Automatic operation control system

Abstract

To reduce the possibility that deviation phenomenon happens again after occurrence of deviation phenomenon during automatic operation.SOLUTION: An automatic operation control system 1 includes a work machine 10 with a machine body 10a and an attachment 15 attached to the machine body 10a, a detection unit 31 that detects the posture of the work machine 10, and a controller 50. The controller 50 includes an operation control unit 53 that controls automatic operation of the work machine 10 based on a work plan, a deviation amount calculation unit 55 that calculates the amount of deviation between the posture of the work machine 10 during automatic operation detected by the detection unit 31 and a target lifting swing trajectory P2 or a target return swing trajectory P4, and an automatic operation correction unit 57 that corrects the work plan in accordance with the amount of deviation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an automatic driving control system. [Background technology]

[0002] For example, Patent Document 1 describes that when a difference occurs between target position information and actual position information, the automatic driving operation of the work machine is stopped. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-012254 Summary of the Invention [Problem to be solved by the invention]

[0004] However, after the above-described deviation phenomenon occurs, it is desirable to prevent the recurrence of the deviation phenomenon when implementing automated driving.

[0005] Therefore, an object of the present invention is to provide an automatic driving control system that can reduce the possibility of a departure phenomenon occurring again after a departure phenomenon occurs during automatic driving. [Means for solving the problem]

[0006] The automatic driving control system includes a work machine having a machine body and an attachment attached to the machine body, a detection unit that detects the attitude of the work machine, and a controller. The controller includes a driving control unit that controls the automatic driving of the work machine based on a work plan, a deviation amount calculation unit that calculates the amount of deviation between the attitude of the work machine during automatic driving detected by the detection unit and a target route included in the target information, and an automatic driving correction unit that corrects the work plan in accordance with the amount of deviation.

[0007] The automatic driving control system includes a work machine having a machine body and an attachment attached to the machine body, a detection unit that detects the attitude of the work machine, and a controller. The controller includes a driving control unit that controls automatic driving of the work machine to perform earth excavation work based on a work plan, and a deviation amount calculation unit that predicts the amount of deviation of the work machine from the target path based on the mass of earth to be excavated by the work machine during automatic driving detected by the detection unit and the target operating speed of the work machine included in the work plan. [Effects of the Invention]

[0008] The above-described automatic driving control system can reduce the possibility of a departure phenomenon occurring again after an automatic driving departure phenomenon has occurred. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the automatic driving control system 1. [Figure 2] FIG. 2 is a block diagram of the automatic driving control system 1 shown in FIG. [Figure 3] 3 is a flowchart of the processing of the controller 50 and the like shown in FIG. 2. [Figure 4] 3 is a flowchart showing more specific processing by the controller 50 and the like shown in FIG. 2. [Figure 5] 5 is a flowchart of a deviation determination process executed in the flowchart shown in FIG. 4. [Figure 6] 1 is an explanatory diagram showing a deviation phenomenon of a work machine 10 of an automatic driving control system 1. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0010] The automatic driving control system 1 will be described with reference to the drawings.

[0011] The automatic driving control system 1 is a system that reduces the possibility of a deviation phenomenon occurring after a deviation phenomenon occurs in which the work machine 10 (see FIG. 1) deviates from a target route (for example, a target lift-up turning trajectory P2 (see FIG. 6) or a target return turning trajectory P4 (see FIG. 6)) during automatic driving of the work machine 10. As shown in FIG. 2, the automatic driving control system 1 includes the work machine 10, a detection unit 31 (see FIG. 2), an input unit 35, a controller 50 (computer), and an output unit 60.

[0012] As shown in FIG. 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 10 may be, for example, a shovel or a crane. The work machine 10 may be a bulldozer or a wheel loader. The following description will be given of the case where the work machine 10 is a shovel.

[0013] The work machine 10 may be one that operates in response to operation by a worker (operator). The work machine 10 may be configured to be operable by automatic control. The automatic control may be automatic operation or semi-automatic operation (machine control, described later). The work machine 10 may also operate in response to operation by a worker (operator) without using automatic control. For example, the work machine 10 may be operated by an operator in a cab 13a (described later), or may be remotely operated from outside the work machine 10.

[0014] The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17, an actuator 21, and an engine (not shown). The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0015] The lower body 11 rotatably supports the upper rotating body 13. The lower body 11 may be a lower traveling body that can travel on a traveling surface (such as the ground). When the lower body 11 is capable of traveling, the lower body 11 may be provided with crawlers or wheels.

[0016] The upper rotating body 13 is mounted on the lower main body 11 so as to be able to rotate. A boom 15b (described later) and other components are attached to the upper rotating body 13. The upper rotating body 13 is equipped with a cab 13a, a rotating frame (not shown), and a counterweight (not shown). The cab 13a is the section where an operator can operate the work machine 10. When the work machine 10 operates in response to the operator's operation, the work machine 10 may be operated by the operator in the cab 13a, or may be remotely operated from outside the work machine 10. The rotating frame is a structure to which the boom 15b and other components are attached. The counterweight is a weight used to balance the work machine 10 in the fore-and-aft direction.

[0017] (direction) The direction in which the rotation axis of the upper rotating body 13 extends relative to the lower main body 11 is defined as the up-down direction Z. In the up-down direction Z, the side (facing) from the lower main body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The up-down direction Z may be a vertical direction. The direction in which the upper rotating body 13 rotates relative to the lower main body 11 is defined as the rotation direction. The direction perpendicular to both the up-down direction Z and the rotation direction of the upper rotating body 13 is defined as the front-to-rear direction X. When viewed from the up-down direction Z, the front-to-rear direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the front-to-rear direction X of the attachment 15). In the front-to-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0018] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d (specific parts). The boom 15b is attached to the upper rotating body 13 so as to be rotatable (able to be raised and lowered, and rotatable in the forward / backward direction X and the upward / downward direction Z). The arm 15c is attached to the boom 15b so as to be rotatable (able to be rotatable in the forward / backward direction X and the upward / downward direction Z).

