinery room. Various equipment is located in the machinery room, including power equipment such as an engine, battery, and generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment. A counterweight may be located at the rear or behind the rear outer wall 2C. The counterweight is a weight used to balance the work machine 100.

The work device 3 includes a boom 4 that is attached to the upper rotating body 2 so that it can be raised and lowered, an arm 5 that is attached to the boom 4 so that it can rotate, and a tip attachment 6 that is attached to the arm 5 so that it can rotate. In this embodiment, the tip attachment 6 is a bucket 6, but the tip attachment may also be other tip attachments such as a grapple, fork, or lifting magnet.

Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a tip attachment cylinder 9 for rotating the tip attachment 6, a swing motor 11 for rotating the upper swing body 2 relative to the lower running body 1, and a travel motor (not shown) for traveling the lower running body 1.

The position information acquisition device 20 acquires work site information, which is information about the work site WS. The position information acquisition device 20 may be attached to the cab 2B, for example. Specifically, the position information acquisition device 20 may be attached to the front part of the top surface of the cab 2B.

The position information acquisition device 20 acquires work site information, which is information related to the work site WS, and inputs the acquired work site information to the controller 50. The position information acquisition device 20 may be configured to acquire three-dimensional data (e.g., point cloud data) of objects present at the work site WS, such as the ground, obstacles, and other work machines.

The position information acquisition device 20 may be a distance measurement sensor that acquires distance information regarding the distance to an object by irradiating light such as laser light. The distance measurement sensor may be, for example, a LiDAR (Light Detection and Ranging). The position information acquisition device 20 may also be a stereo camera, an ultrasonic sensor, a total station, an infrared sensor, or any other sensor capable of acquiring work site information regarding the work site. The position information acquisition device 20 may also be an imaging device that captures images of the work site WS as work site information. The position information acquisition device 20 may also be a combination of two or more of these devices.

The attitude detection unit 30 acquires attitude information, which is information relating to the attitude of the work machine 100. The attitude detection unit 30 may include multiple attitude detectors. As shown in FIG. 1, the multiple attitude detectors may include a boom attitude detector 31, an arm attitude detector 32, and a tip attachment attitude detector 33. The multiple attitude detectors may further include a rotating unit attitude detector 34.

The boom position detector 31 may be a sensor that detects the position of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the position of the boom 4. The arm position detector 32 may be a sensor that detects the position of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the position of the arm 5. The tip attachment position detector 33 may be a sensor that detects the position of the tip attachment 6, or may be a sensor that detects the state of the tip attachment cylinder 9 that correlates with the position of the tip attachment 6. The rotating body position detector 34 may be a sensor that detects the position of the upper rotating body 2, or may be a sensor that detects the state of the rotating motor 11 that correlates with the position of the upper rotating body 2.

Each of the multiple attitude detectors may include, for example, an inertial measurement unit (IMU), a sensor that detects the degree of extension and contraction of the cylinder (e.g., a stroke sensor), or other sensors. The rotating body attitude detector 34 may include a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower running body 1, or a sensor that detects the inclination angle of the upper rotating body 2 relative to the horizontal plane.

The attitude detection unit 30 inputs the acquired attitude information to the controller 50 of the work machine control device 40. The controller 50 can calculate the attitude of the work machine 100 using the attitude information input from the attitude detection unit 30.

The controller 50 of the work machine control device 40 performs specific control. The specific control may be, for example, control for automatic operation (automatic operation control) that automates the operation of the work machine 100, control for semi-automatic operation (semi-automatic operation control) that automates part of the operation of the work machine 100, control for an operator to remotely operate the work machine 100 using a remote operation device (not shown) located in a remote location away from the work machine 100 (remote operation control), or other control for assisting work-related personnel such as an operator, work manager, or assistant. In other words, the specific control may be control for assisting work-related personnel such as the work manager or assistant who monitors the automatic operation, control for assisting an operator who uses the remote operation device in the remote location, or control for assisting an operator when the operator is on board the work machine 100.

The controller 50 controls the work machine 100, such as the specific control, using the work site information input from the position information acquisition device 20.

The controller 50 performs the specific control using the work site information input from the position information acquisition device 20 and the attitude information input from the attitude detection unit 30. Specifically, for example, if the specific control is automatic driving control or semi-automatic driving control, the controller 50 outputs a control command to the control target 70 so that the work machine 100 performs an operation corresponding to the automatic driving data (described below) that is pre-stored in the data storage unit 56.

Next, an example of the specific control will be described. In the specific example shown in Figure 4, the work machine 100 is placed at a work site WS and performs a predetermined task within a work target range WR set at the work site WS. The predetermined task may be, for example, loading work, leveling work, or some other task. The controller 50 performs the specific control so that the work machine 100 performs the predetermined task.

Specifically, for example, the controller 50 performs, for example, automatic driving control or semi-automatic driving control using the point cloud data input from the position information acquisition device 20 and the attitude information input from the attitude detection unit 30. The controller 50 outputs a control command to the control object 70 so that the work machine 100 performs an operation corresponding to the automatic driving data stored in advance in the data storage unit 56.

