System for determining operating conditions of a work machine, work machine, and method for determining operating conditions of a work machine

Abstract

To generate a path that allows the work machine to operate smoothly. [Solution] The operating condition determination system for the work machine includes a processor. The processor searches for candidate initial paths for the work machine from the initial state to the target state so as to satisfy given constraints, and optimizes at least one of the candidate initial paths to generate a target operating path for the work machine.

Description

Technical Field

[0001] The present disclosure relates to a working machine operating condition determination system, a working machine, and a method for determining operating conditions of a working machine.

Background Art

[0002] In the technical field related to working machines, a system for searching a track for automatic traveling of a vehicle, as disclosed in Patent Document 1, is known. In Patent Document 1, the system searches for a sequence having the position and posture of the vehicle, which is a path for moving the vehicle from an initial position to a target position, based on a first constraint condition representing the position of an obstacle, generates a second constraint condition in which a penalty value increases according to the deviation distance from the path, and searches for a sequence having the position, posture, speed and steering angle of the vehicle, which is a track for moving the vehicle from the initial position to the target position, based on the second constraint condition.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] There is a demand for a technology capable of generating a path along which a working machine can smoothly operate while satisfying given constraint conditions.

[0005] An object of the present disclosure is to generate a path along which a working machine can smoothly operate.

Means for Solving the Problem

[0006] This disclosure provides a system for determining the operating conditions of a work machine, comprising a processor. The processor searches for candidate initial paths for the work machine from an initial state to a target state that satisfy given constraints, and optimizes at least one of the candidate initial paths to generate a target operating path for the work machine. [Effects of the Invention]

[0007] According to this disclosure, it is possible to generate a path that allows the work machine to operate smoothly. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing the operating condition determination system for a work machine according to an embodiment. [Figure 2] Figure 2 is a configuration diagram showing a work machine according to an embodiment. [Figure 3] Figure 3 is a hardware configuration diagram of the server according to the embodiment. [Figure 4] Figure 4 is a functional block diagram showing the operating condition determination system for a work machine according to the embodiment. [Figure 5] Figure 5 is a view from above of the work site according to the embodiment. [Figure 6] Figure 6 is a diagram illustrating the method for searching for an initial travel path according to the embodiment. [Figure 7] Figure 7 is a diagram illustrating the initial travel path according to the embodiment. [Figure 8] Figure 8 is a diagram illustrating the safety area according to the embodiment. [Figure 9] Figure 9 is a diagram illustrating the safety area according to the embodiment. [Figure 10] Figure 10 is a diagram illustrating the penalty value related to the constraints according to the embodiment. [Figure 11] Figure 11 is a diagram illustrating the target travel path according to the embodiment. [Figure 12] Figure 12 is a diagram illustrating the target work path of the work machine according to the embodiment. [Figure 13] Figure 13 is a flowchart showing the method for determining target operating conditions according to the embodiment. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings, but this disclosure is not limited to these embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Operating Condition Determination System] Figure 1 is a schematic diagram showing the operating condition determination system 100 of the work machine 1 according to an embodiment. The work machine 1 operates at the work site. In this embodiment, the work machine 1 is a wheel loader. The operating condition determination system 100 includes a server 101. The server 101 is located outside the work machine 1. The server 101 includes a computer. The server 101 can communicate with the work machine 1 via a communication system 102. The communication system 102 includes an Internet communication network. The communication system 102 may also include a mobile phone communication network, a satellite communication network, or a local area network (LAN).

[0011] [Working machinery] Figure 2 is a configuration diagram showing a work machine 1 according to an embodiment. The work machine 1 includes a controller 31. The work machine 1 is automatically controlled. The work machine 1 is automatically operated. Automatic operation means that at least a portion of the driving operations performed by the operator is replaced by the controller 31 mounted on the work machine 1.

[0012] As shown in FIG. 1 and FIG. 2, the work machine 1 includes a vehicle body 2, a traveling device 5 including an articulation cylinder 7 and wheels 4, and a work implement 6. The controller 31 is disposed on the vehicle body 2. The work machine 1 travels on a work site by the traveling device 5. The work machine 1 performs work using the work implement 6 at the work site. Examples of the work performed by the work machine 1 include excavation work, loading work, and transporting work.