[0019] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c (rotatable in the forward / backward direction X and the upward / downward direction Z). The tip attachment 15d may be a bucket capable of scooping and digging a work object. The tip attachment 15d may be equipped with a device for clamping a work object (grapple, nibbler, rotating fork, etc.), a device for crushing a work object (breaker, etc.), or a magnet for attracting a metal work object.

[0020] The work object is an object that is the target of work by the work machine 10. The work object may be soil or sand, rock, a magnetic material (metal, etc.), resin, waste, wood (logs, etc.), or a structure (block, etc.). If the work object is soil or sand, the work object may be in soil, granules, chips, powder, etc.

[0021] The drive control unit 17 (see FIG. 2) controls the actuator 21. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator that is operated by hydraulic pressure. The drive control unit 17 may include an electric circuit that controls an electric actuator that is operated by electricity. The drive control unit 17 controls the actuator 21 that moves the work machine 10.

[0022] The drive control unit 17 (see FIG. 2) controls the travel of the lower body 11. The drive control unit 17 controls the swing motor 21a that swings the upper swing body 13 relative to the lower body 11. The drive control unit 17 controls the boom cylinder 21b that rotates (raises and lowers) the boom 15b relative to the upper swing body 13. The drive control unit 17 controls the arm cylinder 21c that rotates the arm 15c relative to the boom 15b. The drive control unit 17 controls the tip attachment cylinder 21d that rotates the tip attachment 15d relative to the arm 15c.

[0023] The actuator 21 is a device that moves the work machine 10. The actuator 21 may be a hydraulic actuator that is powered by hydraulic pressure, or an electric actuator that is powered by electricity. The actuator 21 may be a motor that drives rotation, or a cylinder that drives extension and retraction (telescopic cylinder).

[0024] The actuator 21 includes a travel motor (not shown), a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The travel motor moves the lower body 11. For example, if the lower body 11 has left and right crawlers, a travel motor for driving the left crawler and a travel motor for driving the right crawler are provided. The travel motors may be, for example, hydraulic motors or electric motors (the same applies to the swing motor 21a). The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a hydraulic cylinder (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c. If the tip attachment 15d itself is drivable, for example, as a device for clamping an object, an actuator 21 for driving the tip attachment 15d may be provided.

[0025] The detection unit 31 (see FIG. 2) detects various conditions. Part or all of the detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10. The detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10, and this also applies to the input unit 35, controller 50, and output unit 60, which will be described later.

[0026] 2, the detection unit 31 includes a position detection unit 311, an imaging device 312, a direction detection unit 313, an attitude detection unit 314, and a load detection unit 3155. The position detection unit 311 detects the position of an object to be measured. The position detection unit 311 detects the position of a specific part of the work machine 10. For example, the position detection unit 311 may detect the position of a specific part of the upper rotating body 13, or may detect the position of a specific part of the attachment 15.

[0027] The position detection unit 311 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 311 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). The position detection unit 311 may use a (terrestrial) transmitter and receiver without using a satellite, or may use reflection of light (e.g., laser light) (e.g., a total station, etc.). The position detection unit 311 may calculate the position of the measurement object based on position information detected by multiple types of devices.

[0028] The imaging device 312 captures an image of an object to be imaged. The object to be imaged may include the work machine 10 (see FIG. 1), or may include the surroundings of the work machine 10. The imaging device 312 may detect a two-dimensional image, or may detect a three-dimensional image (distance image) having depth information. If the coordinate system of the spatial information detected by the imaging device 312 differs from the coordinate system of the work machine 10 (machine coordinates), these coordinates are unified (converted). The imaging device 312 may be of a passive type or an active type. Specifically, the imaging device 312 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 312 may be equipped with a stereo camera that detects three-dimensional information.

[0029] The imaging device 312 may detect three-dimensional information of an object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 312 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from when the waves are emitted until the reflected waves return, or may be equipped with a sensor that detects distance based on the frequency of the reflected waves. The imaging device 312 may be equipped with a device that detects three-dimensional information using light (e.g., laser light), such as a LiDAR (Light Detection and Ranging). The imaging device 312 may be equipped with a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar).

[0030] Only one imaging device 312 may be provided, or multiple imaging devices 312 may be provided. Only one type (such as one system) of imaging device 312 may be used, or multiple types of imaging devices 312 may be combined. The imaging device 312 may detect three-dimensional information of the imaging target based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 312 may be mounted on the work machine 10, or may be located outside the work machine 10 (for example, at the work site). If the imaging device 312 is located outside the work machine 10, it may be able to detect positions that cannot be detected when the imaging device 312 is mounted only on the work machine 10 (for example, areas shaded by the attachment 15 (see FIG. 1)).

[0031] The direction detection unit 313 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 313 detects the direction of a specific part of the work machine 10 (see FIG. 1). For example, the direction detection unit 313 may detect the direction of a specific part of the upper rotating body 13, or may detect the direction of a specific part of the attachment 15. The direction detection unit 313 may detect the orientation of the object to be measured using geomagnetism. The direction detection unit 313 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0032] The attitude detection unit 314 detects the attitude of the work machine 10. The attitude detection unit 314 may be mounted on the work machine 10 (see FIG. 1 ) or may be arranged outside the work machine 10 (for example, at a work site, etc.). The attitude detection unit 314 may be mounted on the work machine 10 or arranged outside the work machine 10.

[0033] The attitude detection unit 314 may detect the position and orientation of the work machine 10 (see FIG. 1) relative to the work site. The attitude detection unit 314 may detect the position and orientation of a reference position of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position of the upper rotating body 13 (see FIG. 1) or the lower body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b (see FIG. 1) to the upper rotating body 13 (see FIG. 1), or a specific position on the rotation center axis of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude detection unit 314 may detect rotation information (angle, angular velocity, angular acceleration, etc.) of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the boom 15b relative to the upper rotating body 13. The attitude detection unit 314 may detect information about the rotation of the arm 15c relative to the boom 15b. The attitude detection unit 314 may detect information about the rotation of the bucket relative to the arm 15c.

