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.

What is claimed is: 
     
         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.