[0013] The vehicle body 2 supports the work implement 6. The vehicle body 2 includes a front frame 2F and a rear frame 2R. The front frame 2F is disposed forward of the rear frame 2R. The front frame 2F and the rear frame 2R are connected via an articulation mechanism 3.

[0014] The traveling device 5 supports the vehicle body 2. The traveling device 5 includes wheels 4 and an articulation cylinder 7. The wheels 4 include front wheels 4F attached to the front frame 2F and rear wheels 4R attached to the rear frame 2R. The wheels 4 include tires. The articulation cylinder 7 connects the front frame 2F and the rear frame 2R. The articulation cylinder 7 is a hydraulic cylinder. Expansion and contraction of the articulation cylinder 7 causes the front frame 2F to bend in the left-right direction relative to the rear frame 2R. Bending of the front frame 2F relative to the rear frame 2R adjusts the traveling direction of the work machine 1. The articulation cylinder 7 is an example of a steering device for the work machine 1.

[0015] The work implement 6 is supported by the vehicle body 2. The work implement 6 is connected to the front frame 2F. The work implement 6 includes a boom 8, a work member 9, a bell crank 10, a bucket link 11, a boom cylinder 12, and a bucket cylinder 13.

[0016] The base end of the boom 8 is rotatably connected to the front frame 2F. The working member 9 processes the work object. The base end of the working member 9 is connected to the tip of the boom 8. The working member 9 is interchangeable to suit the work object. Examples of work objects include excavation objects and transport objects. Examples of working members 9 include a bucket for excavating the excavation object and a fork for transporting the transport object. In this embodiment, the working member 9 is assumed to be a bucket. In the following description, the working member 9 will be referred to as bucket 9 as appropriate.

[0017] The bucket 9 is a working member used for excavating the target object. The base end of the bucket 9 is rotatably connected to the tip of the boom 8. The middle section of the bell crank 10 is rotatably connected to the bracket 14 of the boom 8. The lower end of the bell crank 10 is rotatably connected to the base end of the bucket link 11. The tip of the bucket link 11 is rotatably connected to the bracket 15 of the bucket 9. The bell crank 10 is connected to the bucket 9 via the bucket link 11.

[0018] The boom 8 is operated by the boom cylinder 12. The boom cylinder 12 is a hydraulic cylinder. The base end of the boom cylinder 12 is connected to the front frame 2F. The tip of the boom cylinder 12 is connected to the boom 8. The bucket 9 is operated by the bucket cylinder 13. The bucket cylinder 13 is a hydraulic cylinder. The base end of the bucket cylinder 13 is connected to the front frame 2F. The tip of the bucket cylinder 13 is connected to the upper end of the bell crank 10.

[0019] In this embodiment, the work machine 6 is a front-loading type work machine in which the opening of the bucket 9 faces forward during excavation work. The boom cylinder 12 extends and retracts, causing the boom 8 to move up or down. The bucket cylinder 13 extends and retracts, causing the bucket 9 to tilt or dump.

[0020] As shown in Figure 2, the work machine 1 includes a drive unit 16, a power take-off (PTO) 17, a power transmission device 18, wheels 4, a brake device 19, a steering pump 20, a steering control valve 21, an articulated cylinder 7, a work machine pump 22, a work machine control valve 23, a boom cylinder 12, a bucket cylinder 13, a position sensor 24, a direction sensor 25, a speed sensor 26, a steering sensor 27, a work machine attitude sensor 28, and a controller 31. The travel device 5 includes a power transmission device 18, a brake device 19, wheels 4, and an articulated cylinder 7.

[0021] The drive unit 16 is the power source for the work machine 1. The drive unit 16 is supported by the vehicle body 2. Examples of the drive unit 16 include a diesel engine and an electric motor. The power takeoff 17 distributes the driving force of the drive unit 16 to the power transmission device 18, the steering pump 20, and the work machine pump 22.