[0034] The attitude detection unit 314 may be equipped with one or more types of detection devices. The attitude detection unit 314 may be equipped with a detection device (e.g., a rotary encoder, etc.) that detects information about the angle of a certain element of the work machine 10 (see FIG. 1) relative to other elements. The attitude detection unit 314 may be equipped with a stroke sensor that detects the stroke of a cylinder that moves the attachment 15 (see FIG. 1). The attitude detection unit 314 may be equipped with an inclination sensor that detects an angle (inclination) relative to the horizontal direction. The attitude detection unit 314 may be equipped with a sensor (e.g., a gyro sensor) that detects angular velocity relative to the work site, or may be equipped with a sensor that detects acceleration relative to the work site. The attitude detection unit 314 may be equipped with an inertial measurement unit or the like. The attitude detection unit 314 may be equipped with the position detection unit 311 described above. In this case, the attitude detection unit 314 may detect the attitude of a specific part (one or more parts) of the work machine 10 based on position information detected by the position detection unit 311. The attitude detection unit 314 may include a direction detection unit 313 that detects the direction of a particular part of the work machine 10 .

[0035] The attitude detection unit 314 may be equipped with the above-mentioned imaging device 312. The attitude detection unit 314 may detect the attitude of the work machine 10 (see FIG. 1) based on image recognition of a two-dimensional image. The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image). The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0036] Specifically, the attitude detection unit 314 includes a reference position detection unit 314a, an inclination detection unit 314b, a rotation detection unit 314c, a boom detection unit 314d, an arm detection unit 314e, and a tip attachment detection unit 314f.

[0037] The reference position detection unit 314a detects the position and orientation of a reference position (reference position) of the work machine 10 (see FIG. 1) relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper rotating body 13 (see FIG. 1) or the lower main body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b to the upper rotating body 13, or may be a specific position on the rotation center axis of the upper rotating body 13 relative to the lower main body 11. The reference position detection unit 314a detects the position and orientation relative to the work site based on information detected by, for example, one or more of the position detection unit 311, direction detection unit 313, and image capture device 312.

[0038] In Figure 1, the position of the GNSS antenna is marked with the symbol of the reference position detection unit 314a (and the position detection unit 311) when the reference position detection unit 314a (and the position detection unit 311) performs detection using a positioning system using GNSS.

[0039] The inclination detection unit 314b detects the inclination of the work machine 10 (see FIG. 1) relative to the horizontal direction. The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the ground. The inclination detection unit 314b may detect the inclination of the work machine 10 based on information detected by a device that detects inclination relative to the horizontal direction (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit). The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the horizontal direction based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312, for example.

[0040] The rotation detection unit 314c detects the rotation angle of the upper rotating body 13 (see FIG. 1) relative to the lower body 11 (see FIG. 1). The rotation detection unit 314c may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the angle of rotation (rotation angle) of the upper rotating body 13 relative to the lower body 11, the angular velocity (rotation angular velocity), or the angular acceleration (rotation angular acceleration). The rotation detection unit 314c may detect the rotation information based on information detected by an angle sensor attached to the rotation axis or rotation support part (such as a rotation bearing) of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the rotation information based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0041] The boom detection unit 314d detects the attitude of the boom 15b (see FIG. 1). The boom detection unit 314d detects the angle (tilt, rotation angle) of the boom 15b with respect to the horizontal direction or with respect to the upper rotating body 13 (see FIG. 1). The arm detection unit 314e and the tip attachment detection unit 314f may also detect the angle with respect to the horizontal direction or with respect to the components of the work machine 10 (see FIG. 1). The boom detection unit 314d may detect the attitude of the boom 15b based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0042] The arm detector 314e detects the posture of the arm 15c (see FIG. 1). The tip attachment detector 314f detects the posture of the tip attachment 15d (see FIG. 1). Specific examples of the arm detector 314e and the tip attachment detector 314f are similar to the specific example of the boom detector 314d.

[0043] The load detection unit 315 detects a load (load, excavation load) acting on the attachment 15 (see FIG. 1). The load detection unit 315 detects a load acting on the tip attachment 15d (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on a load acting on the actuator 21 (specifically, the cylinder) (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on distortion (deformation) of the attachment 15 or distortion of the cylinder. The load detection unit 315 may utilize a function (payload function) of detecting the mass of a work object captured by the tip attachment 15d.

[0044] The input unit 35 is used to input information (input device). The input unit 35 is used to input information used for control. The input unit 35 is operated by an operator and outputs a signal in accordance with the operation. The input unit 35 outputs information to the controller 50. The input unit 35 may include a touch panel, a mouse, a keyboard, or a switch. The input unit 35 may be provided on a tablet, a smartphone, or a personal computer. The input unit 35 may be provided on a client device or a server device. The input unit 35 may be provided on the work machine 10 (see FIG. 1), and may be provided, for example, in the cab 13a (see FIG. 1). The input unit 35 may be provided on a remote control device (not shown) for remotely controlling the work machine 10. The input unit 35 may be provided on an operation unit (e.g., an operation lever) (not shown) provided on the cab 13a or the remote control device, or may be provided on the operation unit or a display (e.g., a cluster gauge). The operation unit is operated by an operator. Operations for moving the work machine 10 are input to the operation unit. The operation unit may be provided in the driver's cab 13a, or may be provided in a remote control device for remotely operating the work machine 10.

[0045] The operation unit (not shown) outputs a command according to the operation. The operation unit may output a command according to the operation amount. The command output by the operation unit may be pilot hydraulic pressure or an electrical signal. The operation unit may include a hydraulic remote control valve or an angle sensor (e.g., a variable resistor). An operation (travel operation) for traveling the lower body 11 (see FIG. 1) may be input to the operation unit. An operation (swing operation) for rotating the upper rotating body 13 (see FIG. 1) relative to the lower body 11 may be input to the operation unit. An operation (attachment operation) for moving the attachment 15 (see FIG. 1) may be input to the operation unit. An operation (boom operation) for rotating the boom 15b (see FIG. 1) relative to the upper rotating body 13 may be input to the operation unit. An operation (arm operation) for rotating the arm 15c (see FIG. 1) relative to the boom 15b may be input to the operation unit. An operation (tip attachment operation) for rotating tip attachment 15d (see FIG. 1) relative to arm 15c may be input to the operation unit.