Loading operations include multiple operations. The multiple operations may include, for example, the excavation operation shown in Figure 9(A), the lifting and swinging operation shown in Figure 9(B), the soil discharge operation shown in Figure 9(C), and the return swinging operation shown in Figure 9(D). The excavation operation, lifting and swinging operation, soil discharge operation, and return swinging operation are performed in this order.

The excavation operation is an operation for excavating the work target range WR at the work site WS. The excavation operation may include, for example, a boom raising operation in which the boom 4 is raised, an arm pulling operation in which the arm 5 approaches the boom 4, and a bucket pulling operation in which the bucket 6 approaches the boom 4. The work target range WR may be, for example, the target excavation area indicated by the rectangular frame in Figure 4.

The lifting and rotating operation is an operation for moving the bucket 6 holding the excavated soil from the work area WR to directly above the soil discharge area. The soil discharge area may be, for example, the bed of the dump truck 400, or an area for soil discharge formed at the work site WS. The lifting and rotating operation may include a boom-raising operation and a rotating operation in which the upper rotating body 2 rotates relative to the lower traveling body 1. The lifting and rotating operation may further include an arm-pushing operation in which the arm 5 moves away from the boom.

The earth discharge operation is an operation for discharging earth and sand from the bucket 6 to the earth discharge area. The earth discharge operation may include a bucket pushing operation (earth discharge operation) in which the bucket 6 moves away from the boom 4. The earth discharge operation may further include an arm pushing operation in which the arm 5 moves away from the boom 4.

The return swing operation is an operation for returning the bucket 6 from directly above the soil discharge area to the work range WR. The return swing operation may include a boom lowering operation in which the boom 4 is lowered, and a swing operation in which the upper swing structure 2 swings relative to the lower running structure 1. The return swing operation may further include an arm pulling operation or an arm pushing operation.

Teaching data corresponding to loading operations that include multiple operations may be stored in the data storage unit 56, or may be stored in an external device 200 that is separate from the work machine 100.

When the controller 50 is performing the specific control, if it is unable to acquire position information of the work target position TP at the work site WS based on work site information (e.g., three-dimensional data such as point cloud data) relating to the work site WS input from the position information acquisition device 20, it outputs a command (shift command) to move an obstacle OB located between the position information acquisition device 20 and the work target position TP.

There is a correlation between the controller 50 being unable to acquire the position information of the work target position TP based on the work site information and the presence of an obstacle OB between the position information acquisition device 20 and the work target position TP. This is because the obstacle OB is between the position information acquisition device 20 and the work target position TP and prevents the position information acquisition device 20 from acquiring the position information of the work target position TP. In this embodiment, the controller 50 outputs a shift command to move the obstacle OB when it is unable to acquire the position information of the work target position TP based on the work site information, thereby reducing the decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional cases.

Specifically, the controller 50 may output a shift command to the control object 70 of the work machine 100 when it is unable to acquire position information for the work target position TP based on the work site information. In this case, the control object 70 operates at least one of the work implement 3 and the upper rotating body 2 in response to the shift command so as to eliminate the state in which the obstacle OB is interposed between the position information acquisition device 20 and the work target position TP. This makes it possible for the position information acquisition device 20 to acquire position information for the work target position TP.

The shift command may be a command to move an obstacle OB located on a straight line connecting the position information acquisition device 20 and the work target position TP to a position off said straight line. The shift command may be a command to control the operation of the work device 3 so that the bucket 6 (tip attachment) pushes the obstacle OB in a direction that moves the obstacle OB away from the lower traveling structure 1. Specifically, the shift command may be a command to control the operation of the work device 3 so that the bucket 6 (tip attachment) pushes the obstacle OB in a direction that moves the obstacle OB away from the lower traveling structure 1, thereby returning the obstacle OB to within the work target range WR. The shift command may be a command to control the operation of the work device 3 so that the bucket 6 (tip attachment) pulls the obstacle OB in a direction that moves the obstacle OB closer to the lower traveling structure 1. The shift command may be a command to rotate the upper rotating structure 2 to the right or left so that the bucket 6 (tip attachment) pushes the obstacle OB to the right or left.

The controller 50 comprises a computer including an arithmetic processing unit and memory. As shown in FIG. 2, the controller 50 may include, for example, a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target change unit 55, and a data storage unit 56. The controller 50 realizes the functions of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56 by the arithmetic processing unit executing a program stored in the memory.

The target setting unit 51 may set a work target range WR. The target setting unit 51 may set at least one work target position TP. In this embodiment, the target setting unit 51 sets multiple work target positions TP. The target setting unit 51 may set a work target position TP that will be the target of the next operation from among the multiple work target positions TP.

The position information determination unit 52 determines whether or not position information for the work target position TP at the work site WS has been acquired based on work site information about the work site WS input from the position information acquisition device 20.

If the position information determination unit 52 is unable to acquire position information for the work target position TP based on the work site information, the obstacle determination unit 53 determines whether or not an object (obstacle OB) is present between the position information acquisition device 20 and the work target position TP.

