METHOD FOR RECOVERING POSTURE OF WORK MACHINE, POSTURE RECOVERY SYSTEM, AND POSTURE RECOVERY APPARATUS

Abstract

A posture recovery apparatus capable of automatically recovering a posture of a work machine is realized. The setting unit (11) sets a safe posture range based on a posture of the work machine before operation. The acquisition unit (12) acquires posture information on the work machine in operation. In a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit (13) causes the work machine to carry out a recovery operation.

Description

TECHNICAL FIELD

The present invention relates to a method for recovering a posture of a work machine.

BACKGROUND ART

Conventionally, there has been known a technique for controlling a work machine on the basis of information on a posture of the work machine. As techniques related to this, there are the inventions disclosed in Patent Literatures 1 and 2 listed below.

Patent Literature 1 relates to a work machine capable of performing a continuous execution of automatic construction appropriately in accordance with communication performance of a communication network. The work machine has at least one on-board control unit or external control unit that performs an intervention degree determination process of comparing acquired communication performance information composed of a response time and a communication band, which are related to communications on a communication network, with a preset reference range of communication performance information, comparing acquired construction state information composed of machine body posture information and construction surface state information, which is information on a construction surface that is to be constructed by a work machine, with a preset reference range of a construction state, and determining the degree of intervention to the operation of the work machine in an automatic construction process in accordance with a result of the comparison of the communication performance information and a result of the comparison of the construction state information. The on-board control unit or the external control unit automatically or semi-automatically controls the operation of the work machine in accordance with the degree of intervention determined in the intervention degree determination process.

Patent Literature 2 relates to a remote control system for remotely controlling a construction machine such as a hydraulic excavator or dump truck. An operation control apparatus includes: a position and posture measurement means for measuring the position and posture of a construction machine; a position and posture storage means for storing, on a time-series basis, the position and posture measured by the position and posture measurement means; a reception status determination means for determining a reception status of radio waves transmitted from a wireless remote control apparatus; and an automatic return means for returning the posture of the construction machine to a posture at any point in time in the past on the basis of the posture information stored in the posture storage means. When the reception status determination means has determined that radio waves transmitted from the wireless remote control apparatus cannot be received, the automatic return means returns the posture of the construction machine to a posture at a point in time at which the radio waves could be received, on the basis of position and posture recording information stored in the position and posture storage means.

CITATION LIST

Patent Literature

• • [Patent Literature 1]
  • Japanese Patent Application Publication Tokukai No. 2020-002709
  • [Patent Literature 2]
  • Japanese Patent Application Publication Tokukai No. 2015-191249

SUMMARY OF INVENTION

Technical Problem

In a case where the posture of the work machine has changed due to a normal operation of the work machine which is autonomously controlled, the changed posture may fall within an unfavorable range in terms of safety. In such a case, it is preferable to carry out a recovery operation so that the posture of the work machine is automatically recovered.

The invention described in Patent Literature 1 is the invention in which the degree of intervention to the operation of the work machine is determined by reference to the communication performance information, but does not provide a solution to the above-described problem associated with the posture change caused by the normal operation of the work machine.

Further, the invention described in Patent Literature 2 is the invention in which, in a case where radio waves cannot be received, the posture of the construction machine is returned to a posture in which the construction machine could receive radio waves, but does not provide a solution to the above-described problem associated with the posture change caused by the normal operation of the work machine.

An example aspect of the present invention has been made in view of the above problem, and an example of the object is to provide a technique that enables automatic recovery of a posture of a work machine which has changed due to a normal operation of the work machine.

Solution to Problem

A method for recovering a posture of a work machine in accordance with an example aspect of the present invention includes: setting a safe posture range based on a posture of a work machine before operation; acquiring posture information on the work machine in operation; and in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, carrying out a recovery operation of the work machine.

A posture recovery system in accordance with an example aspect of the present invention includes: a first detection means for detecting posture information on a work machine; a setting means for setting a safe posture range based on a posture of the work machine before operation; and a recovery means for, in a case where, by reference to the posture information on the work machine in operation that has been acquired from the first detection means, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, instructing the work machine to carry out a recovery operation.

A posture recovery apparatus in accordance with an example aspect of the present invention includes: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.

Advantageous Effects of Invention

According to an example aspect of the present invention, it is possible to automatically recover a posture of a work machine.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block diagram illustrating a functional configuration of a posture recovery apparatus in accordance with a first example embodiment of the present invention.

FIG. 2 is a flowchart illustrating a flow of a posture recovery method in accordance with the first example embodiment of the present invention.

FIG. 3 is a block diagram illustrating a functional configuration of a posture recovery system in accordance with a second example embodiment.

FIG. 4 is a block diagram illustrating a functional configuration of a posture recovery apparatus in accordance with a third example embodiment of the present invention.

FIG. 5 is a view for describing tilt information on an excavation apparatus.

FIG. 6 is a view for describing position information on the excavation apparatus.

FIG. 7 is a graph showing an example of a change in the tilt information on the excavation apparatus in excavation.

FIG. 8 is a view illustrating an example of a recovery operation of the excavation apparatus.

FIG. 9 is a view illustrating another example of the recovery operation of the excavation apparatus.

FIG. 10 is a view illustrating still another example of the recovery operation of the excavation apparatus.

FIG. 11 is a view for describing a case where the posture of the excavation apparatus has not been recovered by the recovery operation.

FIG. 12 is a view for describing a resumption excavation operation of the excavation apparatus in a case where the posture has been recovered by the recovery operation.

FIG. 13 is a flowchart illustrating a flow of a posture recovery method in accordance with the third example embodiment.

FIG. 14 is a block diagram illustrating a functional configuration of a posture recovery system in accordance with a fourth example embodiment.

FIG. 15 is a view illustrating a configuration example of a computer.

DESCRIPTION OF EMBODIMENTS

First Example Embodiment

A first example embodiment of the present invention will be described in detail with reference to the drawings. The present example embodiment is a basic form of an example embodiment described later.