[0022] The power transmission device 18 transmits the driving force of the drive unit 16 to the wheels 4. The power transmission device 18 controls the travel speed and direction of the work machine 1. The direction of travel of the work machine 1 includes forward and reverse directions. The power transmission device 18 may be a transmission with a torque converter or a transmission with multiple gears. The input shaft 61 is connected to the power takeoff 17. The power transmission device 18 changes the rotation speed of the input shaft 61 and outputs it to the output shaft 62. The brake device 19 slows down or stops the moving work machine 1.

[0023] The running gear 5 includes a front axle 51 that supports the front wheels 4F, a rear axle 52 that supports the rear wheels 4R, and a rear propeller shaft 53. The front axle 51 is supported by the front frame 2F. The front wheels 4F are attached to the left and right ends of the front axle 51, respectively. The front axle 51 is connected to the output shaft 62. The rear axle 52 is supported by the rear frame 2R. The rear wheels 4R are attached to the left and right ends of the rear axle 52, respectively. The rear propeller shaft 53 is connected to the output shaft 62. A connecting portion 54 is provided at the rear end of the rear propeller shaft 53. The rear axle 52 is connected to the connecting portion 54. The rear axle 52 is connected to the output shaft 62 via the rear propeller shaft 53. The driving force of the drive unit 16 is transmitted to the front axle 51 and the rear axle 52, respectively, via the input shaft 61, the power transmission device 18, and the output shaft 62.

[0024] In one embodiment, the running gear 5 has a rear axle oscillating mechanism 50, such as the one disclosed in International Publication No. 2021 / 065404. The rear axle oscillating mechanism 50 is a mechanism for keeping the vehicle body 2 level when the work machine 1 is traveling on uneven ground or ground that slopes in the width direction of the vehicle. The rear axle oscillating mechanism 50 causes the rear wheels 4R of the work machine 1 to tilt from side to side according to the shape of the ground at the work site. The rear axle oscillating mechanism 50 ensures that each of the two front wheels 4F and the two rear wheels 4R can always be in contact with the ground and transmit driving force to the ground.

[0025] The rear axle oscillating mechanism 50 includes a connecting portion 54. The rear axle 52 is supported on the rear frame 2R so as to be able to swing around the connecting portion 54 by the rear axle oscillating mechanism 50. The rear axle oscillating mechanism 50 allows the rear axle 52 to tilt in a direction of inclination around the rotation axis of the rear propeller shaft 53. The rear axle oscillating mechanism 50 prevents the work machine 1 from tipping over when it travels on uneven ground or ground that slopes in the direction of the vehicle width.

[0026] The steering pump 20 is a hydraulic pump that operates using the driving force generated by the drive unit 16. The hydraulic fluid discharged from the steering pump 20 is supplied to the articulated cylinder 7 via the steering control valve 21. The steering control valve 21 controls the flow rate and direction of the hydraulic fluid supplied from the steering pump 20 to the articulated cylinder 7. The articulated cylinder 7 operates using the hydraulic fluid from the steering pump 20.

[0027] The work equipment pump 22 is a hydraulic pump that operates using the driving force generated by the drive unit 16. The hydraulic fluid discharged from the work equipment pump 22 is supplied to the boom cylinder 12 and the bucket cylinder 13, respectively, via the work equipment control valve 23. The work equipment control valve 23 controls the flow rate and direction of the hydraulic fluid supplied from the work equipment pump 22 to the boom cylinder 12 and the bucket cylinder 13, respectively. The work equipment 6 operates using the hydraulic fluid from the work equipment pump 22.

[0028] The position sensor 24 detects the position of the work machine 1. The position sensor 24 detects the position of the work machine 1 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 24 includes a GNSS receiver. The position sensor 24 detects the position of the work machine 1 in the global coordinate system.

[0029] The orientation sensor 25 detects the orientation of the work machine 1. The orientation of the work machine 1 includes the orientation of the vehicle body 2. The orientation of the vehicle body 2 includes the orientation angle with respect to the reference orientation. The orientation of the vehicle body 2 is the orientation of the front frame 2F. The orientation of the vehicle body 2 may also be the orientation of the rear frame 2R. An inertial measurement unit (IMU) is exemplified as the orientation sensor 25. The orientation sensor 25 may also include a calculator that calculates the orientation from position data detected by two GNSS antennas installed on the vehicle body 2. The calculator can calculate the orientation from the vector connecting the two GNSS antennas.

