JP7683286B2 - Working System - Google Patents

Description

The present invention relates to a work system for making an attachment perform work automatically.

For example, Patent Document 1 describes a shovel with an attachment. Claim 1 of the document states that when a condition such as "a state in which the shovel may be in a relatively unstable position" is met, "the operation of the actuator using the operating device is restricted."

JP 2020-158998 A

In the technology described in the document, when certain conditions are met, the operation of the attachment (in the document, this refers to the boom, arm, and bucket) is restricted. When the operation of the attachment is restricted, the efficiency of the work performed on the work object by the attachment decreases.

Therefore, the present invention aims to provide a work system that can improve the efficiency of work performed on work objects using attachments.

The work system includes a lower body, an upper rotating body, an attachment, a work control unit, and a contact determination unit. The upper rotating body is mounted on the lower body so as to be rotatable. The attachment is attached to the upper rotating body and performs work on a work object. The work control unit controls the attachment to automatically operate. The contact determination unit determines whether the attachment has come into contact with the work object while the tip of the attachment is moving from a specific movement start position toward a work start position, which is a start position of work on the work object. When the tip of the attachment moves from the movement start position to the work start position without being determined to be in the contact state by the contact determination unit, the work control unit causes the attachment to start work at the work start position. When the contact determination unit determines to be in the contact state, the work control unit causes the attachment to start work at the position of the attachment when it was determined to be in the contact state.

The above configuration improves the efficiency of work performed on the work object using the attachment.

FIG. 2 is a side view of the work machine 10 and other components of the work system 1. FIG. 2 is a block diagram of the working system 1 shown in FIG. 3 is a flowchart showing a process of a controller 30 shown in FIG. 2 . 2 is a side view of the work machine 10 when the attachment 15 shown in FIG. 1 moves in the forward/rearward direction X. FIG. 2 is a top view of the work machine 10 and the like when the attachment 15 shown in FIG. 1 moves in a swing direction θ.

The work system 1 will be described with reference to Figures 1 to 5.

As shown in FIG. 1, the work system 1 is a system for performing work on a work object O. The work system 1 includes a work machine 10, an imaging device 21, an attitude detection unit 23 shown in FIG. 2, an attachment speed sensor 25, an attachment load sensor 27, and a controller 30.

As shown in FIG. 1, the work machine 10 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. The work machine 10 performs work on a work object O. The work object O may be, for example, soil or sand, crushed stone, or waste. The work object O may be, for example, in the shape of a mountain (e.g., a pile of soil and sand), and may be placed on the ground G (see FIG. 4), or may be placed in a pit P (surrounded by a wall Pw). The work machine 10 comprises a lower traveling body 11 (lower main body), an upper rotating body 13, an attachment 15, and a drive unit 17.

The lower running structure 11 (lower body) allows the work machine 10 to travel. The lower running structure 11 is equipped with, for example, crawlers.

The upper rotating body 13 is mounted on the lower traveling body 11 so as to be able to rotate. An attachment 15 is attached to the upper rotating body 13. The upper rotating body 13 includes a cab 13a and a counterweight 13b. The cab 13a is a portion where an operator can operate the work machine 10. The work machine 10 does not have to be operated by an operator, and may be automatically operated by a controller 30 (see FIG. 2). The counterweight 13b is a weight for balancing the work machine 10 in the fore-and-aft direction X.

Direction Definitions for Work Machine 10
The direction in which the axis of rotation (center of rotation 13o (see FIG. 5)) of the upper rotating body 13 relative to the lower running body 11 extends is defined as the up-down direction Z. In the up-down direction Z, the side (direction) from the lower running body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. As shown in FIG. 5, the direction in which the attachment 15 extends when viewed from the up-down direction Z (the direction in which the attachment 15 protrudes relative to the upper rotating body 13) is defined as the front-to-rear direction X. In the front-to-rear direction X, the side from the counterweight 13b toward the mounting portion of the attachment 15 to the upper rotating body 13 is defined as the "front side". In the front-to-rear direction X, when viewed from the upper rotating body 13 to the front side, the side farther from the upper rotating body 13 is defined as the rear side X1, and the side closer to the upper rotating body 13 is defined as the front side X2. The direction of rotation of the upper rotating body 13 relative to the lower traveling body 11 (the direction about the rotation center 13o) is defined as a rotation direction θ.