(Configuration of Posture Recovery Apparatus)

A configuration of a posture recovery apparatus 10 in accordance with the present example embodiment will be described with reference to FIG. 1. FIG. 1 is a block diagram illustrating a functional configuration of the posture recovery apparatus 10. The posture recovery apparatus 10 includes a setting unit 11, an acquisition unit 12, and a recovery unit 13. In the present example embodiment, the posture recovery apparatus 10 is an example of a type built in a heavy machine, in which the posture recovery apparatus 10 is built in a work machine.

The setting unit 11 sets a safe posture range based on a posture of a work machine before operation and outputs the safe posture range to the recovery unit 13. The safe posture range is a posture range that is based on a posture of a work machine before operation and that is for determining whether the posture of the work machine requires a recovery operation.

Here, in the present example embodiment, the expression “posture of the work machine” includes:

• • the orientation of the work machine itself or the orientation of at least one of the components of the work machine; and
  • the position of the work machine itself or the position of at least one of the components of the work machine.

In other words, the phrase “posture of the work machine” can also be expressed as a “spatial state of the work machine”, and this phrase includes, as an example, at least the followings: the tilt of the work machine; and the position of the work machine.

Thus, the expression “safe posture range” in accordance with the present example embodiment refers to, as an example, a range of a tilt and position of the work machine based on a tilt and position of the work machine before operation.

The work machine in accordance with the present example embodiment is provided with, for example, an apparatus that detects a tilt amount and position of a machine body of the work machine, and the setting unit 11 sets the safe posture range on the basis of a result of the detection to which this apparatus subjects the work machine before operation.

In the present example embodiment, the operations carried out by the work machine are roughly divided into the following two operations: a normal operation and a recovery operation. The normal operation includes, for example, excavation, rotation, leveling, and lifting. The recovery operation is an operation that the work machine is caused to carry out so that the posture information on the work machine falls within the safe posture range.

Note that, in the present example embodiment, specific examples of the work machine can include: excavation apparatuses (hydraulic shovels) such as a backhoe, a YUMBO shovel, and a power shovel; cranes such as a crawler crane, a truck crane, and a wheel crane; machines for foundation work such as a pile driver, a diesel hammer, and a hydraulic hammer; and a bulldozer. These work machines are construction machines and the like postures of which may collapse during the normal operation and which require the recovery operation.

The acquisition unit 12 acquires the posture information on the work machine in operation and outputs the posture information to the recovery unit 13. In a case where, by reference to the posture information, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit 13 causes the work machine to carry out the recovery operation by providing an operation instruction.

The posture information includes information such as tilt information on the machine body of the work machine and the position information on the machine body of the work machine, and is information for determining a current posture of the work machine. In a case where current posture information on the work machine is not within the safe posture range, the recovery unit 13 determines that the work machine has deviated from the safe posture range.

The recovery unit 13 causes the work machine to carry out the recovery operation, confirms that the work machine is within the safe posture range, and then causes the work machine to resume the normal operation.

At this time, the recovery unit 13 may cause the work machine to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

Note that a specific time period of the first period does not limit the present embodiment, but may be, as an example, a predetermined period of about 0.5 seconds to 1.0 second. In addition, a configuration may be employed in which the first period is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.

The first period is a time for detecting a machine body tilt and a sideslip. Whether the recovery operation is necessary is determined depending on whether the work machine has deviated from the safe posture range continuously for the first period. The reason why the first period is provided is that, even when the posture of the work machine temporarily collapses, the posture of the work machine may return to its original posture after some period of time has elapsed. Thus, even when the posture of the work machine carrying out the normal operation has deviated from the safe posture range, the recovery operation is not carried out unless the work machine has deviated from the safe posture range for the first period during which automatic recovery is assumed to be possible. Note that a waiting time for determining whether automatic recovery is possible may be set as a period that differs from the first period.

In addition, as a third period, a waiting time for natural recovery may be set. In a case where a safe posture of the work machine has not remained for the second period even after the third period has elapsed, the recovery operation will be started. Note that the third period may be the same period as the first period or may be another period.

Note that individual units of the posture recovery apparatus 10 may be provided in separate apparatuses. For example, the setting unit 11 and the acquisition unit 12 may constitute a single apparatus, and the recovery unit 13 may constitute a single apparatus. These units may be mounted on a single apparatus or may be mounted on separate apparatuses. For example, in a case where these units are mounted on separate apparatuses, information on each unit is transmitted and received via a communication network to proceed with a process.

(Effect of Posture Recovery Apparatus 10)

As described above, in the posture recovery apparatus 10 in accordance with the present example embodiment, in a case where, by reference to the posture information, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit 13 causes the work machine to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.

In addition, the recovery unit 13 causes the work machine to carry out a recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation. Therefore, it is possible to easily carry out the recovery operation.

(Flow of Posture Recovery Method)

A flow of a posture recovery method in accordance with the present example embodiment will be described with reference to FIG. 2. FIG. 2 is a flowchart illustrating a flow of the posture recovery method. First, the setting unit 11 sets a predetermined range based on a posture of the work machine before operation (S1).

Next, the acquisition unit 12 acquires posture information on the work machine in operation (S2). Then, by reference to the posture information, the recovery unit 13 determines whether the posture of the work machine in operation has deviated from the safe posture range for a first period (S3).

In a case where the recovery unit 13 has detected that the posture of the work machine in operation has not deviated from the safe posture range for the first period (No in S3), the process returns to step S2, and the subsequent processes are repeated. In addition, in a case where the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for the first period (Yes in S3), the recovery operation of the work machine is carried out (S4).

At this time, the recovery unit 13 may cause the work machine to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

As described above, in the posture recovery method in accordance with the present example embodiment, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for the first period, the work machine is caused to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.

In addition, the work machine is caused to carry out the recovery operation by causing the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation. Therefore, it is possible to easily carry out the recovery operation.