[0030] The speed sensor 26 detects the travel speed of the work machine 1. An example of the speed sensor 26 is a magnetic sensor that detects the rotational speed of the drive shaft connected to the wheel 4.

[0031] The steering sensor 27 detects either or both the steering angle and / or steering angular velocity of the work machine 1. Examples of steering sensors 27 include a cylinder stroke sensor that detects the stroke length of the articulated cylinder 7, and an angle sensor that detects the angle of the front frame 2F relative to the rear frame 2R.

[0032] The work equipment posture sensor 28 detects the posture of the work equipment 6. The posture of the work equipment 6 includes the angle and height of the work equipment 6. The work equipment posture sensor 28 includes a boom angle sensor 28A that detects the posture of the boom 8 and a bucket angle sensor 28B that detects the posture of the bucket 9.

[0033] The posture of boom 8 includes its angle and height. The boom angle sensor 28A detects the boom angle, which indicates the angle of boom 8. The boom angle refers to the angle of boom 8 relative to the vehicle body 2 in the local coordinate system defined for the work machine 1. The length of boom 8 is known. By detecting the boom angle, the height of the tip of boom 8 can be calculated. An example of the boom angle sensor 28A is an angle sensor placed at the connection point between the front frame 2F and boom 8.

[0034] The posture of the bucket 9 includes its angle and height. The bucket angle sensor 28B detects the bucket angle, which indicates the angle of the bucket 9. The bucket angle refers to the angle of the bucket 9 relative to the boom 8 in the local coordinate system defined for the work machine 1. In this embodiment, the bucket angle sensor 28B detects the bell crank angle, which indicates the angle of the bell crank 10 relative to the boom 8 in the local coordinate system. An example of the bucket angle sensor 28B is an angle sensor positioned at the connection between the boom 8 and the bell crank 10. The bucket angle and the bell crank angle correspond one-to-one. The bucket angle sensor 28B detects the bell crank angle. The bucket angle is calculated based on the detected bell crank angle data and the detected boom angle data. The dimensions of the bucket 9 are known. By detecting the bucket angle, the height of the tip of the bucket 9 is calculated. The tip of the bucket 9 includes the cutting edge of the bucket 9.

[0035] Note that the work equipment attitude sensor 28 is not limited to an angle sensor. The work equipment attitude sensor 28 may be a cylinder stroke sensor or a tilt sensor such as an inertial unit (IMU). The boom angle sensor 28A may be a cylinder stroke sensor that detects the stroke length of the boom cylinder 12 or a tilt sensor attached to the boom 8. The bucket angle sensor 28B may be a cylinder stroke sensor that detects the stroke length of the bucket cylinder 13 or a tilt sensor attached to the bucket 9.

[0036] [computer] Figure 3 is a hardware configuration diagram of a server 101 according to an embodiment. The server 101 includes a computer 32. The computer 32 has a processor 33 such as a CPU (Central Processing Unit), a main memory 34 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 35, and an interface 36 including input / output circuits. The functions of the computer 32 are stored in the storage 35 as computer programs. The processor 33 reads the computer programs from the storage 35, loads them into the main memory 34, and executes processing according to the computer programs. The computer programs may be distributed to the computer 32 via a network. The controller 31 also includes a computer 32 as shown in Figure 3.

[0037] Figure 4 is a functional block diagram showing the operating condition determination system 100 of the work machine 1 according to the embodiment. The operating condition determination system 100 includes a server 101 and a controller 31. Detection data from the position sensor 24, orientation sensor 25, speed sensor 26, steering sensor 27, and work machine attitude sensor 28 are transmitted to the controller 31. The controller 31 transmits control signals to the travel device 5 and the work machine 6, respectively.

[0038] As shown in Figure 4, the server 101 includes an initial path search unit 41, a safety area setting unit 42, an optimization unit 43, and a storage unit 44. The controller 31 includes a travel control unit 45 and a work equipment control unit 46. The functions of the initial path search unit 41, the safety area setting unit 42, the optimization unit 43, the travel control unit 45, and the work equipment control unit 46 are performed by the processor 33 described above. The function of the storage unit 44 is performed by the storage 35 described above.