Attachment 15 is attached to upper rotating body 13 as shown in FIG. 1, and is a part that performs work on work object O. Attachment 15 includes boom 15a, arm 15b, and tip attachment 15c. Boom 15a is attached to upper rotating body 13 so that it can be raised and lowered (rotated up and down). Arm 15b is rotatably attached to boom 15a. Tip attachment 15c is a part that performs work on work object O. Tip attachment 15c is provided at the tip of attachment 15 and rotatably attached to arm 15b. Tip attachment 15c may be, for example, a bucket for scooping (excavating) soil and sand, a device for clamping objects (such as a grapple), or a device for crushing, excavating, etc. (such as a breaker). The tip of tip attachment 15c (tip of attachment 15) is called attachment tip 15t.

The drive unit 17 drives the work machine 10. The drive unit 17 may be equipped with, for example, a hydraulic actuator or an electric actuator. The above-mentioned "actuator" may be, for example, an extendable cylinder or a motor. Specifically, for example, the drive unit 17 includes a boom cylinder 17a, an arm cylinder 17b, a tip attachment cylinder 17c, and a rotation motor 17d (see FIG. 2). The boom cylinder 17a is a cylinder (for example, a hydraulic cylinder) that raises and lowers the boom 15a relative to the upper rotating body 13. The arm cylinder 17b is a cylinder (for example, a hydraulic cylinder) that rotates the arm 15b relative to the boom 15a. The tip attachment cylinder 17c is a cylinder (for example, a hydraulic cylinder) that rotates the tip attachment 15c relative to the arm 15b. In FIG. 2, the tip attachment cylinder 17c is described as a "tip ATT cylinder." The slewing motor 17d is a motor (e.g., a hydraulic motor or an electric motor) that rotates the upper rotating body 13 relative to the lower traveling body 11 shown in FIG. 1. The slewing motor 17d (see FIG. 2) rotates the upper rotating body 13 relative to the lower traveling body 11 around the rotation center 13o shown in FIG. 5. As a result, the slewing motor 17d rotates the attachment 15 relative to the lower traveling body 11 around the rotation center 13o.

As shown in FIG. 1, the imaging device 21 detects three-dimensional information of the position and shape of the imaging object. The above-mentioned "imaging object" is at least one of the work object O and the surrounding object of the work object O. The imaging device 21 acquires an image (distance image) having distance information (depth information). The imaging device 21 may detect three-dimensional information of the imaging object based on the distance image and the two-dimensional image. Only one imaging device 21 may be provided, or multiple imaging devices 21 may be provided. The imaging device 21 may be mounted on the work machine 10 or may be disposed outside the work machine 10 (e.g., at the work site). The same applies to the attitude detection unit 23, attachment speed sensor 25, and controller 30 shown in FIG. 2 in that they may be mounted on the work machine 10 or disposed outside the work machine 10.

The imaging device 21 (see FIG. 1) may include a device that detects three-dimensional information using laser light. The imaging device 21 may include, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or a TOF (Time Of Flight) sensor. The imaging device 21 may include a device that detects three-dimensional information using radio waves (such as a millimeter wave radar). The imaging device 21 may include a stereo camera. In cases where the imaging device 21 detects the three-dimensional position and shape of an object to be imaged based on three-dimensional information and two-dimensional information, the imaging device 21 may include a camera that can detect two-dimensional images.

The posture detection unit 23 detects the posture of the work machine 10 (see FIG. 1). The posture detection unit 23 includes a boom sensor 23a, an arm sensor 23b, a tip attachment sensor 23c (a tip ATT sensor in FIG. 2), and a rotation sensor 23d.