Second Example Embodiment

A second example embodiment of the present invention will be described in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the first example embodiment, and descriptions as to such constituent elements are not repeated.

(Configuration Example of Posture Recovery System)

FIG. 3 is a block diagram illustrating a functional configuration of a posture recovery system 1 in accordance with a second example embodiment of the present invention. The posture recovery system 1 includes a setting unit 11, a recovery unit 13, a first detection apparatus 20, and an excavation apparatus 40. Further, in the present example embodiment, a case in which the excavation apparatus 40 is an example of the work machine will be described.

The first detection apparatus 20 detects posture information on the work machine 40. For example, the first detection apparatus 20 is constituted by an apparatus, which is installed in the work machine 40, for detecting a tilt amount of a machine body, such as an IMU and a slope sensor, and detects which direction the work machine 40 is tilted in. In addition, the first detection apparatus 20 is wirelessly connected to a communication network such as a local area network (LAN) and is capable of communicating with the setting unit 11 and the recovery unit 13. Note that the communication between the first detection apparatus 20 and the setting unit 11 and the recovery unit 13 may be short-range communication via wireless LAN, such as Wireless Fidelity (WiFi) (registered trademark), a beacon, Small Cell, local 5G, local long term evolution (LTE).

The setting unit 11 sets a safe posture range based on a posture of the work machine 40 before operation.

In a case where, by reference to the posture information on the work machine 40 in operation obtained from the first detection apparatus 20, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, the recovery unit 13 instructs the work machine to carry out the recovery operation.

Note that the setting unit 11 and the recovery unit 13 may be mounted on a single apparatus or may be mounted on separate apparatuses. In addition, the individual units may be dispersedly located on a cloud (i.e., on a communication network). For example, in a case where the individual units are mounted on a cloud or on separate apparatuses, information on each unit is transmitted and received via a communication network to proceed with a process.

As described above, in the posture recovery system 1 in accordance with the present example embodiment, in a case where, by reference to the posture information, the recovery unit 13 has detected that the posture of the work machine in operation has deviated from the safe posture range for the first period, the recovery unit 13 causes the work machine to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the work machine.

Third Example Embodiment

(Configuration of Posture Recovery Apparatus)

FIG. 4 is a block diagram illustrating a functional configuration of a posture recovery apparatus 10b in accordance with a third example embodiment. The posture recovery apparatus 10b includes a setting unit 11, an acquisition unit 12, a recovery unit 13, a resumption unit 14, a first detection unit 15, and a second detection unit 16. In the present example embodiment, the posture recovery apparatus 10b is an example of a type built in a heavy machine, in which the posture recovery apparatus 10b is built in a work machine. The resumption unit 14 causes the work machine to resume an operation of the work machine in a case where it has been detected that the work machine has remained within a safe posture range for a second period after the recovery unit 13 has caused the work machine to carry out the recovery operation.

The reason why the second period is provided is that, even when the posture of the work machine is returned by the recovery operation of the work machine, there may be a case in which the return is temporary, and the posture of the work machine deviates from the safe posture range again. The second period is a period for determining whether the recovery operation of the work machine has been successful.

Note that a specific time period of the second period does not limit the present embodiment, but may be, as an example, a predetermined period of about 0.5 seconds to 1.0 second. In addition, a configuration may be employed in which the second period is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.

In the present example embodiment, a case in which an excavation apparatus such as a backhoe is an example of the work machine will be described below.

The first detection unit 15 is constituted by an apparatus, which is installed in the excavation apparatus, for detecting a tilt amount of a machine body, such as an inertial measurement unit (IMU) and a slope sensor, and detects which direction the excavation apparatus is tilted in.

FIG. 5 is a view for describing tilt information on the excavation apparatus 40. The first detection unit 15 installed in the excavation apparatus 40 detects a tilt in a pitch direction (forward tilt, backward tilt) of the machine body of the excavation apparatus 40 and a tilt in a roll direction (right tilt, left tilt) thereof. The posture information is assumed to include the tilt information in these four directions, but is not limited to this. For example, the posture information may be tilt information in either one of the pitch direction or the roll direction, or may be information on tilts in directions the number of which is more than four.

The second detection unit 16 is constituted by a global positioning system (GPS), a laser sensor, or the like, and detects two-dimensional plane coordinates of the center position of the machine body of the excavation apparatus 40 and mainly detects a side slip or the like of the excavation apparatus 40.

FIG. 6 is a view for describing position information on the excavation apparatus 40. The second detection unit 16 detects rotation center coordinates (x, y) of the excavation apparatus 40. The posture information includes position information in a total of four directions, which are positive and negative directions of these two axes (x-axis, y-axis).

The setting unit 11 sets a safe posture range of a machine body tilt to a certain angle range on the basis of the tilt information in the four directions which is included in the posture information on the excavation apparatus 40 before excavation. In addition, the setting unit 11 sets a safe posture range of a machine body position to a certain distance range on the basis of the position information in the four directions which is included in the posture information on the excavation apparatus 40 before excavation.

Note that a specific angle of the certain angle range does not limit the present embodiment, but may be, as an example, a predetermined angle of about 1.0 degree to 2.0 degrees. In addition, a configuration may be employed in which the certain angle range is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like.

The acquisition unit 12 acquires, from the first detection unit 15, the tilt information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14. In addition, the acquisition unit 12 acquires, from the second detection unit 16, the position information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14.

The recovery unit 13 acquires the safe posture range set by the setting unit 11 and holds this safe posture range. In addition, the recovery unit 13 receives inputs of the tilt information in the four directions of the excavation apparatus 40 in excavation and the position information in the four directions thereof, which are outputted from the acquisition unit 12, and determines whether the recovery operation of the excavation apparatus 40 is necessary.

In a case where, by reference to the tilt information in the four directions of the excavation apparatus 40 in excavation, the recovery unit 13 has detected that the machine body angle of the excavation apparatus 40 has deviated from the safe posture range continuously for a first period, the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary.