[0046] The controller 50 is a computer that inputs and outputs signals, performs calculations (processing), stores information, and so on. The functions of the controller 50 are realized by executing a program stored in a memory unit (not shown) of the controller 50 in a calculation unit (not shown). The controller 50 may be connected to other devices via wireless communication or wired communication. The components of the controller 50 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, information is input to the controller 50 from the detection unit 31. For example, the controller 50 outputs a command (signal) to the drive control unit 17 to operate the work machine 10 (see FIG. 1). For example, the controller 50 outputs information to the output unit 60. The controller 50 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 50 may be distributed across multiple units (a distributed system may be configured). Specific processing performed by the controller 50 will be described later.

[0047] The controller 50 comprises a calculation unit and a memory unit. The calculation unit calculates (processes) information. The memory unit stores information. Focusing on the functions of the controller 50, the controller 50 comprises a work plan setting unit 51, an operation control unit 53, a deviation amount calculation unit 55, and an automatic driving correction unit 57. Below, the components of the work machine 10 will be described mainly with reference to FIG. 1, and the components of the controller 50 will be described with reference to FIG. 2. Furthermore, the steps of the flowchart shown in FIG. 3 will be described with reference to FIG. 3.

[0048] The work plan setting unit 51 sets a work plan for the work machine 10 (see Figure 1). The work plan is information related to the work targets of the work machine 10. The work plan may include information on the target route for travel of the work machine 10. The work plan may include information on the target range in which the attachment 15 (see Figure 1) will perform work (for example, the target capture range P1 (see Figure 6) and the target release range P3 (see Figure 6)). The work plan may include information on the target path of a specific part of the attachment 15 (the target lifting swing trajectory P2 (see Figure 6) and the target return swing trajectory P4 (see Figure 6)). The target path is information including, for example, information on the positions (coordinates) of multiple target points and information on the order of each target point. The work plan may include information on the target trajectory of a specific part. The target trajectory is information in which time information has been added to the target path information. The time information may be the time between two points, or may be information on the time of day, etc. The time between two points is the target value for the movement time of a specific part between two adjacent (sequential) target points. The time information is information such as the time when the specific part reaches the target point. By adjusting the time information, the target movement speed of the specific part is adjusted.

[0049] Parameters representing positions in a work plan can be set in various ways. In a work plan, parameters representing the position of specific parts of the attachment 15 (see FIG. 1) may be set in any way as long as they are parameters from which the attitude of the work machine 10 (see FIG. 1) can be derived. Coordinate axes of parameters representing positions in a work plan may be set in any way. These parameters may be represented by coordinate axes (absolute coordinates) based on the work site. The origins (reference positions) of these coordinate axes may be set at the work site. Parameters representing positions in a work plan may be represented by coordinate axes (machine coordinates) based on the work machine 10. The origins of these coordinate axes may be set at specific parts of the work machine 10, for example, at specific parts of the upper rotating body 13 (see FIG. 1). Specifically, for example, the origin of these coordinate axes may be set at the attachment portion (boom foot pin) of the boom 15b (see FIG. 1) to the upper rotating body 13, or at the center of rotation of the upper rotating body 13 with respect to the lower body 11 (see FIG. 1). Specifically, the work plan may include information on the forward / backward direction X, the up / down direction Z, the swing angle, and the angle (posture) of the tip attachment 15d (see FIG. 1). The information on the forward / backward direction X may be, for example, information on the distance from the origin of the coordinate axes to a specific part of the attachment 15 (e.g., the tip of the tip attachment 15d). The information on the up / down direction Z may be, for example, information on the height from the origin of the coordinate axes to the specific part of the attachment 15. The information on the angle of the tip attachment 15d may be, for example, information on the angle of the tip attachment 15d relative to the horizontal direction, or information on the angle of the tip attachment 15d relative to the arm 15c. The parameters representing the position in the work plan may include the position of the actuator 21 that moves the work machine 10 (e.g., the stroke position of a cylinder, the rotation angle of a motor, etc.).

[0050] The work plan setting unit 51 sets a plurality of work phases (task contents) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return and swinging phase. The capture phase is a phase in which the tip attachment 15d (see FIG. 1) captures a work object (e.g., excavates earth and sand) within a target capture range P1 (see FIG. 6). For example, the target capture range P1 is set to a location where the work objects have been collected (e.g., a pile of earth and sand). The lifting and swinging phase is a phase in which, with the tip attachment 15d having captured the work object, a specific portion moves from the target capture range P1 toward a target release range P3 (see FIG. 6) along a target lifting and swing trajectory P2, which is a target route. The release phase is a phase in which the tip attachment 15d releases the work object (e.g., unloads earth) within the target release range P3. The target release range P3 is set to, for example, an area above the bed of a transport vehicle. The return turning phase is a phase in which a specific part moves from a target release range P3 toward a target capture range P1 along a target return turning trajectory P4 (see FIG. 6), which is a target path. For example, a series of work phases, including a capture phase, a lifting turning phase, a release phase, and a return turning phase, are repeatedly performed.

[0051] The work plan may be set by the worker operating the work machine 10 (see FIG. 1) (by teaching), or may be set by the worker operating the input unit 35 (by manual operation), or may be set automatically by the controller 50. The work plan may be corrected. The work plan may be corrected by the worker operating the input unit 35 (by manual operation). The work plan may also be corrected automatically by the controller 50 based on information detected by the detection unit 31 (for example, information about obstacles, etc.).

[0052] At least a part of the work plan may be set in the work plan setting unit 51 by teaching, or may be set in the work plan setting unit 51 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows: A worker (operator) rides on the work machine 10 (see FIG. 1) and operates the work machine 10, or the worker remotely operates the work machine 10. For example, the worker operates the work machine 10 to place a specific part at a position (route, range) that is to be set as information about the work plan. The position where the specific part is placed is calculated based on the attitude of the work machine 10 detected by the attitude detection unit 314. The work plan setting unit 51 then sets the work plan based on the position where the specific part is placed. For example, the worker operates the work machine 10 to place the specific part at a specific position (for example, a position at a corner of the target capture range P1) in a range that is to be set as a target range (target capture range P1 (see FIG. 6) or target release range P3 (see FIG. 6)). The work plan setting unit 51 then sets a target range based on the position at which the specific part is located. For example, the worker operates the work machine 10 to move the specific part along a path that the worker wishes to set as a target path (target lifting swing path P2 (see FIG. 6) or target return swing path P4 (see FIG. 6)). For example, the worker operates the work machine 10 to move the specific part along the path that the worker wishes to set as a target path at a speed that the worker wishes to set as a target path. The work plan setting unit 51 then sets the path (path) along which the specific part has moved as the target path (path).