The boom sensor 23a detects the rotation angle (raising and lowering angle) of the boom 15a relative to the upper rotating body 13 shown in FIG. 1. The boom sensor 23a (see FIG. 2) may include an angle sensor attached to the rotation axis of the boom 15a relative to the upper rotating body 13. The boom sensor 23a may include an inclination sensor that detects the inclination angle of the boom 15a relative to the ground G or the like. The boom sensor 23a may include a stroke sensor that detects the stroke position of the boom cylinder 17a (the position of the cylinder rod relative to the cylinder tube). The boom sensor 23a may detect the attitude of the boom 15a based on a two-dimensional image or a distance image (performs image-based detection). In this case, the two-dimensional image or the distance image may be captured by the imaging device 21.

The arm sensor 23b (see FIG. 2) detects the rotation angle of the arm 15b relative to the boom 15a. The arm sensor 23b may be equipped with an angle sensor, a tilt sensor, a stroke sensor, or may perform detection based on an image (the same applies to the tip attachment sensor 23c (see FIG. 2)). The tip attachment sensor 23c detects the rotation angle of the tip attachment 15c relative to the arm 15b. The rotation sensor 23d detects the rotation angle (rotation direction θ) of the upper rotating body 13 relative to the lower running body 11. The rotation sensor 23d may be equipped with an angle sensor, or may perform detection based on an image.

The attachment speed sensor 25 (see FIG. 2) detects the operating speed of the attachment 15. For example, the attachment speed sensor 25 may be used in combination with the posture detection unit 23 (see FIG. 2). For example, the attachment speed sensor 25 may convert the detection result (e.g., angle, etc.) of the posture of the attachment 15 by the posture detection unit 23 into the operating speed of the attachment 15. Specifically, for example, the attachment speed sensor 25 may convert the hoisting angle of the boom 15a relative to the upper rotating body 13 detected by the boom sensor 23a (see FIG. 2) into the rotational speed (angular velocity) of the boom 15a relative to the upper rotating body 13. For example, the attachment speed sensor 25 may convert the stroke position of the boom cylinder 17a into the stroke speed of the boom cylinder 17a. And the attachment speed sensor 25 may convert the speed of the boom cylinder 17a into the rotational speed of the boom 15a relative to the upper rotating body 13. For the operating speed of the arm 15b and the tip attachment 15c, the angle and stroke may be converted to speed. For the rotation speed of the upper rotating body 13 relative to the lower running body 11 (i.e., the rotation speed of the attachment 15), the rotation angle may be converted to rotation speed. Note that the attachment speed sensor 25 does not have to be used as the posture detection unit 23, and the operating speed of the attachment 15 may be detected without using the detection result by the posture detection unit 23.

The attachment load sensor 27 (see FIG. 2) detects the load in the vertical direction Z acting on the attachment 15. The attachment load sensor 27 detects the load in the vertical direction Z acting on at least one of the boom 15a, the arm 15b, and the tip attachment 15c. Specifically, for example, when detecting the load in the vertical direction Z acting on the boom 15a, the attachment load sensor 27 may detect the oil pressure of the hydraulic oil that operates the boom cylinder 17a.

The controller 30 (see FIG. 2) performs signal input/output, calculations (processing), information storage, etc. For example, the controller 30 shown in FIG. 2 receives detection results from the imaging device 21 (see FIG. 1), the attitude detection unit 23, the attachment speed sensor 25, and the attachment load sensor 27. For example, the controller 30 outputs a signal for driving the drive unit 17. The controller 30 includes a contact determination unit 31 and a work control unit 33.

The contact determination unit 31 determines whether or not a contact state, which will be described later, exists. The work control unit 33 automatically operates the work machine 10. The work control unit 33 controls the automatic operation of the attachment 15 (see FIG. 1). The work control unit 33 controls each of the boom cylinder 17a, arm cylinder 17b, tip attachment cylinder 17c, and swing motor 17d.

(Overview of Operation of Working System 1)
The working system 1 is configured to operate as follows: The controller 30 (see FIG. 2) controls (automatically drives) the working machine 10 and causes the attachment 15 to perform work. A specific example of the operation of the attachment 15 at this time is as follows.