In addition, in a case where, by reference to the position information in the four directions of the excavation apparatus 40 in excavation, the recovery unit 13 has detected that the machine body position of the excavation apparatus 40 has deviated from the safe posture range continuously for a first period, the recovery unit 13 determines that the machine body of the excavation apparatus 40 has slipped sideways and determines that the recovery operation of the excavation apparatus 40 is necessary.

FIG. 7 is a graph showing an example of a change in the tilt information on the excavation apparatus 40 in excavation. In the graph shown in FIG. 7, a horizontal axis represents time (seconds), and a vertical axis represents a machine body angle (degrees). A reference angle of the excavation apparatus 40 before excavation is −0.2 degrees, and a safe posture range of the machine body angle is approximately −1.65 to +1.25. Note that FIG. 6 shows only one of the pitch direction and the roll direction, and the same applies to the other.

As illustrated in FIG. 7, the machine body angle deviates from the safe posture range in the vicinity of 12 seconds, and such a state continues up to 13 seconds. In a case where this continuous time is longer than the first period, the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary. Since the machine body angle remains within the safe posture range after 13 seconds, the recovery unit 13 determines that the machine body angle remains within the second period safe posture range for the second period, and determines that the posture of the excavation apparatus 40 has been recovered.

FIG. 8 is a view illustrating an example of the recovery operation of the excavation apparatus 40. An excavation operation trajectory extending from A1 to A5 is a trajectory of the bucket in a normal excavation operation carried out by the excavation apparatus 40. When the bucket is positioned at A5, the posture of the excavation apparatus 40 deviates from the safe posture range for the first period, and the recovery unit 13 determines that the recovery operation of the excavation apparatus 40 is necessary.

The recovery unit 13 causes the excavation apparatus to carry out, as a recovery operation, an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation. As illustrated in FIG. 7, in a case where there is no obstacle such as earth and sand in an area where the bucket has passed during the excavation and above the area, for example, the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory extending from A5 to B1 such that the bucket is gradually moved in a direction which is opposite to a direction of an operation trajectory extending from A4 to A5 of the bucket during the excavation and which is a height direction. After that, the recovery unit 13 causes the bucket to move such that the bucket follows the recovery operation trajectory extending from B1 to B4. This allows the bucket to be released from the soil, and the posture of the excavation apparatus 40 is expected to be returned to its posture within the safe posture range.

FIG. 9 is a view illustrating another example of the recovery operation of the excavation apparatus 40. As will be described later, it is assumed that, at an excavation site where the excavation apparatus 40 excavates, a third detection apparatus for detecting earth and sand or the like at the excavation site is installed, and the third detection apparatus detects a height of earth and sand or the like in a certain area.

The posture recovery apparatus 10b includes the third detection apparatus that detects earth and sand accumulated in the vicinity of the operation trajectory of the bucket of the excavation apparatus 40, and the recovery unit 13 causes the excavation apparatus 40 to carry out, as an example, an operation trajectory which is obtained by adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation in accordance with a position where earth and sand of a given height or more height is accumulated.

The third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory of the bucket of the excavation apparatus or at a position rearward thereof. In a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus 40, the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.

Note that a specific height of the given height does not limit the present embodiment, but may be, as an example, a predetermined height of about 1 m. In addition, a configuration may be employed in which the given height is adaptively set by the recovery unit 13 in accordance with a type of a work machine, a type of work, a communication environment, and the like. Further, if the given height is 1 m, the offset can be set to about 1.5 m.

For example, the third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory extending from A1 to A5 of the bucket of the excavation apparatus 40 or at a position rearward thereof. In a case where the third detection apparatus has detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory extending from A1 to A5 of the bucket in a normal excavation operation carried out by the excavation apparatus 40 when viewed from a machine body side of the excavation apparatus 40, the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. Note that the normal excavation operation is an operation carried out by the excavation apparatus 40 while the excavation apparatus 40 is carrying out a normal excavation process.

As illustrated in FIG. 9, for example, assume that earth and sand of a given height or more height is accumulated at a position rearward of the trajectory extending from A1 to A5 of the bucket in a normal excavation operation carried out by the excavation apparatus 40. In this case, in order to avoid the bucket from coming into contact with the earth and sand, the recovery unit 13 causes the bucket to move so that the bucket follows a recovery operation trajectory extending from C1 to C4 obtained by adding an offset in the height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation and further adding an offset in the forward direction thereto.

FIG. 10 is a view illustrating still another example of the recovery operation of the excavation apparatus 40. The third detection apparatus detects earth and sand accumulated at least either at a position forward of the operation trajectory of the bucket of the excavation apparatus or at a position rearward thereof. In a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus 40, the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.

For example, in a case where the third detection apparatus has detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory extending from A1 to A5 of the bucket in a normal excavation operation carried out by the excavation apparatus 40 when viewed from a machine body side of the excavation apparatus 40, the excavation apparatus 40 is caused to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation.

As illustrated in FIG. 10, for example, assume that earth and sand of a given height or more height is accumulated at a position forward of the trajectory extending from A1 to A5 of the bucket in a normal excavation operation carried out by the excavation apparatus 40. In this case, in order to avoid the bucket from coming into contact with the earth and sand, the recovery unit 13 causes the bucket to move so that the bucket follows a recovery operation trajectory extending from D1 to D4 obtained by adding an offset in the height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation and further adding an offset in the rearward direction thereto.

The above-described recovery operation by which the bucket is released is carried out in a case where the machine body tilt of the excavation apparatus 40 has deviated from the safe posture range for the first period and in a case where a sideslip has occurred in the excavation apparatus 40, and the machine body position has deviated from the safe posture range for the first period.