[0053] The operation control unit 53 automatically controls the work machine 10 (see FIG. 1) so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 outputs commands to the drive control unit 17 so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 controls the movement of the work machine 10 based on the attitude detected by the attitude detection unit 314.

[0054] In this way, the operation control unit 53 controls the automatic operation of the work machine 10 (see FIG. 1) based on the work plan. For example, specifically, the operation control unit 53 controls the automatic operation to perform earth and sand excavation work. More specifically, the operation control unit 53 has the following work phases of the target route (target lifting swing trajectory P2 (see FIG. 6) and target return swing trajectory P4 (see FIG. 6)) that constitutes the excavation work: a capture phase in which earth and sand, which serves as the work object, is captured by the tip attachment 15d (see FIG. 1), a lifting swing phase in which the tip attachment 15d swings to a release position while holding the earth and sand, a release phase in which the earth and sand is released, and a return swing phase in which the tip attachment 15d is returned to the position where the earth and sand will be excavated.

[0055] (Operation of work machine 10) As described above, the work machine 10 (see FIG. 1) may be operated by an operator in the cab 13a (see FIG. 1), may be remotely operated by an operator from outside the work machine 10 (by a remote control device), or may be automatically driven. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by an operator using the function of a machine guidance (MG) system. Specifically, a work plan is set in the controller 50. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output unit 60 provided in the cab 13a of the work machine 10 or an output unit 60 provided in the remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 moves according to the work plan.

[0056] Furthermore, for example, the work machine 10 (see FIG. 1) may be operated by a machine control (MC) system (semi-automatic operation). Specifically, a work plan is set in the controller 50. Then, for example, the worker operates only some of the elements of the attachment 15 (see FIG. 1) (for example, only the boom 15b (see FIG. 1)). At this time, the controller 50 automatically controls the elements not operated by the worker (for example, the arm 15c (see FIG. 1) and the tip attachment 15d (see FIG. 1)) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on information detected by the attitude detection unit 314 (the same applies to automatic operation). As a result, the work machine 10 moves in accordance with the work plan. Furthermore, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically moves in accordance with the work plan.

[0057] The deviation amount calculation unit 55 calculates the amount of deviation between the attitude of the work machine 10 during automatic operation detected by the detection unit 31 and the target route (for example, the target lifting swing trajectory P2 (see FIG. 6) or the target return swing trajectory P4 (see FIG. 6)). The deviation amount calculation unit 55 may predict the amount of deviation between the attitude of the work machine 10 when operating automatically and the target route. For example, the deviation amount calculation unit 55 may predict the amount of deviation based on the mass of earth and sand to be excavated by the work machine 10 and the target operating speed of the work machine 10. The mass of earth and sand to be excavated by the work machine 10 is predicted based on, for example, the movement path of the tip attachment 15d (see FIG. 1) in the capturing phase. The mass of earth and sand to be excavated by the work machine 10 may also be detected when the tip attachment 15d actually captures it. The target operating speed of the work machine 10 is the speed set in the work plan. The deviation amount calculation unit 55 may determine in advance the deviation amount predicted from these. Furthermore, this deviation amount may be notified to the worker by the output unit 60 (described later). The automatic driving correction unit 57 corrects the work plan according to the deviation amount. Note that the automatic driving correction unit 57 may correct the work plan according to the predicted deviation amount to reduce in advance the possibility of the work machine 10 deviating from the target route. The calculation of the deviation amount and the processing related to the correction of the work plan will be described later.

[0058] The output unit 60 is a device that outputs information. The output unit 60 outputs information based on a signal output from the controller 50. The output unit 60 may output light (such as a display), sound, or vibration. The output unit 60 may be provided in a tablet, a smartphone, or a personal computer. The output unit 60 may be provided in the operator's cab 13a (see FIG. 1). The output unit 60 may be provided in a remote control device for remotely controlling the work machine 10 (see FIG. 1). When the output unit 60 outputs light, the output unit 60 may be provided with a display device (monitor). The output unit 60 may be provided with a projection device that projects onto an object such as the ground. The output unit 60 may be provided with a light source (light). The output unit 60 may be provided with a device that uses VR (Virtual Reality) technology (VR device) or a device that uses AR (Augmented Reality) technology (AR device). The output section 60 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs.

[0059] The functions of the controller 50 may be realized by a client device (not shown) and a server device (not shown). Each of the client device and the server device is a computer. The input unit 35, the controller 50, and the output unit 60 may be provided in either the client device or the server device, or in both. For example, the memory unit (not shown) and the calculation unit (not shown) of the controller 50 may be provided in either the client device or the server device, or in both. Only one client device and one server device may be provided, or multiple client devices and one server device may be provided. The client device and the server device may be connected by wireless communication or by wired communication. For example, communication is performed using a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN.

[0060] (process) Next, an example of a flowchart of the automatic driving control process executed in the automatic driving control system 1 will be described with reference to Fig. 3. The automatic driving control system 1 (mainly the controller 50) is configured to perform the following processes. A program stored in the controller 50 causes the controller 50 to perform the following operations. In the automatic driving control system 1, a method for performing the following operations is realized.

[0061] First, the controller 50 sets a work plan (S10). Then, the controller 50 starts automatic operation in accordance with the set work plan (S20). Then, the controller 50 determines whether or not a deviation has occurred between the attitude of the work machine 10 (see FIG. 1) detected by the detection unit 31 during automatic operation and the target path included in the work plan (for example, the target lifting swing trajectory P2 (see FIG. 6) or the target return swing trajectory P4 (see FIG. 6)) (S30).