The attachment 15 performs work on the work object O (e.g., excavation), and the tip attachment 15c is in a state in which it can transport the work object O (e.g., scooped or gripped). In this state, the attachment 15 transports the work object O to a predetermined position. Specifically, for example, the attachment 15 lifts the work object O, and the upper rotating body 13 rotates (the work machine 10 lifts and rotates). Next, the attachment 15 releases (e.g., dumps) the work object O above a loading object (e.g., the bed of a transport vehicle) not shown. Next, the tip attachment 15c (more specifically, the tip of the attachment 15t) moves to a planned position (work start position P3) where work on the work object O is to be performed. During this movement, for example, the upper rotating body 13 rotates (return rotation), and the height (position in the vertical direction Z) of the tip attachment 15c is changed. In this way, the work machine 10 repeats a series of operations, for example, work, lifting and swinging, release, and return swing. Note that the above-described operation of the work machine 10 is an example, and the work machine 10 can be operated in various ways.

(Movement of attachment tip 15t)
The work control unit 33 (see FIG. 2) controls the operation of the work machine 10 so that the attachment tip 15t moves from the movement start position P1 to the work start position P3.

The movement start position P1 is a specific position set in the controller 30 (e.g., the contact determination unit 31) (see FIG. 2). The movement start position P1 is the start position of the movement of the attachment tip 15t when the contact determination unit 31 makes a determination (described later). For example, the movement start position P1 may be a position on the trajectory of the attachment tip 15t in the return rotation described above (see FIG. 5), or may be the position of the attachment tip 15t at the start of the return rotation. As shown in FIG. 5, the movement start position P1 may be a point that overlaps with the boundary between the inside and outside of the range (work target area Oa) in which work is performed by the tip attachment 15c. For example, work by the tip attachment 15c is performed in at least a part of the work target area Oa.

The work start position P3 is the position of the attachment tip 15t when the tip attachment 15c shown in FIG. 1 starts working on the work object O (e.g., excavation). The work start position P3 may be automatically set by the controller 30 (see FIG. 2), for example. Specifically, the work start position P3 may be automatically set by the controller 30 based on a distance image captured by the imaging device 21. The height of the work start position P3 may be set by the operator teaching the attachment 15. The height of the work start position P3 may be set by the operator inputting (e.g., numerical input) into a mobile information terminal (e.g., a tablet, a smartphone, etc.). As with the work start position P3, the movement start position P1 may also be automatically set by the controller 30, may be set by teaching the attachment 15, or may be set by inputting into a mobile information terminal.

(Contact between the attachment 15 and the workpiece O)
It is assumed that a work object O exists between the movement start position P1 and the work start position P3. In this case, it is assumed that the attachment 15 comes into contact with the work object O when the attachment tip 15t moves from the movement start position P1 to the work start position P3. A specific example is as follows.

[Example of contact in the vertical direction Z] For example, a case may be assumed in which a work object O is located directly above the work start position P3. For example, a case may be assumed in which the height of the work start position P3 set by teaching or input to a mobile information terminal is lower than the height of the work object O, and the work object O is located directly above the work start position P3. In such a case, when the attachment tip 15t moves from the upper side Z1 above the work object O to the lower side Z2 toward the work start position P3, the attachment 15 (e.g., the tip attachment 15c) comes into contact with the work object O. If the attachment 15 is attempted to be further lowered in this state, the work machine 10 (vehicle body) will attempt to lift up relative to the ground G. This may cause the work machine 10 to tilt relative to the ground G and become unstable. In the example shown in FIG. 1, the attachment tip 15t comes into contact with the workpiece O, but the part of the attachment 15 that comes into contact with the workpiece O is not limited to the attachment tip 15t, nor is it limited to the tip attachment 15c.

[Example of contact in the forward/backward direction X] For example, as shown in FIG. 4, consider a case where the work start position P3 is located on the rear side X1 of the movement start position P1. In this case, it is assumed that the work object O is located between the movement start position P1 and the work start position P3 in the forward/backward direction X, at a position higher than the work start position P3. In such a case, when the tip attachment 15c moves from the movement start position P1 towards the work start position P3, it may come into contact with (get stuck on) the work object O on the front side X2 of the work start position P3.