[0039] An input device 37 is connected to the server 101. The input device 37 is operated by the user of the operating condition determination system 100. When the input device 37 is operated, input data is generated in the input device 37. The input data is transmitted from the input device 37 to the server 101. Examples of input devices 37 include a computer keyboard, touch panel, mouse, and voice input device.

[0040] Figure 5 is a view of the work site according to the embodiment, seen from above. The operating condition determination system 100 determines the target operating conditions of the work machine 1 at the work site. In this embodiment, the operating condition determination system 100 determines the target operating conditions of the work machine 1 from the initial state to the target state. The target operating conditions of the work machine 1 include the target travel conditions of the travel device 5 and the target working conditions of the work machine 6. The target travel conditions of the travel device 5 include the target travel speed, target travel acceleration, and target travel path 74 of the travel device 5. The target working conditions of the work machine 6 include the target working speed, target working acceleration, and target working path of the work machine 6.

[0041] The target operating conditions for work machine 1 include the target operating path for work machine 1. The target operating path for work machine 1 includes the target travel path 74 of the travel device 5 and the target working path of work machine 6.

[0042] The initial state of the work machine 1 includes the initial position 71 and initial posture of the work machine 1. The target state of the work machine 1 includes the target position 72 and target posture of the work machine 1. The initial posture includes the orientation of the vehicle body 2 and the posture of the work machine 6 at the initial position 71. The target posture includes the orientation of the vehicle body 2 and the posture of the work machine 6 at the target position 72. The orientation of the vehicle body 2 includes the azimuth angle with respect to the reference orientation.

[0043] The target travel conditions for the traveling device 5 include the target travel path 74 of the traveling device 5 from the initial position 71 to the target position 72. The target work conditions for the work implement 6 include the target work path of the work implement 6 as it changes from the posture of the work implement 6 at the initial position 71 to the posture of the work implement 6 at the target position 72.

[0044] As an example, the initial position 71 is the excavation position where the work machine 1 excavates the target to be excavated. The work machine 1 excavates the target to be excavated with the bucket 9 of the work machine 6. As the target to be excavated is excavated by the bucket 9, the excavated material is held in the bucket 9. The initial posture is the posture in which the bucket 9 holds the load. The target position 72 is the loading position where the work machine 1 loads the load onto the dump body of the dump truck 38, which is the target to be loaded. The target posture is the posture in which the load held in the bucket 9 is loaded onto the dump body.

[0045] In the example shown in Figure 5, an obstacle 200 exists at the work site that obstructs the operation of the work machine 1. The operation condition determination system 100 generates a target operation path so that the work machine 1 and the obstacle 200 do not come into contact.

[0046] In the following explanation, for the sake of simplicity, we will mainly describe an example in which the operation condition determination system 100 generates a target travel path 74 for the travel device 5 from the initial position 71 to the target position 72. As mentioned above, the operation condition determination system 100 can also generate a target work path for the work machine 6.

[0047] The initial path search unit 41 searches for candidate initial paths for the work machine 1 from the initial state to the target state. The initial path search unit 41 searches for candidate initial paths for the work machine 1 in a way that satisfies the given constraints. The initial path includes the initial travel path 70 of the travel device 5 from the initial position 71 to the target position 72. The initial path search unit 41 searches for the initial travel path 70 of the travel device 5 from the initial position 71 to the target position 72 in a way that satisfies the given constraints.

[0048] The initial path search unit 41 searches for an initial travel route 70 based on a predetermined path search algorithm. Examples of path search algorithms include the hybrid A* algorithm and Dijkstra's algorithm. In this embodiment, the initial path search unit 41 searches for an initial travel route 70 based on the hybrid A* algorithm.