[0062] (Calculation of deviation amount) If a deviation occurs (S30), the controller 50 calculates the amount of deviation (S40). Here, deviation indicates that the operation of the work machine 10 is not following the target route (for example, the target lifting swing trajectory P2 (see FIG. 6) or the target return swing trajectory P4 (see FIG. 6)). For example, not following the target route means that, in the lifting swing phase, the work machine 10 is unable to swing along a route that follows the target route, or is unable to swing in accordance with the time information set for each of the target points that make up the target route. In this way, the amount of deviation may be the difference in distance between the target route and the work machine 10. Alternatively, the amount of deviation may be the time from the time set on the target route to the time the work machine 10 actually reaches the target route. Alternatively, the amount of deviation may include both of these, or may include other values.

[0063] (Determining whether to correct automated driving) The controller 50 then determines whether to correct the autonomous driving (S50). The controller 50 may determine whether to correct the autonomous driving based on a preset threshold. The controller 50 may correct the autonomous driving on the condition that the deviation amount is equal to or greater than a threshold. The threshold may be set for each type of deviation amount. For example, the threshold may determine the distance between a target route (e.g., target lift-up swing trajectory P2 (see FIG. 6) or target return swing trajectory P4 (see FIG. 6)) and the attitude of the work machine 10. Specifically, the threshold may be the distance (deviation) from a target route for a specific part of the work machine 10 to the position of the specific part calculated based on the detected attitude. Furthermore, for example, the threshold may determine the time from the time set on the target route to the time when the work machine 10 actually reaches the target route. The controller 50 may correct the autonomous driving on the condition that any one of the distances and times reaches a threshold, or may correct the autonomous driving on the condition that all of them reach a threshold.

[0064] Then, if the controller 50 determines that the automatic operation is to be corrected (S50: YES), it performs an emergency stop of the automatic operation of the work machine 10 (S60). Although not shown, the controller 50 may correct the automatic operation while continuing the automatic operation of the work machine 10, without performing an emergency stop of the automatic operation of the work machine 10.

[0065] (Regarding corrections for autonomous driving) The controller 50 then determines the amount of correction for correcting the automated driving and changes the work plan (S70). The controller 50 may correct the automated driving by a predetermined amount of correction. The controller 50 may also determine the amount of correction according to the amount of deviation. For example, specifically, the controller 50 may increase the amount of correction as the amount of deviation increases. More specifically, the controller 50 may continuously increase the amount of correction as the amount of deviation increases. The controller 50 may also increase the amount of correction in stages as the amount of deviation increases. The controller 50 may also determine the amount of correction for the work plan according to the weight of the soil when the deviation occurs. For example, specifically, the controller 50 may increase the amount of correction the heavier the weight of the work object, even if the amount of deviation is the same. The controller 50 may also determine the amount of correction for the work plan according to the operating speed of the automated driving when the deviation occurs. For example, specifically, the controller 50 may increase the amount of correction the faster the operating speed, even if the amount of deviation is the same. The operating speed is, for example, information (angular velocity, angular acceleration, etc.) about the rotation of the boom 15b relative to the upper rotating body 13, detected by the attitude detection unit 314. Furthermore, the target of the work plan corrected by the controller 50 may be the operating speed of the automatic operation. In this case, the correction amount is a reduction amount indicating how much the operating speed of the automatic operation is to be reduced. Furthermore, the target of the work plan corrected by the controller 50 may be the mass of a work object (e.g., earth and sand) to be captured (e.g., excavated) by the tip attachment 15d (see FIG. 1). In this case, the correction amount may be a reduction amount indicating how much the mass of the work object to be captured by the tip attachment 15d is to be reduced, or may be a reduction amount indicating how much the movement amount of the tip attachment 15d is to be reduced when capturing the work object.

[0066] Then, the controller 50 shifts the process to step S10, sets the changed work plan, and then starts the automatic operation again from step S20. Note that, when correcting the automatic operation while continuing the automatic operation, the controller 50 may shift the process to step S80 after step S70.

[0067] If no deviation occurs in step S30 (S30: NO), the controller 50 continues the automatic operation. Then, the controller 50 determines whether the work plan has ended (S80). If the work plan has ended (S80: YES), the controller 50 ends the automatic operation (S90).

[0068] In this way, the controller 50 can reduce the possibility of a recurrence of a deviation phenomenon in which a discrepancy occurs between the target position information and the actual position information (movement of the work machine 10) due to an abnormality in the machine body 10a or an external factor.

[0069] A more specific example will be described with reference to the flowcharts of Figures 4 and 5. For example, the work machine 10 is a shovel, and performs automatic operation to excavate earth and sand from a target capture range P1 (see Figure 6) using a tip attachment 15d that is a bucket, and release it to a target release range P3 (see Figure 6). The work plan executed by the work machine 10 includes a capture phase (capturing operation), a lifting swing phase (lifting swing operation), a release phase (release operation), and a return swing phase (return swing operation). The controller 50 repeatedly executes one cycle of automatic processing including the capture phase, lifting swing phase, release phase, and return swing phase. In the example shown below, the controller 50 corrects the work plan based on the amount of deviation between the work machine 10 and a target lifting swing trajectory P2 (see Figure 6), which is the target path in the lifting swing phase. Furthermore, the controller 50 corrects the work plan based on the amount of deviation between the target return swing trajectory P4 (see FIG. 6), which is the target path in the return swing phase, and the work machine 10.

[0070] First, the automatic driving control process executed by the controller 50 will be described with reference to Fig. 4. The controller 50 sets a work plan (S100). Then, the controller 50 starts automatic driving in accordance with the set work plan. In the automatic driving, the controller 50 first performs a capture phase in which earth and sand is excavated (S110). The controller 50 operates the attachment 15 including the tip attachment 15d, which is a bucket, and causes the tip attachment 15d to capture earth and sand.

[0071] Then, the controller 50 performs a lifting and swinging phase in which the bucket is moved from the target capturing range P1 (see FIG. 6) to the target release range P3 (see FIG. 6) along the target lifting and swinging trajectory P2 (see FIG. 6) (S120). Specifically, the controller 50 lifts the bucket, which is at the excavation position in the target capturing range P1. Then, the controller 50 swings the tip attachment 15d to the target release range P3. Note that during this lifting and swinging phase, the controller 50 sequentially receives and cumulatively records information from the attitude detection unit 314. Then, the controller 50 executes a deviation determination process (S130). The deviation determination process will be described later with reference to FIG. 5.