[Example of contact in the rotation direction θ] For example, as shown in FIG. 5, a case may be assumed in which a work object O exists between the movement start position P1 and the work start position P3 in the rotation direction θ, at a position higher than the work start position P3. In such a case, when the tip attachment 15c rotates from the movement start position P1 toward the work start position P3, it may come into contact with (get stuck on) the work object O on the side closer to the movement start position P1 than the work start position P3.

Therefore, the work control unit 33 (see FIG. 2) changes the work start position P3 if the attachment 15 comes into contact with the work target O while moving from the movement start position P1 to the work start position P3. The changed P3 is called the changed work start position P3a. Details of the control by the controller 30 are as follows.

(Changed work start position P3a)
The operation of the controller 30 (see FIG. 2) will be described with reference to the flowchart shown in FIG. 3. Each step shown in the flowchart will be described below with reference to FIG. 3. In step S11, the work control unit 33 (see FIG. 2) controls the attachment 15 to move from the movement start position P1 toward the work start position P3. Specifically, for example, the work control unit 33 causes the attachment 15 to perform a return swing operation.

In step S12, the contact determination unit 31 (see FIG. 2) determines whether the attachment tip 15t has reached the work start position P3. If the attachment tip 15t has not reached the work start position P3 (NO in step S21), the flow proceeds to steps S21 to S24 and S31. If the attachment tip 15t has not reached the work start position P3, the attachment tip 15t is in the process of moving from the movement start position P1 toward the work start position P3. If the attachment tip 15t has reached the work start position P3, the flow proceeds to S41.

In steps S21 to S24 and S31, the contact determination unit 31 (see FIG. 2) determines whether the attachment 15 is in a "contact state" in which it is in contact with the work object O.

In steps S21 to S24, the contact determination unit 31 (see FIG. 2) determines whether the attachment 15 has come into contact with the work object O and is in a stopped or nearly stopped state. Specifically, the contact determination unit 31 determines that the attachment 15 is in a contact state when the operating speed of the attachment 15 detected by the attachment speed sensor 25 (see FIG. 2) is equal to or lower than a speed threshold. The above speed threshold is set in advance (before this determination) in the contact determination unit 31 (the same applies to each of the following thresholds).

More specifically, in step S21, the contact determination unit 31 (see FIG. 2) determines whether the rotational speed of the boom 15a relative to the upper rotating body 13 is equal to or less than a boom speed threshold (a speed threshold related to the rotational speed of the boom 15a). For example, if the state in which the rotational speed of the boom 15a is equal to or less than the boom speed threshold continues for a predetermined time or more, the contact determination unit 31 determines that the rotational speed of the boom 15a is equal to or greater than the boom speed threshold. The "predetermined time" is a threshold related to time that is preset in the contact determination unit 31.

Similarly, in step S22, the contact determination unit 31 (see FIG. 2) determines whether the rotation speed of the arm 15b relative to the boom 15a is equal to or lower than the arm speed threshold (speed threshold related to the rotation speed of the arm 15b). In step S23, the contact determination unit 31 determines whether the rotation speed of the tip attachment 15c relative to the arm 15b is equal to or lower than the tip attachment speed threshold (speed threshold related to the rotation speed of the tip attachment 15c). In FIG. 3, the tip attachment 15c is described as "tip ATT". In step S24, the contact determination unit 31 determines whether the rotation speed of the attachment 15 (upper rotating body 13) relative to the lower traveling body 11 shown in FIG. 1 is equal to or lower than the rotation speed threshold (speed threshold related to the rotation speed of the attachment 15).

If the rotation speed of the boom 15a, the rotation speed of the arm 15b, the rotation speed of the tip attachment 15c, and the swing speed of the attachment 15 are each equal to or less than the respective speed threshold value (YES in all of steps S21 to S24), the flow proceeds to step S25. In this case, the contact determination unit 31 (see FIG. 2) determines that the attachment 15 is stopped or nearly stopped. On the other hand, if this condition is not met (NO in at least one of steps S21 to S24), the contact determination unit 31 determines that the attachment 15 is not stopped or nearly stopped. In this case, the contact determination unit 31 determines that the attachment 15 is not in a contact state. In this case, the flow returns to step S12.