If the posture of the excavation apparatus 40 continues to deviate from the safe posture range for the first period even after the above-described recovery operation by which the bucket released has been carried out, an additional recovery operation may be carried out. For example, the arm of the excavation apparatus 40 may be folded or the bucket may be in a posture that contacts the ground so that the posture of the excavation apparatus 40 returns to a posture within the safe posture range. In addition, if the posture of the excavation apparatus 40 does not return to a posture within the safe posture range even after the recovery operation has been carried out multiple times, some notification may be issued to the operator of the excavation apparatus 40. Further, the excavation apparatus 40 may be caused to carry out an operation as described below with reference to FIG. 11.

FIG. 11 is a view for describing a case where the posture of the excavation apparatus 40 has not been recovered by the recovery operation. As illustrated in FIG. 11, in a case where a sideslip has occurred in the excavation apparatus 40 and has caused the excavation apparatus 40 to move from an ideal excavation position to a post-sideslip position, the recovery operation of the excavation apparatus is carried out. However, in a case where the excavation apparatus 40 has not remained within the safe posture range for a second period even after the recovery operation has been carried out, the excavation apparatus 40 is caused to move once to a turnabout position, and then the excavation apparatus 40 is caused to move back to the ideal excavation position.

FIG. 12 is a view for describing a resumption excavation operation of the excavation apparatus 40 in a case where the posture has been recovered by the recovery operation. An excavation operation trajectory extending from E1 to E6 is a trajectory of the bucket in a normal excavation operation carried out by the excavation apparatus 40. The excavation operation trajectory of the bucket is set such that the bucket excavates shallowly in order to prevent the recurrence of a tilt or sideslip of the machine body of the excavation apparatus 40.

In a case where the excavation carried out by the excavation apparatus 40 is to be resumed, the resumption unit 14 resumes the excavation with use of a trajectory which is obtained by adding an offset in the height direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. As illustrated in FIG. 11, the resumption unit 14 causes the bucket to move so that the bucket follows an excavation operation trajectory extending from F1 to F6 which is obtained by adding a slight offset in the height direction to the excavation operation trajectory extending from E1 to E6 in a normal time.

(Flow of Posture Recovery Method)

A flow of a posture recovery method in accordance with the present example embodiment will be described with reference to FIG. 13. FIG. 13 is a flowchart illustrating a flow of the posture recovery method. First, the setting unit 11 sets a safe posture range based on a posture of the excavation apparatus 40 before operation (S11).

Next, the acquisition unit 12 acquires posture information on the excavation apparatus 40 in operation (S12). Then, by reference to the posture information, the recovery unit 13 determines whether the posture of the excavation apparatus 40 in operation has deviated from the safe posture range for a first period (S13).

In a case where the recovery unit 13 has detected that the posture of the excavation apparatus 40 in operation has not deviated from the safe posture range for the first period (No in S13), the process returns to step S12, and the subsequent processes are repeated. In addition, in a case where the recovery unit 13 has detected that the posture of the excavation apparatus 40 in operation has deviated from the safe posture range for the first period (Yes in S13), the recovery operation of the excavation apparatus 40 is carried out (S14).

Next, the resumption unit 14 determines whether the excavation apparatus 40 has remained within the safe posture range for a second period after the recovery operation of the excavation apparatus 40 has been carried out by the recovery unit 13 (S16). In a case where the excavation apparatus 40 has not remained within the safe posture range for the second period (No in S16), the process returns to step S14, and the subsequent processes are repeated.

Further, in a case where the excavation apparatus 40 has remained within the safe posture range for the second period (Yes in S16), the resumption unit 14 causes the excavation apparatus 40 to resume the operation (S17).

As described above, in the posture recovery apparatus 10a in accordance with the present example embodiment, the resumption unit 14 causes the work machine to resume an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for the second period after the recovery unit 13 has caused the work machine to carry out the recovery operation. Therefore, it is possible to automatically resume the operation of the work machine.

In addition, the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to release the bucket from the soil and recover the posture of the excavation apparatus 40.

Further, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus 40, the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to recover the posture of the excavation apparatus 40 while avoiding earth and sand accumulated at a position forward of excavation apparatus 40.

Further, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus 40, the recovery unit 13 causes the excavation apparatus 40 to carry out an operation trajectory which is obtained by adding an offset in the height direction and an offset in the forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation. Therefore, it is possible to recover the posture of the excavation apparatus 40 while avoiding earth and sand accumulated at a position rearward of excavation apparatus 40.

Further, since the resumption unit 14 resumes the excavation with use of a trajectory which is obtained by adding an offset in the height direction to the operation trajectory of the bucket of the excavation apparatus 40 in excavation, it is possible to prevent the recurrence of a state that requires the recovery operation.

Fourth Example Embodiment

A fourth example embodiment of the present invention will be described in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the third example embodiment, and descriptions as to such constituent elements are not repeated.

(Configuration Example of Posture Recovery System)

FIG. 14 is a block diagram illustrating a functional configuration of a posture recovery system 1 in accordance with a fourth example embodiment of the present invention. The posture recovery system 1 includes a posture recovery apparatus 10c, a first detection apparatus 20, a second detection apparatus 30, an excavation apparatus 40, a communication network 50, and a third detection apparatus 80. In the present example embodiment, presented is an example of a case in which the posture recovery apparatus 10c is mounted separately from the excavation apparatus 40.

The first detection apparatus 20 is provided in the excavation apparatus 40 and detects posture information on the excavation apparatus 40. For example, the first detection apparatus 20 is constituted by an apparatus, which is installed in the excavation apparatus 40, for detecting a tilt amount of a machine body, such as an IMU and a slope sensor, and detects which direction the excavation apparatus 40 is tilted in. In addition, the first detection apparatus 20 is wirelessly connected to the communication network 50 such as LAN and is capable of communicating with the posture recovery apparatus 10b. Note that the communication between the first detection apparatus 20 and the posture recovery apparatus 10b may be short-range communication via wireless LAN, such as WiFi (registered trademark), a beacon, Small Cell, local 5G, local LTE, or the like.