[0072] Then, the controller 50 performs a release phase in which the end attachment 15d releases the work object captured by the end attachment 15d (S140). Then, the controller 50 performs a return swing phase in which the end attachment 15d returns along the target return swing trajectory P4 (see FIG. 6) (S150). Then, the controller 50 executes a deviation determination process (S160). Then, the controller 50 determines whether the work plan has ended (S170). If the work plan has not ended (S170: NO), the controller 50 proceeds to step S110 and starts the automatic processing of the next cycle. If the work plan has ended (S170: YES), the controller 50 terminates the automatic operation (S180).

[0073] Next, the deviation determination process executed by the controller 50 will be described with reference to Fig. 5. The deviation determination process is a process executed in steps S130 and S160 of the automatic driving control process.

[0074] First, the controller 50 identifies a target path for each phase (S200). For example, in the deviation determination process for the lifting swing phase, the target lifting swing trajectory P2 (see FIG. 6) is identified as the target path. Also, for example, in the return swing phase, the target return swing trajectory P4 (see FIG. 6) is identified as the target path. Thereafter, the controller 50 determines whether or not the posture of the work machine 10 that has actually been detected deviates from the identified target path (S210).

[0075] If a deviation occurs in step S210 (S210: YES), the controller 50 calculates the deviation amount (S220). The deviation amount is the difference between the target path and the path actually taken by the end attachment 15d (the specific position of the end attachment 15d). Then, the controller 50 determines whether to correct the automatic driving (S230). For example, the controller 50 determines whether to correct the automatic driving depending on whether the calculated deviation amount exceeds a predetermined threshold. For example, the controller 50 determines whether the actual path, as a result of the automatic driving in the lifting and turning phase, is within the lifting and turning normal range A2 (see FIG. 6). As shown in FIG. 6, the lifting and turning normal range A2 is a range that includes the target lifting and turning trajectory P2 and indicates a normal range surrounded by predetermined thresholds. For example, the controller 50 determines whether the actual path, as a result of the automatic driving in the return turning phase, is within the return turning normal range A4 (see FIG. 6). As shown in FIG. 6, the normal lifting turning range A4 is a range that includes the target return turning trajectory P4, and indicates a normal range that is surrounded by predetermined thresholds.

[0076] If the automatic driving is to be corrected (S230: YES), the controller 50 performs an emergency stop of the automatic driving (S240). Then, the controller 50 determines the amount of correction for correcting the automatic driving (S250) and changes the work plan (S260). For example, specifically, the controller 50 corrects the time information added to the target route in the work plan. More specifically, the controller 50 changes the work plan so that the target route is rotated more slowly. That is, the controller 50 determines the amount of reduction (correction amount) in the rotation speed. Also, for example, specifically, the controller 50 changes the amount of earth and sand excavated in the capture phase. More specifically, the controller 50 determines the amount of reduction (correction amount) in the movement of the tip attachment 15d in the capture phase and changes the work plan so that the amount of earth and sand excavated by the tip attachment 15d is reduced.

[0077] Then, the controller 50 performs a return process (S270). For example, in this embodiment, the return process is a process in which the end attachment 15d is moved to the target release range P3 to release the work object, and then moved to the target capture range P1 where excavation begins. That is, the controller 50 uses the return process to put the work machine 10 in a state in which it can start the next cycle of automatic processing. After performing the return process, the controller 50 proceeds to step S100 of the automatic operation control process (see FIG. 4). The controller 50 then sets a new corrected work plan and resumes automatic operation. If no deviation occurs (S210: NO) or if the automatic operation is not to be corrected (S230: NO), the controller 50 ends this process and continues automatic operation.

[0078] (Effects of the first invention) The effects of the automatic driving control system 1 shown in Fig. 2 are as follows: The automatic driving control system 1 includes a work machine 10 having a machine main body 10a and an attachment 15 attached to the machine main body 10a, a detection unit 31 that detects the attitude of the work machine 10, and a controller 50.

[0079] [Configuration 1] The controller 50 includes an operation control unit 53 that controls the automatic operation of the work machine 10 based on a work plan, a deviation amount calculation unit 55 that calculates the amount of deviation between the attitude of the work machine 10 during automatic operation detected by the detection unit 31 and a target route included in the work plan (for example, a target lifting turning trajectory P2 (see Figure 6) or a target return turning trajectory P4 (see Figure 6)), and an automatic operation correction unit 57 that corrects the work plan in accordance with the amount of deviation.

[0080] In the above [Configuration 1], if a deviation occurs between the posture of the work machine 10 during automatic operation and the target path included in the work plan, the work plan is corrected according to the amount of deviation, thereby reducing the possibility of the deviation phenomenon recurring.

[0081] (Effects of the second invention) [Configuration 2] The automatic driving correction unit 57 determines whether to correct the work plan depending on whether the deviation amount exceeds a predetermined threshold.

[0082] In the above [Configuration 2], if the deviation amount exceeds a predetermined threshold, the work plan can be corrected to reduce the possibility of the deviation phenomenon recurring.

[0083] (Effect of the third invention) [Configuration 3] The automatic driving correction unit 57 reduces the operating speed of the automatic driving as a correction to the work plan.

[0084] In the above [Configuration 3], it is possible to reduce the operating speed of the autonomous driving and reduce the possibility of the deviation phenomenon recurring.

[0085] (Effect of the fourth invention) [Configuration 4] The operation control unit 53 controls the automatic operation of capturing the work object. The automatic operation correction unit 57 corrects the work plan by reducing the weight of the work object to be captured by the attachment 15.

[0086] In the above [Configuration 4], the weight of the work object can be reduced, thereby reducing the possibility of the deviation phenomenon recurring.

[0087] (Effect of the fifth invention) [Configuration 5] The automatic driving correction unit 57 determines the amount of correction to the work plan depending on the amount of deviation.

[0088] In the above [Configuration 5], the amount of correction to the work plan is determined according to the amount of deviation, so even if the amount of deviation becomes large, it is possible to reduce the possibility of the deviation phenomenon recurring.