In step S31, the contact determination unit 31 (see FIG. 2) determines whether the load detected by the attachment load sensor 27 is equal to or greater than the load threshold (threshold related to the load of the attachment 15). In this determination, it is determined whether the attachment 15 is lifting the work machine 10 above the ground G and is about to tilt the work machine 10 or is already tilting it. In this determination, the contact determination unit 31 determines whether the load in the vertical direction Z acting on the attachment 15 (specifically, for example, the boom 15a) is equal to or greater than the load threshold ("boom load" in FIG. 3). If the load in the vertical direction Z acting on the attachment 15 is equal to or greater than the load threshold, the flow proceeds to step S32. If the load in the vertical direction Z acting on the attachment 15 is less than the load threshold, the contact determination unit 31 determines that the attachment 15 is not in contact. In this case, the flow returns to step S12.

If at least one of the following conditions is met: the operating speed of the attachment 15 is equal to or lower than the speed threshold (YES in all of S21 to S24), and the load in the vertical direction Z acting on the attachment 15 is equal to or higher than the load threshold (YES in S31), the flow proceeds to step S32. In this case, the contact determination unit 31 determines that the attachment 15 is in a contact state. In this case, the flow proceeds to step S41.

(Determining the Speed and Load of the Attachment 15)
It is preferable that the contact determination unit 31 (see FIG. 2 ) determines whether or not the attachment 15 is in a contact state based on a determination of whether or not the operating speed of the attachment 15 is equal to or lower than a speed threshold (speed determination) and a determination of whether or not the load of the attachment 15 is equal to or higher than a load threshold (load determination). The reason for this is as follows. When the attachment 15 lifts the work machine 10 above the ground G and tilts the lower traveling body 11 relative to the ground G, the attachment 15 is not stopped (or nearly stopped). Therefore, when only the speed determination is performed, the attachment 15 is not determined to be in a "contact state" even though it is in contact with the work object O. On the other hand, there are cases where the attachment 15 is in contact with the work object O and is stopped (or nearly stopped), but the load acting on the attachment 15 is small. Specifically, for example, when the stroke amount of the boom cylinder 17a after the attachment 15 comes into contact with the work object O is small, the load acting on the boom cylinder 17a is small and the pressure of the hydraulic oil supplied to the boom cylinder 17a is not large. In such a case, even though the attachment 15 is in contact with the work object O, it is not determined that the attachment 15 is in a "contact state." On the other hand, when both the speed determination and the load determination are performed, it is possible to appropriately determine whether the attachment 15 is in contact with the work object O.

In addition, if only one of the speed judgment and the load judgment can adequately determine whether the attachment 15 is in contact with the work object O, only one of the speed judgment and the load judgment may be performed.

In step S41, the work control unit 33 (see FIG. 2) causes the attachment 15 to start work on the work object O. More specifically, if the attachment tip 15t moves from the movement start position P1 to the work start position P3 without the contact determination unit 31 (see FIG. 2) determining that there is contact (NO in step S12), the work control unit 33 performs the following process. In this case, the work control unit 33 causes the attachment 15 to start work at the work start position P3. More specifically, the work control unit 33 causes the attachment 15 to start work on the work object O from a state in which the attachment tip 15t is positioned at the work start position P3.

Also, when the contact determination unit 31 (see FIG. 2) determines that the attachment 15 is in contact (when the process proceeds from step S32 to step S41), the work control unit 33 (see FIG. 2) performs the following process. In this case, the work control unit 33 causes the attachment 15 to start work at the position of the attachment 15 when the contact determination unit 31 determines that the attachment 15 is in contact. In this case, the contact determination unit 31 changes the work start position P3 to the position of the attachment 15 when the contact determination unit 31 determines that the attachment 15 is in contact (changes the work start position P3 to the changed work start position P3a). More specifically, the work control unit 33 causes the attachment 15 to start work on the work object O from a state in which the attachment tip 15t is disposed at the changed work start position P3a. Therefore, even when the contact state is determined, the attachment 15 performs work on the work object O.