[0049] Figure 6 is a diagram illustrating the method for searching for the initial travel path 70 according to the embodiment. The hybrid A* algorithm is an effective algorithm for searching for paths of a moving object that can move curvilinearly. The normal A* algorithm searches for paths based on a grid pattern. The work machine 1 has an articulating mechanism 3, an articulating cylinder 7, and wheels 4, and is capable of moving curvilinearly on the ground at the work site. In the embodiment, the initial path search unit 41 generates the initial travel path 70 based on the hybrid A* algorithm.

[0050] In the hybrid A* algorithm, a path is generated by connecting multiple segments 70S. A segment 70S is a basic division that constitutes a path. Segments 70S are connected via nodes 73. A segment 70S includes a line segment 70L for moving the travel device 5 straight and an arc segment 70A for turning the travel device 5. Arc segment 70A includes a left arc segment 70AL for turning the travel device 5 to the left and a right arc segment 70AR for turning the travel device 5 to the right. Line segment 70L also includes a forward line segment 70L for moving the travel device 5 straight forward and a reverse line segment 70L for moving the travel device 5 straight backward. Left arc segment 70AL includes a forward left arc segment 70AL for turning the travel device 5 to the left forward and a reverse left arc segment 70AL for turning the travel device 5 to the left backward. The right arc segment 70AR includes a forward right arc segment 70AR for turning the travel device 5 to the right in front of it, and a reverse right arc segment 70AR for turning the travel device 5 to the right in rearward. In the hybrid A* algorithm, the initial travel path 70 is generated by connecting any segment 70S from the six types of segments 70S.

[0051] The initial path search unit 41 receives initial state data indicating the initial state of the work machine 1, target state data indicating the target state of the work machine 1, and obstacle data relating to the obstacle 200. The initial state data includes the initial position 71 and the initial posture of the work machine 1 at the initial position 71. The target state data indicates the target position 72 and the target posture of the work machine 1 at the target position 72. The obstacle data includes the position, size, and shape of the obstacle 200. Each of the initial state data, target state data, and obstacle data is input to the initial path search unit 41, for example, from the input device 37. Note that each of the initial state data, target state data, and obstacle data may be stored in advance in the storage unit 44. The initial path search unit 41 may also acquire the initial state data, target state data, and obstacle data from the storage unit 44. The initial path search unit 41 can search for an initial travel path 70 by calculating the initial state data, target state data, and obstacle data based on the hybrid A* algorithm.

[0052] The initial path search unit 41 searches for an initial travel path 70 that satisfies the given constraints. The constraints are conditions for maintaining the stability of the work machine 1. In this embodiment, the constraints include the work machine 1 not coming into contact with the obstacle 200. The initial path search unit 41 searches for an initial travel path 70 that is the shortest path connecting the initial position 71 and the target position 72, so that the work machine 1 does not come into contact with the obstacle.

[0053] Figure 7 is a diagram illustrating the initial travel path 70 according to the embodiment. As described above, the initial travel path 70 is generated by connecting a plurality of segments 70S. Adjacent segments 70S are connected via nodes 73. The initial travel path 70 includes a plurality of segments 70S connected via nodes 73.

[0054] Each of the multiple nodes 73 indicates the target position of the work machine 1. Each of the multiple nodes 73 is set with the target heading angle, target travel speed, and target steering angle of the work machine 1. The target position of the work machine 1 refers to the target position of the work machine 1 when passing through node 73. The target heading angle of the work machine 1 refers to the target heading angle of the work machine 1 when passing through node 73. The target travel speed of the work machine 1 refers to the target travel speed of the work machine 1 when passing through node 73. The target steering angle of the work machine 1 refers to the target steering angle of the work machine 1 when passing through node 73.

[0055] The safety area setting unit 42 sets a safety area 80 at the work site. The safety area 80 is an area that includes the work machine 1 but does not include obstacles 200. The work machine 1 passes through a plurality of nodes 73 in sequence. When the work machine 1 moves, the safety area 80 moves with the work machine 1. The safety area setting unit 42 sets the safety area 80 based on each of the plurality of nodes 73. The safety area setting unit 42 generates the safety area 80 based on the node 73 that the work machine 1 passes through.