The second detection apparatus 30 is constituted by a GPS, a laser sensor, or the like, and detects the two-dimensional plane coordinates of the center position of the machine body of the excavation apparatus 40 and mainly detects a side slip or the like of the excavation apparatus 40. In addition, the second detection apparatus 30 is connected to the communication network 50 such as LAN in a wired or wireless manner and is capable of communicating with the posture recovery apparatus 10b.

The third detection apparatus 80 is constituted by a measurement apparatus such as a 3D sensor disposed at an upper portion of the excavation apparatus 40 and measures heights at a plurality of points in an area including earth and sand that are an excavation target. Examples of the 3D sensor include: cameras such as a depth camera, a stereo camera, and a Time-of-Flight (ToF) camera; laser sensors such as 2DLiDAR (Light Detection and Ranging), and 3DLiDAR; and radar sensors.

The third detection apparatus 80 is installed at an upper portion of the excavation apparatus 40 and is capable of measuring an excavation target. In an environment in which the excavation target (earth and sand) is sequentially added by a truck or the like, the third detection apparatus 80 can be fixed.

Alternatively, the third detection apparatus 80 may be configured to be attached to a crane or the like so that the third detection apparatus 80 moves with the movement of the excavation apparatus 40. Alternatively, the third detection apparatus 80 may be attached to the upper portion of the excavation apparatus 40 and move together with the excavation apparatus 40. Alternatively, the third detection apparatus 80 may be installed on, for example, a ceiling, a column or beam commanding a broad view, an aerial work vehicle, and a flight vehicle such as a drone. In addition, the third detection apparatus 80 is connected to the communication network 50 such as LAN in a wired or wireless manner and is capable of communicating with the posture recovery apparatus 10b. Further, the excavation apparatus 40 is wirelessly connected to the communication network 50 such as LAN.

The posture recovery apparatus 10c includes a setting unit 11, an acquisition unit 12, a recovery unit 13, a resumption unit 14, and a communication unit 17. The communication unit 17 is connected to the communication network 50 such as LAN and receives information from the first detection apparatus 20, the second detection apparatus 30, and the third detection apparatus 80.

The setting unit 11 sets a safe posture range of a machine body tilt to a certain angle range on the basis of the tilt information in the four directions which has been received from the first detection apparatus 20 and which is included in the posture information on the excavation apparatus 40 before excavation. In addition, the setting unit 11 sets a safe posture range of a machine body position to a certain distance range on the basis of the position information in the four directions which has been received from the second detection apparatus 30 and which is included in the posture information on the excavation apparatus 40 before excavation.

The acquisition unit 12 acquires, from the first detection apparatus 20 via the communication unit 17, the tilt information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14. In addition, the acquisition unit 12 acquires, from the second detection apparatus 30 via the communication unit 17, the position information in the four directions of the excavation apparatus 40 in excavation and outputs the acquired information to the recovery unit 13 and the resumption unit 14.

The recovery unit 13 acquires the safe posture range set by the setting unit 11 and holds this safe posture range. In addition, the recovery unit 13 receives inputs of the tilt information in the four directions of the excavation apparatus 40 in excavation and the position information in the four directions thereof, which are outputted from the acquisition unit 12, and determines whether the recovery operation of the excavation apparatus 40 is necessary.

In a case where the recovery unit 13 has determined that the recovery operation of the excavation apparatus 40 is necessary, the recovery unit 13 carries out the above-described recovery operation. At this time, the recovery unit 13 transmits an instruction related to the recovery operation to the excavation apparatus 40 via the communication unit 17.

In a case where the resumption unit 14 has determined that the posture of the excavation apparatus 40 has been recovered by the recovery operation, the resumption unit 14 carries out the above-described resumption operation. At this time, the resumption unit 14 transmits an instruction related to the resumption operation to the excavation apparatus 40 via the communication unit 17.

Note that individual units of the posture recovery apparatus 10b may be provided in separate apparatuses. For example, the setting unit 11 and the acquisition unit 12 may constitute a single apparatus, and the recovery unit 13 and the resumption unit 14 may constitute a single apparatus. These may be mounted on a single apparatus or may be mounted on separate apparatuses. In addition, the individual units may be dispersedly located on a cloud (i.e., on a communication network). For example, in a case where the individual units are mounted on a cloud or on separate apparatuses, information on each unit is transmitted and received via the communication network 50 so that each unit proceeds with a process.

As described above, in the posture recovery system 1 in accordance with the present example embodiment, in a case where, by reference to the posture information, it has been detected that the posture of the excavation apparatus in excavation has deviated from the safe posture range for a first period, the recovery unit 13 causes the excavation apparatus 40 to carry out the recovery operation. Therefore, it is possible to automatically recover the posture of the excavation apparatus 40.

[Software Implementation Example]

The functions of part of or all of the posture recovery apparatuses 10, 10a, 10b, and 10c can be realized by hardware such as an integrated circuit (IC chip) or can be alternatively realized by software.

In the latter case, each of the posture recovery apparatuses 10, 10a, 10b, and 10c is realized by, for example, a computer that executes instructions of a program that is software realizing the foregoing functions. FIG. 15 illustrates an example of such a computer (hereinafter, referred to as “computer 60”). The computer 60 includes at least one processor 61 and at least one memory 62 which are connected to each other via an internal bus 63. The memory 62 stores a program P for causing the computer 60 to function as the posture recovery apparatuses 10, 10a, 10b, and 10c. In the computer 60, the processor 61 reads the program P from the memory 62 and executes the program P, so that the functions of the posture recovery apparatuses 10, 10a, 10b, and 10c are realized.

As the processor 61, for example, it is possible to use a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a microcontroller, general-purpose computing on graphics processing units (GPGPU), or a combination of these. The memory 62 can be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these.

Note that the computer 60 can further include a random access memory (RAM) in which the program P is loaded when the program P is executed and in which various kinds of data are temporarily stored. The computer 60 can further include a communication interface for carrying out transmission and reception of data with other apparatuses. The computer 60 can further include an input-output interface for connecting input-output apparatuses such as a keyboard, a mouse, a display and a printer.