The control command output unit 54 outputs commands to the control object 70 of the work machine 100. Specifically, if there is an obstacle OB between the position information acquisition device 20 and the work target position TP, the control command output unit 54 outputs a shift command to the control object 70 to move the obstacle OB. The control command output unit 54 also outputs a specific command, which is a command corresponding to the specific control described below, to the control object 70. Specifically, if the specific control is automatic driving control or semi-automatic driving control, the control command output unit 54 outputs an automatic driving command, which is a command corresponding to a series of operations in the automatic driving control or semi-automatic driving control of the work machine 100, to the control object 70.

The target change unit 55 changes the task target position TP set at that time to a different task target position TP. In other words, the target change unit 55 changes the task target position TP.

The data storage unit 56 stores specific data, which is data for specific control. The specific data may be, for example, automatic driving data for automatic or semi-automatic driving. The automatic driving data is used, for example, to calculate control commands that the controller 50 outputs to the controlled object 70 so that the work machine 100 performs a specified operation. The automatic driving data may be, for example, teaching data corresponding to operations given by the operator to the operating device in the cab 2B or the remote operating device, or may be data created using various information terminals.

Each of the various positions required for specific control, such as the position of the position information acquisition device 20, the work target range WR, and multiple work target positions TP, may be information represented by coordinates in a coordinate system based on the position information acquisition device 20 (acquisition device coordinate system), information represented by coordinates in a coordinate system based on the work machine 100 (machine coordinate system), information represented by coordinates in a coordinate system based on a specific position at the work site WS (site coordinate system), or information represented by coordinates in a global coordinate system. The controller 50 may be configured to be able to convert position information in any of these coordinate systems into position information in another coordinate system.

In the following specific example, the controller 50 is configured to convert point cloud data in the acquisition device coordinate system input from the position information acquisition device 20 into point cloud data in a predefined reference coordinate system. The reference coordinate system may be the machine coordinate system, the on-site coordinate system, the global coordinate system, or another coordinate system.

The origin O of the reference coordinate system may be set at a specific position, for example, based on the work machine 100. Specifically, the origin O of the reference coordinate system may be, for example, any position on the rotation axis Z. More specifically, the origin O of the reference coordinate system may be the intersection of the rotation axis Z and the ground. Furthermore, the origin O of the reference coordinate system may be, for example, a position on the rotation axis Z between the lower traveling body 1 and the upper rotating body 2 (origin O shown in Figure 1).

In this embodiment, the reference coordinate system is a three-dimensional coordinate system. In this case, the reference coordinate system may be, for example, a Cartesian coordinate system defined using an x-axis parallel to the left-right direction, a y-axis parallel to the front-back direction, and a z-axis parallel to the vertical direction. However, the reference coordinate system is not limited to the above specific example, and various other aspects can be adopted.

The coordinates of the position information acquisition device 20 may be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of another part of the position information acquisition device 20. The controller 50 may pre-store information regarding the relative position of the position information acquisition device 20 with respect to a specific position of the work machine 100 (for example, origin O). Specifically, for example, the controller 50 may store the coordinates of the position information acquisition device 20 in the reference coordinate system whose origin is the specific position of the work machine 100. The coordinates of the position information acquisition device 20 may be, for example, the coordinates of the viewpoint of the position information acquisition device 20, or the coordinates of another part of the position information acquisition device 20.

The controlled object 70 is an object controlled by the controller 50. The output of the controlled object 70 changes in accordance with a control operation amount (control input), which is an operation amount input from the controller 50. The controlled object 70 may include a flow rate regulator and at least one of the plurality of actuators. The flow rate regulator adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the control operation amount input from the controller 50. In other words, when the controller 50 inputs a control operation amount to the flow rate regulator, the flow rate regulator operates in accordance with the control operation amount input from the controller 50, thereby supplying hydraulic oil from the hydraulic pump to at least one of the plurality of actuators and operating that actuator.

The flow rate regulator may include, for example, a boom controller 71, an arm controller 72, a tip attachment controller 73, and a swing controller 74.

The boom controller 71 may include a spool for adjusting the direction and flow rate of hydraulic oil supplied to the boom cylinder 7, a pair of pilot ports, and a pair of proportional valves. The arm controller 72 may include a spool for adjusting the direction and flow rate of hydraulic oil supplied to the arm cylinder 8, a pair of pilot ports, and a pair of proportional valves. The tip attachment controller 73 may include a spool for adjusting the direction and flow rate of hydraulic oil supplied to the tip attachment cylinder 9, a pair of pilot ports, and a pair of proportional valves. The swing controller 74 may include a spool for adjusting the direction and flow rate of hydraulic oil supplied to the swing motor 11, a pair of pilot ports, and a pair of proportional valves. Each spool is operated by inputting pilot pressure to the pilot port corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool.

Each proportional valve is arranged in an oil passage connecting the pilot port of the spool corresponding to that proportional valve with a pilot pump (not shown), and adjusts the pilot pressure input to that pilot port. In other words, each proportional valve outputs a secondary pressure corresponding to the control operation amount (e.g., current value) input from the controller 50, and that secondary pressure is input as pilot pressure to the pilot port corresponding to that proportional valve. Each proportional valve adjusts the pilot pressure input to the pilot port corresponding to that proportional valve to a magnitude corresponding to the control operation amount input from the controller 50.