[0089] (Effect of the sixth aspect of the invention) [Configuration 6] The operation control unit 53 controls automatic operation for capturing the work object. The automatic operation correction unit 57 determines the amount of correction to the work plan depending on the weight of the work object when a deviation occurs between the posture of the work machine 10 and the target path (for example, the target lifting swing trajectory P2 (see FIG. 6) or the target return swing trajectory P4 (see FIG. 6)).

[0090] Generally, the greater the amount of work to be excavated, the greater the deviation. In the above [Configuration 6], the amount of correction to the work plan is determined according to the weight of the work object when a deviation occurs, so even if a deviation occurs due to an increase in the weight of the work object, it is possible to reduce the possibility of recurrence.

[0091] (Effect of the seventh invention) [Configuration 7] The automatic driving correction unit 57 determines the amount of correction to the work plan depending on the operating speed of the automatic driving when a deviation occurs between the posture of the work machine 10 and the target route (for example, the target lifting turning trajectory P2 (see Figure 6) or the target return turning trajectory P4 (see Figure 6)).

[0092] Generally, the higher the operating speed of the autonomous driving system, the greater the deviation. In the above [Configuration 7], the amount of correction to the work plan is determined according to the operating speed of the autonomous driving system when a deviation occurs. Even if a deviation occurs due to an increase in the operating speed of the autonomous driving system, it is possible to reduce the possibility of recurrence.

[0093] (Effect of the eighth invention) The automatic driving control system 1 comprises a work machine 10 having a machine body 10a and an attachment 15 attached to the machine body 10a, a detection unit 31 that detects the attitude of the work machine 10, and a controller 50.

[0094] [Configuration 8] The controller 50 includes an operation control unit 53 that controls the automatic operation of the work machine 10 to perform earth excavation work based on a work plan, and a deviation amount calculation unit 55 that predicts the amount of deviation of the work machine 10 from a target path (for example, a target lifting turning trajectory P2 (see Figure 6) or a target return turning trajectory P4 (see Figure 6)) based on the mass of earth to be excavated by the work machine 10 during automatic operation detected by the detection unit 31 and the target operating speed of the work machine 10 included in the work plan.

[0095] In the above [Configuration 8], it is predicted that a deviation will occur between the posture of the work machine 10 during automatic operation and the target path (for example, the target lifting turning trajectory P2 (see Figure 6) or the target returning turning trajectory P4 (see Figure 6)), so it is possible to grasp in advance the risks associated with automatic operation of the work plan.

[0096] (Effect of the ninth invention) [Configuration 9] The controller 50 notifies the deviation amount predicted by the deviation amount calculation unit 55.

[0097] In the above [Configuration 9], the predicted deviation amount is notified, so that the worker can grasp the predicted deviation amount.

[0098] (Effect of the 10th invention) [Configuration 10] The controller 50 further includes an automatic driving correction unit 57 that corrects the work plan based on the deviation amount predicted by the deviation amount calculation unit 55.

[0099] In the above [Configuration 10], when it is predicted that a deviation will occur between the posture of the work machine 10 during automatic operation and the target route (for example, the target lifting turning trajectory P2 (see Figure 6) or the target returning turning trajectory P4 (see Figure 6)), the work plan is corrected according to the amount of deviation, thereby reducing the possibility of a deviation phenomenon occurring.

[0100] (Variation) The above-described embodiments may be modified in various ways. For example, various examples (including modified examples) of the above-described embodiments may be combined in various ways. For example, the connections of the components shown in FIG. 1 and the like may be changed. For example, the number of components (including modified examples) of the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.). [Explanation of symbols]

[0101] 1:Automatic driving control system 10: Work machinery 10a: Machine body 15: Attachment 31: Detection unit 50: Controller 53: Operation control unit 55: Deviation calculation unit 57: Automatic driving correction section

Claims

1. a work machine having a machine body and an attachment attached to the machine body; a detection unit that detects the attitude of the work machine; A controller; Equipped with The controller an operation control unit that controls automatic operation of the work machine based on a work plan; a deviation amount calculation unit that calculates a deviation amount between the posture of the work machine during automatic operation detected by the detection unit and a target route included in the work plan; an automatic driving correction unit that corrects the work plan according to the deviation amount; Equipped with Autonomous driving control system.

2. The automatic driving control system according to claim 1, The automatic driving correction unit determines whether to correct the work plan depending on whether the deviation amount exceeds a predetermined threshold. Autonomous driving control system.

3. The automatic driving control system according to claim 1, The automatic driving correction unit reduces the operating speed of the automatic driving as a correction of the work plan. Autonomous driving control system.

4. The automatic driving control system according to claim 1, The operation control unit controls automatic operation for performing a work of capturing a work object, The automatic driving correction unit corrects the work plan by reducing a weight of the work object to be captured by the attachment. Autonomous driving control system.

5. The automatic driving control system according to claim 1, The automatic driving correction unit determines a correction amount of the work plan according to the deviation amount. Autonomous driving control system.

6. The automatic driving control system according to claim 1, The operation control unit controls automatic operation for performing a work of capturing a work object, the automatic driving correction unit determines a correction amount for the work plan in accordance with a weight of the work object when a deviation occurs between the posture of the work machine and the target path. Autonomous driving control system.

7. The automatic driving control system according to claim 1, the automatic driving correction unit determines a correction amount for the work plan in accordance with an operating speed of the automatic driving when a deviation occurs between the attitude of the work machine and the target path. Autonomous driving control system.

8. a work machine having a machine body and an attachment attached to the machine body; A controller; Equipped with The controller an operation control unit that controls automatic operation of the work machine to perform earth excavation work based on a work plan; a deviation amount calculation unit that predicts a deviation amount of the work machine from a target route included in the work plan based on the mass of the earth and sand excavated by the work machine during automatic operation and a target operating speed of the work machine included in the work plan; Equipped with Autonomous driving control system.

9. The automatic driving control system according to claim 8, the controller notifies the deviation amount predicted by the deviation amount calculation unit; Autonomous driving control system.

10. The automatic driving control system according to claim 8, The controller The system further includes an automatic driving correction unit that corrects the work plan based on the deviation amount predicted by the deviation amount calculation unit. Autonomous driving control system.

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