The program P can be stored in a non-transitory tangible storage medium 70 which is readable by the computer 60. The storage medium 70 can be, for example, a compact disc-read only memory (CD-ROM), a digital versatile disc (DVD), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like. The computer 60 can obtain the program P via the storage medium 70. The program P can be transmitted via a transmission medium. The transmission medium can be, for example, a communications network, a broadcast wave, or the like. The computer 60 can obtain the program P also via such a transmission medium.

[Additional Remark 1]

The present invention is not limited to the foregoing example embodiments, but may be altered in various ways by a skilled person within the scope of the claims. For example, the present invention also encompasses, in its technical scope, any example embodiment derived by appropriately combining technical means disclosed in the foregoing example embodiments.

[Additional Remark 2]

Some of or all of the foregoing example embodiments can also be described as below. Note, however, that the present invention is not limited to the following example aspects.

(Supplementary Note 1)

A method for recovering a posture of a work machine, the method including: setting a safe posture range based on a posture of a work machine before operation; acquiring posture information on the work machine in operation; and in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, carrying out a recovery operation of the work machine.

According to the above configuration, it is possible to automatically recover the posture of the work machine.

(Supplementary Note 2)

The method according to supplementary note 1, wherein in the carrying out of the recovery operation, the work machine is caused to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

According to the above configuration, it is possible to easily carry out the recovery operation.

(Supplementary Note 3)

The method according to supplementary note 1 or 2, further including resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.

According to the above configuration, it is possible to automatically resume the operation of the work machine.

(Supplementary Note 4)

The method according to any of supplementary notes 1 to 3, wherein the work machine is an excavation apparatus, and in the carrying out of the recovery operation, the excavation apparatus is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to release the bucket from the soil and recover the posture of the excavation apparatus.

(Supplementary Note 5)

The method according to any of supplementary notes 1 to 4, wherein

• • the work machine is an excavation apparatus, the method further includes detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and
  • in a process of carrying out the recovery operation, the excavation apparatus is caused to carry out an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to recover the posture of the excavation apparatus while avoiding accumulated earth and sand.

(Supplementary Note 6)

The method according to supplementary note 4 or 5, further including, in a case where the excavation carried out by the excavation apparatus is to be resumed, causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to prevent the recurrence of a state that requires the recovery operation.

(Supplementary Note 7)

A posture recovery system including: a first detection means for detecting posture information on a work machine; a setting means for setting a safe posture range based on a posture of the work machine before operation; and a recovery means for, in a case where, by reference to the posture information on the work machine in operation that has been acquired from the first detection means, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, instructing the work machine to carry out a recovery operation.

According to the above configuration, it is possible to automatically recover the posture of the work machine.

(Supplementary Note 8)

The posture recovery system according to supplementary note 7, wherein the recovery means causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

According to the above configuration, it is possible to easily carry out the recovery operation.

(Supplementary Note 9)

The posture recovery system according to supplementary note 7 or 8, further including: a first resumption means for resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.

According to the above configuration, it is possible to automatically resume the operation of the work machine.

(Supplementary Note 10)

The posture recovery system according to any of supplementary notes 7 to 9, wherein

• • the work machine is an excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to release the bucket from the soil and recover the posture of the excavation apparatus.

(Supplementary Note 11)

The posture recovery system according to any of supplementary notes 7 to 10, wherein the work machine is an excavation apparatus, the posture recovery system further comprises a second detection means for detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to recover the posture of the excavation apparatus while avoiding accumulated earth and sand.

(Supplementary Note 12)

The posture recovery system according to supplementary note 10 or 11, further including: a second resumption means for, in a case where the excavation carried out by the excavation apparatus is to be resumed, causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to prevent the recurrence of a state that requires the recovery operation.

(Supplementary Note 13)

A posture recovery apparatus including: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.

According to the above configuration, it is possible to automatically recover the posture of the work machine.

(Supplementary Note 14)

The posture recovery apparatus according to supplementary note 13, wherein the recovery means causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

According to the above configuration, it is possible to easily carry out the recovery operation.

(Supplementary Note 15)

The posture recovery apparatus according to supplementary note 13 or 14, further including: a first resumption means for resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the work machine has been caused to carry out the recovery operation by the recovery means.

According to the above configuration, it is possible to automatically resume the operation of the work machine.

(Supplementary Note 16)

The posture recovery according to any of supplementary notes 13 to 15, wherein the work machine is an excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to release the bucket from the soil and recover the posture of the excavation apparatus.

(Supplementary Note 17)

The posture recovery apparatus according to any of supplementary notes 13 to 16, wherein the work machine is an excavation apparatus, the posture recovery apparatus further comprises a second detection means for detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to recover the posture of the excavation apparatus while avoiding accumulated earth and sand.

(Supplementary Note 18)

The posture recovery apparatus according to supplementary note 16 or 17, further including: a second resumption means for causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

According to the above configuration, it is possible to prevent the recurrence of a state that requires the recovery operation.

(Supplementary Note 19)

The method according to the supplementary notes, wherein the work machine is an excavation apparatus, and the method further includes: detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a process of carrying out the recovery operation, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the excavation apparatus is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 20)

The method according to the supplementary notes, wherein the work machine is an excavation apparatus, and the method further includes: detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a process of carrying out the recovery operation, in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the excavation apparatus is caused to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 21)

The posture recovery system according to the supplementary notes, wherein the work machine is an excavation apparatus, and the posture recovery system further includes: a second detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 22)

The posture recovery system according to the supplementary notes, wherein the work machine is an excavation apparatus, and the posture recovery system further includes: a second detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 23)

The posture recovery apparatus according to the supplementary notes, wherein the work machine is an excavation apparatus, and the posture recovery apparatus further includes: detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected by the detection means that earth and sand of a given height or more height is accumulated at a position forward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a rearward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 24)

The posture recovery apparatus according to the supplementary notes, wherein the work machine is an excavation apparatus, and the posture recovery apparatus further includes: detection means for detecting earth and sand accumulated at least either at a position forward of an operation trajectory of a bucket of the excavation apparatus or at a position rearward thereof, and in a case where it has been detected by the detection means that earth and sand of a given height or more height is accumulated at a position rearward of the operation trajectory of the bucket of the excavation apparatus, the recovery means causes the excavation apparatus to carry out an operation trajectory which is obtained by adding an offset in a height direction and an offset in a forward direction to a trajectory opposite in direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

(Supplementary Note 25)

A computer program for causing a computer to function a posture recovery apparatus, the computer program causing the computer to function as: a setting means for setting a safe posture range based on a posture of a work machine before operation; an acquisition means for acquiring posture information on the work machine in operation; and a recovery means for, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.