The work machine 100 is equipped with a communication device 82, and the external device 200 is equipped with a communication device (not shown), so the work machine 100 and the external device 200 can send and receive data to and from each other via wireless or wired communication using various networks such as the Internet or a mobile phone network.

The external device 200 may be an information terminal such as a tablet computer (a so-called tablet), a smartphone, a laptop personal computer, or a desktop personal computer. The external device 200 may also be a remote control device for remotely controlling the work machine 100 at a remote location away from the work machine 100. The external device 200 may also be a management device such as a server for managing work performed by the work machine 100. The external device 200 may also be an external storage device that stores data such as the teaching data. The external device 200 may also be a computer in a cloud service provided as a service over a network such as the Internet. The work machine system 300 may be equipped with multiple external devices 200.

Figure 3 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40. The controller 50 performs the calculation processing shown in Figure 3 along with specific controls such as automatic driving control, semi-automatic driving control, and remote operation control. Note that the following explanation takes as an example a case where the position information acquisition device 20 is a LiDAR that acquires three-dimensional data (point cloud data) of the work site.

The target setting unit 51 of the controller 50 performs initial settings (step S11). The initial settings may include setting a work target range WR at the work site WS and setting multiple work target positions TP. The initial settings may further include setting the number of times to repeat work for the multiple work target positions TP.

For example, if the work target range WR is a rectangle as shown in FIG. 4 , the target setting unit 51 of the controller 50 may set the work target range WR by identifying the positions of three or more of the four corners A, B, C, and D of the rectangle. The position of the corner may be identified, for example, by the operator using an operation device in the cab 2B of the work machine 100 or an external device 200 (e.g., a remote control device) to position the tip of the bucket 6 at a position corresponding to the corner, and then making a specified input to the input device 81 of the work machine 100 or an input device (not shown) of the external device 200 (e.g., a remote control device). The target setting unit 51 of the controller 50 can calculate the position of the tip of the bucket 6 based on the attitude information input from the attitude detection unit 30. The position of the corner may also be identified, for example, by a person involved in the work inputting the coordinates of the corner into the external device 200.

The target setting unit 51 of the controller 50 sets multiple work target positions TP within the identified work range WR. Each of the multiple work target positions TP set by the target setting unit 51 of the controller 50 may be the x coordinate and y coordinate of the work target position TP.

The target setting unit 51 of the controller 50 may set multiple work target positions TP based on input for setting multiple work target positions TP by those involved in the work. This input may be made to the external device 200 or to the input device 81 of the work machine 100. The target setting unit 51 of the controller 50 may also set multiple work target positions TP based on a pre-stored algorithm for setting the work target positions TP and information about the work target range WR. In the specific example shown in FIG. 4, the target setting unit 51 of the controller 50 sets 15 work target positions TP within the work target range WR and sets the order in which excavation operations will be performed at these work target positions TP. In the specific example shown in FIG. 4, the target setting unit 51 of the controller 50 sets the order of excavation operations in the order of the numbers 1 to 15 of the 15 work target positions TP. However, the order of excavation operations is not limited to the specific example shown in FIG. 4.

The position information determination unit 52 of the controller 50 determines whether or not it has been able to acquire position information for the currently set work target position TP (e.g., work target position TP No. 1) based on the three-dimensional data (point cloud data) related to the work site WS input from the position information acquisition device 20 (step S12). Specifically, for example, the position information determination unit 52 of the controller 50 may determine whether or not it has been able to acquire the ground height (z coordinate) in the x and y coordinates of the currently set work target position TP based on the three-dimensional data (point cloud data). The position information determination unit 52 of the controller 50 may also determine whether or not there is data in the x and y coordinates of the currently set work target position TP.

As shown in FIG. 5, if there is no obstacle OB between the position information acquisition device 20 and the first work target position TP, the three-dimensional data (point cloud data) includes data corresponding to the first work target position TP. On the other hand, as shown in FIG. 6, if there is an obstacle OB between the position information acquisition device 20 and the first work target position TP, the light emitted from the position information acquisition device 20, such as a LiDAR, is blocked by the obstacle OB, and therefore the three-dimensional data (point cloud data) does not include data corresponding to the first work target position TP. Therefore, the position information determination unit 52 of the controller 50 can determine whether or not the position information of the currently set work target position TP has been acquired, based on the three-dimensional data (point cloud data) input from the position information acquisition device 20.

If the position information determination unit 52 of the controller 50 cannot obtain the position information of the first work target position TP (NO in step S12), the controller 50 performs the processing from step S18 onwards. The processing from step S18 onwards will be described later.

If the position information determination unit 52 of the controller 50 is able to obtain the position information of the first work target position TP (YES in step S12), it sets the next work target position in specific control (e.g., automatic driving control) to the first work target position TP (step S13). Then, the control command output unit 54 of the controller 50 outputs control commands to the control object 70 based on the automatic driving data stored in the data storage unit 56 so that an excavation operation and the associated operations of lifting rotation, soil discharge, and return rotation are performed at the first work target position TP (steps S14 and S15). The excavation operation in step S14 is an operation in which the bucket 6 moves in a predetermined direction (e.g., backward) over a predetermined range with the work target position TP set at that time as the reference (start point of the operation, center of the operation, or end point of the operation).