After step S41, the flow proceeds to "END". Thereafter, the controller 30 (see FIG. 2) causes the work machine 10 to, for example, perform the lifting rotation described above and release the work object O. Thereafter, when the controller 30 causes the work machine 10 to perform a return rotation, it again performs the process shown in FIG. 3.

A case will be described in which the attachment 15 shown in FIG. 1 starts work at the changed work start position P3a, and after this work is completed, for example, lifting and rotating and releasing the work object O, the process shown in FIG. 3 is performed again. [Example 1] In this case, the movement target of the attachment tip 15t shown in FIG. 1 may be returned from the changed work start position P3a to the work start position P3 before the change. [Example 1a] For example, the shape of the work object O changes because the attachment 15 comes into contact with the work object O and works at the changed work start position P3a. Then, the attachment tip 15t may be able to reach the work start position P3 before the change. In this case, the attachment 15 can work at the work start position P3 before the change. [Example 1b] Also, the attachment tip 15t may move from the movement start position P1 to the work start position P3 before the change so as to avoid the position of the attachment 15 when it is determined that it is in contact (i.e., an obstacle). In FIG. 5, an example of the movement path of the attachment tip 15t in this case is shown by a two-dot chain line. [Example 2] The movement target of the attachment tip 15t may be a position (new work start position P3) that is neither the changed work start position P3a nor the "pre-change work start position P3."

(Effects of the First Invention)
As shown in FIG. 1, the effects of the work system 1 are as follows. The work system 1 includes a lower travel unit 11 (lower main body), an upper rotating unit 13, an attachment 15, a work control unit 33 (see FIG. 2), and a contact determination unit 31 (see FIG. 2). The upper rotating unit 13 is mounted on the lower travel unit 11 so as to be capable of rotating. The attachment 15 is attached to the upper rotating unit 13 and performs work on a work object O. The work control unit 33 controls the automatic operation of the attachment 15. The contact determination unit 31 determines whether or not the attachment 15 has come into contact with the work object O while the tip end 15t of the attachment is moving from a specific movement start position P1 toward a work start position P3. The work start position P3 is the start position of work on the work object O. When the attachment tip 15t moves from the movement start position P1 to the work start position P3 without the contact determination unit 31 determining that a contact state is occurring, the work control unit 33 causes the attachment 15 to start work at the work start position P3.

[Configuration 1] When the contact determination unit 31 determines that a contact state exists, the work control unit 33 causes the attachment 15 to start work at the position of the attachment 15 when the contact state was determined to exist.

With the above [Configuration 1], even if the attachment 15 comes into contact with the work object O, the attachment 15 is made to start work on the work object O at the position of the attachment 15 when it was determined that the attachment 15 was in contact. Therefore, even if the attachment 15 comes into contact, work can be performed on the work object O by the attachment 15. Therefore, the efficiency of work performed by the attachment 15 on the work object O can be improved compared to, for example, a case in which the operation of the attachment 15 is restricted when the attachment 15 comes into contact.

(Effects of the second invention)
[Configuration 2] The work system 1 includes an attachment speed sensor 25 (see FIG. 2) that detects the operating speed of the attachment 15. A contact determination unit 31 (see FIG. 2) determines that a contact state exists when the operating speed of the attachment 15 detected by the attachment speed sensor 25 is equal to or lower than a speed threshold value set in the contact determination unit 31.

In the above [Configuration 2], if the speed of the attachment 15 when the attachment 15 is stopped or nearly stopped is set as the speed threshold value, the following effect is obtained. In this case, the contact determination unit 31 determines that the attachment 15 is in a contact state when the attachment 15 is stopped or nearly stopped. Therefore, it can be appropriately determined that the attachment 15 is in a state where it cannot move to the work start position P3.

(Effects of the third invention)
[Configuration 3] The work system 1 includes an attachment load sensor 27 (see FIG. 2) that detects a load in the vertical direction Z acting on the attachment 15. A contact determination unit 31 (see FIG. 2) determines that a contact state exists when the load detected by the attachment load sensor 27 is equal to or greater than a load threshold value set in the contact determination unit 31.