(Supplementary Note 26)

A posture recovery apparatus including at least one processor, the at least one processor carrying out: a process of setting a safe posture range based on a posture of a work machine before operation; a process of acquiring posture information on the work machine in operation; and a process of, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.

Note that the posture recovery apparatus can further include a memory. The memory can store a program for causing the processor to carry out the setting process, the acquisition process, and the process of causing the work machine to carry out the recovery operation. The program can be stored in a computer-readable non-transitory tangible storage medium.

REFERENCE SIGNS LIST

• • 1 posture recovery system
  • 10, 10a, 10b, 10c posture recovery apparatus
  • 11 setting unit
  • 12 acquisition unit
  • 13 recovery unit
  • 14 resumption unit
  • 15 first detection unit
  • 16 second detection unit
  • 17 communication unit
  • 20 first detection apparatus
  • 30 second detection apparatus
  • 40 excavation apparatus
  • 50 communication network
  • 60 computer
  • 61 processor
  • 62 memory
  • 63 internal bus
  • 70 storage medium
  • 80 third detection apparatus
  • P program

Claims

1. A method for recovering a posture of a work machine, the method comprising:

setting a safe posture range based on a posture of a work machine before operation;

acquiring posture information on the work machine in operation; and

in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, carrying out a recovery operation of the work machine.

2. The method according to claim 1, wherein

in the carrying out of the recovery operation,

the work machine is caused to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

3. The method according to claim 1, further comprising:

resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.

4. The method according to claim 1, wherein

the work machine is an excavation apparatus, and

in the carrying out of the recovery operation, the excavation apparatus is caused to carry out an operation that follows an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

5. The method according to claim 1, wherein

the work machine is an excavation apparatus,

the method further comprises detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and

in a process of carrying out the recovery operation, the excavation apparatus is caused to carry out an operation that follows an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

6. The method according to claim 4, further comprising:

in a case where the excavation carried out by the excavation apparatus is to be resumed, causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

7. A posture recovery system comprising:

at least one processor, the at least one processor carrying out:

a process of detecting posture information on a work machine;

a process of setting a safe posture range based on a posture of the work machine before operation; and

a process of, in a case where, by reference to the acquired posture information on the work machine in operation, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, instructing the work machine to carry out a recovery operation.

8. The posture recovery system according to claim 7, wherein, in the process of instructing the work machine to carry out the recovery operation, the at least one processor causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

9. The posture recovery system according to claim 7, wherein

the at least one processor carries out a process of resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the recovery operation.

10. The posture recovery system according to claim 7, wherein

the work machine is an excavation apparatus, and

in the process of instructing the work machine to carry out the recovery operation, the at least one processor carries out a process of causing the excavation apparatus to carry out an operation that follows an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

11. The posture recovery system according to claim 7, wherein

the work machine is an excavation apparatus,

the at least one processor carries out a process of detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and

in the process of instructing the work machine to carry out the recovery operation, the at least one processor carries out a process of causing the excavation apparatus to carry out an operation that follows an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

12. The posture recovery system according to claim 10, wherein

the at least one processor carries out a process of, in a case where the excavation carried out by the excavation apparatus is to be resumed, causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.

13. A posture recovery apparatus comprising:

at least one processor, the at least one processor carrying out:

a process of setting a safe posture range based on a posture of a work machine before operation;

a process of acquiring posture information on the work machine in operation; and

a process of, in a case where, by reference to the posture information, it has been detected that the posture of the work machine in operation has deviated from the safe posture range for a first period, causing the work machine to carry out a recovery operation.

14. The posture recovery apparatus according to claim 13, wherein, in the process of causing the work machine to carry out the recovery operation, the at least one processor causes the work machine to carry out an operation that follows an operation trajectory opposite in direction to an operation trajectory of the work machine in operation.

15. The posture recovery apparatus according to claim 13, wherein

the at least one processor carries out a process of resuming an operation of the work machine in a case where it has been detected that the work machine has remained within the safe posture range for a second period after the work machine has been caused to carry out the recovery operation.

16. The posture recovery according to claim 13, wherein

the work machine is an excavation apparatus, and

in the process of causing the work machine to carry out the recovery operation, the at least one processor carries out a process of causing the excavation apparatus to carry out an operation that follows an operation trajectory which is obtained by adding an offset in a height direction to a trajectory opposite in direction to an operation trajectory of a bucket of the excavation apparatus in excavation.

17. The posture recovery apparatus according to claim 13, wherein

the work machine is an excavation apparatus,

the at least one processor carries out a process of detecting earth and sand accumulated in a vicinity of an operation trajectory of a bucket of the excavation apparatus, and

in the process of causing the work machine to carry out the recovery operation, the at least one processor carries out a process of causing the excavation apparatus to carry out an operation that follows an operation trajectory which is obtained by, in accordance with a position where the earth and sand is accumulated, adding an offset to a trajectory opposite in direction to an operation trajectory of the bucket of the excavation apparatus in excavation.

18. The posture recovery apparatus according to claim 16, wherein

the at least one processor carries out a process of causing the excavation apparatus to resume the excavation with use of a trajectory which is obtained by adding an offset in a height direction to the operation trajectory of the bucket of the excavation apparatus in excavation.