The position information determination unit 52 of the controller 50 determines whether the series of tasks has been completed (step S16). The determination of whether the series of tasks has been completed may be, for example, whether the excavation operations and associated operations at task target positions TP 1 through 15 have been repeated the number of times (e.g., three times) set in the initial settings. Furthermore, the determination of whether the series of tasks has been completed may be, for example, whether the amount of soil excavated at that point has reached or exceeded a predetermined value.

If the series of tasks is complete (YES in step S16), the controller 50 ends the specific control. On the other hand, if the series of tasks is not complete (NO in step S16), the controller 50 changes the setting of the task target position TP (step S17). Specifically, the controller 50 changes the next task target position TP, for example, from task target position TP No. 1 to task target position TP No. 2. The controller 50 then performs the processing from step S12 onwards again.

On the other hand, if the position information determination unit 52 of the controller 50 cannot acquire position information for the currently set work target position TP (e.g., the first work target position TP) (NO in step S12), the obstacle determination unit 53 of the controller 50 determines whether or not there is an object (obstacle OB) between the position information acquisition device 20 and the first work target position TP (step S18). Specifically, in step S18, the obstacle determination unit 53 of the controller 50 may determine whether or not there is an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the first work target position TP.

If the controller 50 cannot acquire position information for the work target position TP based on the three-dimensional data (point cloud data) (NO in step S12), and if the position information acquisition device 20 detects an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (YES in step S18), it outputs the shift command (step S19).

The control command output unit 54 of the controller 50 may output a command to the control object 70 as a shift command to control the operation of the work device 3 so that, for example, the bucket 6 pushes the obstacle OB in a direction that moves the obstacle OB away from the undercarriage 1, thereby returning the obstacle OB to within the work target range WR. When the operation of the work device 3 corresponding to the shift command is completed, the controller 50 again performs the processing from step S12 onwards.

In this embodiment, the controller 50 outputs the shift command when the above two conditions are met (the controller 50 is unable to acquire position information for the work target position TP based on the three-dimensional data, and the position information acquisition device 20 detects an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP), and does not output the shift command when the above two conditions are not met. This improves the accuracy of determining that an obstacle OB is present in the area between the position information acquisition device 20 and the work target position TP.

The predetermined height Th may be the height from the ground where the work machine 100 is placed (a height that is set in advance), as shown in Figures 5 to 7, or it may be a height that is determined as in the modified example shown in Figure 8, or it may be a height that is determined by some other method. In the modified example shown in Figure 8, the predetermined height Th is a height that corresponds to an imaginary line connecting the position information acquisition device 20 and the work target position TP. In this case, the area above the predetermined height Th is the area on and above that imaginary line (the area hatched with dashed dotted lines in Figure 8).

On the other hand, if the controller 50 cannot acquire position information for the work target position TP (for example, work target position TP No. 1) based on the three-dimensional data (point cloud data) (NO in step S12), and if the position information acquisition device 20 does not detect an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (NO in step S18), the controller 50 does not output the shift command and performs the processing of step S20.

In step S20, the controller 50 determines whether it is possible to acquire position information for other work target positions TP (for example, work target positions TP number 2 and onward) among the multiple work target positions TP based on the three-dimensional data (point cloud data). If the controller 50 is unable to acquire position information for all of the multiple work target positions TP based on the three-dimensional data (point cloud data) (YES in step S20), it ends the operation.

If it is not possible to obtain position information for all of the multiple work target positions TP, changing the work target positions TP may not be enough. In this embodiment, if it is not possible to obtain position information for all of the multiple work target positions TP based on the three-dimensional data, the controller 50 ends the work or changes the position of the work machine 100, thereby preventing unnecessary work from being continued and reducing declines in work productivity.

If the controller 50 can obtain position information for at least one of the multiple work target positions TP based on the three-dimensional data (point cloud data) (NO in step S20), the controller 50 changes the setting of the work target position TP (step S21) and performs the processing from step S12 onwards again.

Specifically, if the controller 50 cannot acquire the position information of the work target position TP based on the three-dimensional data (NO in step S12), and if the position information acquisition device 20 does not detect an object of a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP (NO in step S18), it is possible that an obstacle OB, such as a deposit of soil or sand, is not present in the area between the position information acquisition device 20 and the work target position TP, or that even if such deposit is present, it is not present in large quantities. In such a case, as shown in FIG. 7, for example, an object other than the deposit may be present in the area between the position information acquisition device 20 and the work target position TP. Specifically, for example, if excavation in the work target range WR has progressed to a certain extent, the difference in elevation between the work target position TP set at that time (e.g., work target position TP No. 1) and the ground on which the work machine 100 is located may become large, resulting in the ground being present in the area between the position information acquisition device 20 and the work target position TP. In this case, the controller 50 changes the work target position TP (step S21) rather than outputting the shift command (step S19), allowing work to continue smoothly at the changed work target position TP (for example, any of work target positions TP 6 to 10).