In the above [Configuration 3], if the load of the attachment 15 when the attachment 15 is attempting to lift the lower traveling body 11 and the upper rotating body 13 is set as the load threshold value, the following effect is obtained. In this case, the contact determination unit 31 determines that the attachment 15 is in a contact state when the attachment 15 is attempting to lift the lower traveling body 11 and the upper rotating body 13. Therefore, it can be appropriately determined that the attachment 15 is in a state where it cannot move to the work start position P3.

(Effects of the fourth aspect of the invention)
[Configuration 4] The work system 1 includes the above-mentioned [Configuration 2] and [Configuration 3].

The above [Configuration 4] provides the following effects. When the attachment 15 is not attempting to lift the lower traveling body 11 and the upper rotating body 13 but is stopped or nearly stopped, the contact determination unit 31 can be made to determine that there is contact. Also, when the attachment 15 is not stopped or nearly stopped but is attempting to lift the lower traveling body 11 and the upper rotating body 13, the contact determination unit 31 can be made to determine that there is contact. Therefore, it can be appropriately determined that the attachment 15 is in a state where it cannot move to the work start position P3.

(Modification)
The above embodiment may be modified in various ways. For example, the arrangement and shape of each component of the above embodiment may be changed. For example, the connection of each component shown in FIG. 2 may be changed. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, and some of the steps may not be performed. For example, the above thresholds (speed threshold, load threshold, etc.) and ranges (for example, the work target area Oa) may be constant, may be changed by manual operation, or may be automatically changed according to some conditions. For example, the number of components may be changed, and some of the components may not be provided. For example, the fixing or connection between the components may be direct or indirect. For example, what has been described as a plurality of different members or parts may be one member or part. For example, what has been described as a single member or part may be provided separately as a plurality of different members or parts. Specifically, for example, the components of the controller 30 shown in FIG. 2 (the work control unit 33 and the contact determination unit 31) may be provided together in one controller 30, or may be provided separately.

1 Working system 11 Lower running body (lower main body)
REFERENCE SIGNS LIST 13 Upper rotating body 15 Attachment 25 Attachment speed sensor 27 Attachment load sensor 31 Contact determination unit 33 Work control unit O Work object P1 Movement start position P3 Work start position

Claims (4)

A lower body and
An upper rotating body rotatably mounted on the lower body;
An attachment that is attached to the upper rotating body and performs work on a work object;
A work control unit that controls the automatic operation of the attachment;
a contact determination unit that determines whether or not the attachment has come into contact with the work object while the tip of the attachment is moving from a specific movement start position toward a work start position that is a start position of work on the work object;
Equipped with
the work control unit, when the tip end of the attachment moves from the movement start position to the work start position without the contact determination unit determining that the tip end is in the contact state, causes the attachment to start work at the work start position;
When the contact determination unit determines that the contact state is present, the work control unit causes the attachment to start work at the position of the attachment when the contact state is determined to be present.
Working system. The work system according to claim 1,
an attachment speed sensor for detecting an operating speed of the attachment;
The contact determination unit determines that the contact state exists when the operating speed of the attachment detected by the attachment speed sensor is equal to or lower than a speed threshold value set in the contact determination unit.
Working system. The work system according to claim 1,
An attachment load sensor is provided to detect a load acting on the attachment in a vertical direction,
The contact determination unit determines that the attachment is in the contact state when the load detected by the attachment load sensor is equal to or greater than a load threshold value set in the contact determination unit.
Working system. The work system according to claim 1,
an attachment speed sensor that detects an operating speed of the attachment;
an attachment load sensor that detects a vertical load acting on the attachment;
Equipped with
The contact determination unit determines that the contact state exists when either or both of the following cases are true: an operating speed of the attachment detected by the attachment speed sensor is equal to or lower than a speed threshold value set in the contact determination unit; and a load detected by the attachment load sensor is equal to or higher than a load threshold value set in the contact determination unit.
Working system.

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