As explained above, the present disclosure provides a work machine control device 40, work machine 100, external device 200, work machine system 300, and workability improvement method that can mitigate, compared to conventional methods, the decline in work productivity caused by obstacles OB, such as soil and sand, that accumulate during work. The present disclosure includes the following first to ninth aspects.

[First Aspect]
The work machine control device 40 according to the first aspect includes a controller 50 that performs predetermined control to enable acquisition of the position information of the work target position TP at the work site WS when the position information of the work site WS cannot be acquired based on the work site information, which is information relating to the work site WS input from the position information acquisition device 20.

In the first aspect, the controller 50 performs the specified control, which makes it possible to reduce the decline in work productivity caused by obstacles OB, such as soil and sand, that accumulate during work compared to conventional methods.

[Second Aspect]
It is preferable that the construction machine control device 40 according to the second aspect further comprises the following configuration in addition to the construction machine control device 40 according to the first aspect. That is, in the construction machine control device 40 according to the second aspect, it is preferable that the predetermined control is control that outputs a command to move an obstacle OB that is between the position information acquisition device 20 and the work target position TP (first control), control that changes the work target position TP (second control), or control that changes the position of the construction machine 100 (third control). In the second aspect, each of the first control, second control, and third control as the predetermined control can increase the possibility of acquiring position information for the work target position TP, and therefore can suppress a decrease in work productivity caused by an obstacle OB compared to conventional methods.

The reasons why the first control, the second control, and the third control each increase the possibility of acquiring position information for the work target position TP are as follows. There is a correlation between the controller 50 being unable to acquire position information for the work target position TP based on work site information, such as three-dimensional data related to the work site WS, and the presence of an obstacle OB between the position information acquisition device 20 and the work target position TP. If the controller 50 performs the first control, which outputs a command (shift command) to move the obstacle OB when it is unable to acquire position information for the work target position TP based on the work site information, the obstacle OB between the position information acquisition device 20 and the work target position TP is removed or the amount of the obstacle OB is reduced. This increases the possibility of acquiring position information for the work target position TP. Furthermore, if the controller 50 performs the second control, which changes the work target position TP when it is unable to acquire position information for the work target position TP based on the work site information, the virtual line connecting the position information acquisition device 20 and the newly set work target position TP may pass through a position that is away from the obstacle OB. This increases the possibility of acquiring position information for the work target position TP. Furthermore, if the controller 50 performs a third control to change the position of the work machine 100 when it is unable to acquire position information for the work target position TP based on the work site information, the position of the position information acquisition device 20 also changes, and the virtual line connecting the changed position information acquisition device 20 and the work target position TP may pass through a position that is away from the obstacle OB. This increases the likelihood of acquiring position information for the work target position TP. As described above, each of the first control, second control, and third control as the predetermined control can increase the likelihood of acquiring position information for the work target position TP, thereby reducing the decline in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[Third Aspect]
A work machine control device 40 according to the third aspect preferably includes the following configuration in addition to the work machine control device 40 according to the first aspect. That is, in the work machine control device 40 according to the third aspect, the predetermined control is control that outputs a command to move an obstacle OB that is between the position information acquisition device 20 and the work target position TP, and the controller 50 preferably outputs the shift command when it is unable to acquire position information of the work target position TP based on the work site information such as the three-dimensional data, and when the position information acquisition device 20 detects an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP. In this third aspect, the controller 50 outputs the shift command when the above two conditions (the conditions that the controller 50 is unable to acquire position information of the work target position TP based on the work site information, and the position information acquisition device 20 detects an object having a predetermined height Th or greater in the area between the position information acquisition device 20 and the work target position TP) are satisfied, and does not output the shift command when the above two conditions are not satisfied. Compared to the first aspect, the third aspect can improve the accuracy of determining that an obstacle OB is present in the area between the position information acquisition device 20 and the work target position TP. The predetermined height Th may be, for example, the height from the ground where the work machine 100 is placed, or it may be a height determined in the sixth aspect described below, or it may be a height determined by a method other than these.

[Fourth Aspect]
It is preferable that the work machine control device 40 according to the fourth aspect further comprises the following configuration in addition to the work machine control device 40 according to any one of the first to third aspects. That is, in the work machine control device 40 according to the fourth aspect, it is preferable that the controller 50 changes the work target position TP when it is unable to acquire position information for the work target position TP based on the work site information such as the three-dimensional data, and when the position information acquisition device 20 does not detect an object having a predetermined height Th or more in the area between the position information acquisition device 20 and the work target position TP. If the above two conditions (the condition that the controller 50 is unable to acquire position information for the work target position TP based on the work site information, and the condition that the position information acquisition device 20 does not detect an object having a predetermined height Th or more in the area between the position information acquisition device 20 and the work target position TP) are met, there is a possibility that an obstacle OB, which is a deposit such as earth and sand, is not present in the area between the position information acquisition device 20 and the work target position TP, or that even if such deposit is present, it is not present in large amounts. In such a case, there is a possibility that something other than the deposits is present in the area between the position information acquisition device 20 and the work target position TP. Specifically, for example, as the excavation work progresses to a certain extent and the difference in elevation between the work target position TP and the ground on which the work machine 100 is located increases, there is a possibility that the ground will be present in the area between the position information acquisition device 20 and the work target position TP. In this fourth aspect, when the above two conditions are met, the controller 50 changes the work target position TP instead of outputting the shift command, so that work can be continued smoothly at the changed work target position TP.

[Fifth Aspect]
It is preferable that the work machine control device 40 according to the fifth aspect further comprises the following configuration in addition to the work machine control device 40 according to the fourth aspect. That is, in the work machine control device 40 according to the fifth aspect, if the controller 50 is unable to acquire position information for all of the multiple work target positions TP, including the work target position TP, based on the three-dimensional data, it is preferable that the controller 50 performs control to change the position of the work machine 100 or control to end the work. If it is unable to acquire position information for all of the multiple work target positions TP, it may not be possible to address the issue by simply changing the work target position TP. In this fifth aspect, by ending the work if it is unable to acquire position information for all of the multiple work target positions TP based on the work site information, the controller 50 can prevent unnecessary work from being continued and prevent a decrease in work productivity. Furthermore, when the controller 50 is unable to acquire the position information for all of the multiple work target positions TP based on the work site information, the position of the position information acquisition device 20 changes as the position of the work machine 100 is changed, and therefore, an imaginary line connecting the changed position information acquisition device 20 and the work target position TP may pass through a position that is outside the obstacle OB. This increases the possibility of acquiring the position information for the work target position TP.

[Sixth Aspect]
The work machine control device 40 according to the sixth aspect may further include the following configuration in addition to the work machine control device 40 according to any one of the third to fifth aspects: That is, in the work machine control device 40 according to the sixth aspect, the predetermined height Th may be a height corresponding to an imaginary line connecting the position information acquisition device 20 and the work target position TP.

[Seventh Aspect]
A work machine 100 according to a seventh aspect includes a machine main body, a work implement 3 rotatably supported on the machine main body, a position information acquisition device 20 that acquires work site information such as three-dimensional data related to the work site WS, and a work machine control device 40 according to any one of the first to sixth aspects. In this seventh aspect, when the controller 50 is unable to acquire position information for the work target position TP based on the work site information, the controller 50 performs the predetermined control such as the first control, the second control, or the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional systems.

[Eighth Aspect]
The external device 200 according to the eighth aspect includes the work machine control device 40 according to any one of the first to sixth aspects. In this eighth aspect, the controller 50 performs the predetermined control, such as the first control, the second control, or the third control, when it is unable to acquire position information for the work target position TP based on the work site information, such as three-dimensional data, and therefore it is possible to suppress a decrease in work productivity caused by obstacles OB, such as soil and sand, that accumulate during work, compared to conventional methods.

[Ninth Aspect]
A work machine system 300 according to a ninth aspect includes a work machine 100 and an external device 200, and the work machine system 300 includes the work machine control device 40 according to any one of the first to sixth aspects. In the ninth aspect, when the controller 50 cannot acquire position information for the work target position TP based on the work site information such as three-dimensional data, the controller 50 performs the predetermined control such as the first control, the second control, or the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[Tenth Aspect]
The workability improvement method according to the tenth aspect includes the steps of: a step in which a controller 50 acquires position information of a work target position TP at the work site WS based on work site information such as three-dimensional data about the work site WS input from a position information acquisition device 20; and a step in which, when the controller 50 is unable to acquire the position information, the controller performs predetermined control to enable acquisition of the position information of the work target position. In the tenth aspect, when the controller 50 is unable to acquire the position information of the work target position TP based on the work site information, the controller performs the predetermined control such as the first control, the second control, or the third control, thereby making it possible to suppress a decrease in work productivity caused by obstacles OB such as soil and sand that accumulate during work compared to conventional methods.

[Modification]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and further includes, for example, the following modified examples.

(A) Modification 1
In the above embodiment, the tip attachment is a bucket 6, but the tip attachment may also be a device such as a fork, a grapple, or a lifting magnet. Each of these tip attachments holds a work object such as wood or waste material and performs various operations to move the work object. During these operations, a portion of the work object may fall from the tip attachment to the ground. Work objects that fall to the ground may cause a decrease in productivity of work performed by the work machine 100.

(B) Modification 2
In the embodiment described above, the work machine control device 40 is provided on the work machine 100, but the work machine control device 40 may also be provided on the external device 200. Furthermore, in the specific example shown in Fig. 2, the controller 50 of the work machine control device 40 includes a target setting unit 51, a position information determination unit 52, an obstacle determination unit 53, a control command output unit 54, a target change unit 55, and a data storage unit 56, and the work machine 100 is provided with the controller 50; however, the work machine 100 may also be provided with part of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56, and the external device 200 may be provided with other parts of the target setting unit 51, the position information determination unit 52, the obstacle determination unit 53, the control command output unit 54, the target change unit 55, and the data storage unit 56. Furthermore, the controller 50 of the work machine control device 40 does not have to be provided with the data storage unit 56.

(C) Modification 3
The autonomous driving data does not necessarily have to be stored in the work machine 100, but may be stored in an external device 200 separate from the work machine 100. In this case, the controller 50 of the work machine 100 may acquire the autonomous driving data stored in the external device 200 by wireless or wired communication via the communicator 82, and may perform the specific control using the acquired autonomous driving data.

(D) Modification 4
When the controller 50 is unable to acquire position information of the work target position TP based on work site information such as three-dimensional data, it may output a shift command to an auxiliary machine (not shown) that assists the work machine 100 at the work site WS. In this case, the auxiliary machine operates in response to the shift command to eliminate the state in which the obstacle OB is interposed between the position information acquisition device 20 and the work target position TP. This enables the position information acquisition device 20 to acquire position information of the work target position TP.

(E) Modification 5
The work machine 100 may further include an antenna 83 for a satellite positioning system. The satellite positioning system may be, for example, the Global Positioning System (GPS), the Global Navigation Satellite System (GNSS), or another satellite positioning system. The antenna 83 may be configured to be able to detect the attitude of the upper rotating body 2 relative to the undercarriage 1, and may be configured to be able to acquire position information of the work machine 100 at the work site WS (for example, the coordinates of the work machine 100 in a global coordinate system).

(F) Modification 6
In the work machine system 300, the external device 200 can be omitted.

(G) Modification 7
The area where the obstacles OB accumulate does not have to be outside the work range WR, but may be inside the work range WR.

(H) Modification 8
Figure 10 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40 according to the eighth modified embodiment. The processing of steps S11 to S21 in the flowchart shown in Figure 10 is the same as the processing of steps S11 to S21 in the flowchart shown in Figure 3, so a description of these processes will be omitted. The calculation processing according to the flowchart shown in Figure 10 differs from the calculation processing according to the flowchart shown in Figure 3 in that it further includes step S22.

In the calculation process related to variant 8 shown in FIG. 10, if the controller 50 cannot acquire all of the position information based on the three-dimensional data (point cloud data) (YES in step S20), it outputs a command to the control object 70 to change the position of the work machine 100 (step S22). Then, after changing the position of the work machine 100, the controller 50 performs the processes from step S12 onwards again.

(I) Modification 9
Figure 11 is a flowchart showing the calculation processing performed by the controller 50 of the work machine control device 40 according to the ninth modification of the embodiment. The processing of steps S11 to S17 in the flowchart shown in Figure 11 is the same as the processing of steps S11 to S17 in the flowchart shown in Figure 3, so a description of these processes will be omitted. The calculation processing according to the flowchart shown in Figure 11 differs from the calculation processing according to the flowchart shown in Figure 3 in that it further includes step S23 and does not include steps S18 to S21 of the flowchart shown in Figure 3.

In the calculation process related to Variation 9 shown in FIG. 11, if the controller 50 cannot acquire the position information of the currently set work target position TP (for example, work target position TP No. 1) (NO in step S12), the controller 50 performs predetermined control to enable acquisition of the position information of the work target position TP (step S23). Then, once the predetermined control is completed, the controller 50 performs the processes from step S12 onwards again.

The predetermined control is control to output a command to move an obstacle OB between the position information acquisition device 20 and the work target position TP, control to change the work target position TP, or control to change the position of the work machine 100. The predetermined control may be set in advance in the controller 50 before work begins.

Claims (10)

A work machine control device equipped with a controller that performs predetermined control to enable acquisition of position information for a work target position when position information for the work target position at the work site cannot be acquired based on work site information, which is information about the work site, input from a position information acquisition device. The work machine control device according to claim 1, wherein the predetermined control is control to output a command to move an obstacle between the position information acquisition device and the work target position, control to change the work target position, or control to change the position of the work machine. the predetermined control is a control for outputting a command to move an obstacle between the position information acquisition device and the work target position,
3. The work machine control device according to claim 1, wherein the controller outputs the command when the position information of the work target position cannot be acquired based on the work site information and when the position information acquisition device detects an object of a predetermined height or higher in an area between the position information acquisition device and the work target position. The work machine control device of any one of claims 1 to 3, wherein the controller performs control to change the work target position when the position information of the work target position cannot be acquired based on the work site information and when the position information acquisition device does not detect an object of a predetermined height or higher in the area between the position information acquisition device and the work target position. The work machine control device described in claim 4, wherein the controller performs control to end work or control to change the position of the work machine if it is not possible to obtain position information for all of a plurality of work target positions, including the work target position, based on the work site information. The work machine control device described in any one of claims 3 to 5, wherein the specified height is a height corresponding to an imaginary line connecting the position information acquisition device and the work target position. The machine body,
a working device rotatably supported on the machine body;
a location information acquisition device that acquires work site information that is information related to a work site;
A work machine comprising: the work machine control device according to any one of claims 1 to 6. An external device equipped with the work machine control device described in any one of claims 1 to 6. A work machine system including a work machine and an external device,
The work machine system includes the work machine control device according to any one of claims 1 to 6. a step in which a controller acquires position information of a work target position in the work site based on work site information that is information about the work site input from a position information acquisition device;
and when the controller is unable to acquire the position information, the controller performs a predetermined control to enable acquisition of the position information of the work target position.