[0056] Figures 8 and 9 are diagrams illustrating a safety area 80 according to an embodiment. When setting the safety area 80, the safety area setting unit 42 sets a frame 81 surrounding the work machine 1. The work machine 1 is positioned inside the frame 81. The work machine 1 does not extend outside the frame 81. When the work machine 1 moves, the frame 81 moves with the work machine 1. The frame 81 is polygonal. The safety area 80 is set so that the frame 81 does not extend outside the safety area 80. The safety area 80 is set to include the frame 81 but not include the obstacle 200.

[0057] Furthermore, when setting a safety area 80, the safety area setting unit 42 sets a work area 82 at the work site. The work area 82 is set to include the work machine 1 located at the initial position 71, the work machine 1 located at the target position 72, the dump truck 38, and the obstacle 200. The safety area 80 is set inside the work area 82.

[0058] On a predetermined plane substantially parallel to the ground of the work site, the outline of the work area 82 is rectangular. The safety area setting unit 42 sets the X-axis direction in a direction parallel to the X-axis of the predetermined plane, and sets the Y-axis direction in a direction parallel to the Y-axis perpendicular to the X-axis on the predetermined plane. The obstacle 200 includes a first obstacle 200A, a second obstacle 200B located adjacent to the first obstacle 200A in the +X direction, and a third obstacle 200C. The third obstacle 200C is positioned to connect the second obstacle 200B and the +X side of the work area 82. The third obstacle 200C is set to separate the initial position 71 and the target position 72. The work machine 1 cannot pass through the third obstacle 200C. The initial travel path 70 is generated so as not to pass through the third obstacle 200C, but to pass between the first obstacle 200A and the second obstacle 200B.

[0059] In this embodiment, the outer shape of the safety area 80 is set to a convex polygon. A convex polygon is a polygon in which all interior angles are less than 180 degrees. A convex polygon is a polygon that satisfies the condition that a line segment connecting any two points inside the polygon does not extend outside the polygon.

[0060] The safety area 80 is set based on each of the multiple nodes 73. For example, if there are 100 nodes 73, 100 safety areas 80 will be set to match the 100 nodes 73. The safety area 80 is set to include the frame 81, exclude the obstacles 200, and connect to the outline of the work area 82. A safety area 80 based on a particular node 73 is set to connect to the third obstacle 200C.

[0061] Figure 8 shows a safety area 80 set relative to the initial position 71 (the first node 73). Figure 9 shows a safety area 80 set relative to a node 73 between the initial position 71 and the target position 72. The outline of the safety area 80 shown in Figure 8 is a rectangle. The outline of the safety area 80 shown in Figure 9 is a pentagon.

[0062] The position, size, and shape of the safety area 80 are set to correspond to each of the multiple nodes 73. The safety area 80 based on a certain node 73 is set to match the position, size, and shape of the frame 81 of the work machine 1 located at that node 73. The safety area setting unit 42 sets the position, size, and shape of the safety area 80 based on a certain node 73, so that the frame 81 does not extend outside the safety area 80, based on the position, size, and shape of the frame 81 of the work machine 1 located at that node 73.

[0063] The safety area setting unit 42 sets the safety area 80 by defining multiple sides of a convex polygon that forms the safety area 80. The frame 81 is a polygon. If the coordinate of one vertex of the frame 81 in the X-axis direction is x and the coordinate in the Y-axis direction is y, the condition that one vertex of the frame 81 does not extend outside the safety area 80 is expressed by the following equation (1).

[0064]

number

[0065] In equation (1), A is a matrix representing the slopes of each of the multiple edges of the safe region 80, and b is a vector representing the intercepts of each of the multiple edges of the safe region 80. For example, if the safe region 80 is a convex polygon with N vertices (edges), then equation (1) can be expressed as equation (2) below.

[0066]

number

[0067] The safe region 80 is set such that each of the multiple vertices of the frame 81 is located inside the safe region 80, that is, each of the multiple vertices of the frame 81 satisfies the condition of equation (1). The generation condition, including matrix A and vector b for setting the safe region 80, is stored in the storage unit 44.

[0068] An initial travel path 70 including multiple nodes 73 is searched, and after a safety area 80 is set based on each of the multiple nodes 73, the optimization unit 43 optimizes the initial travel path 70 to generate a target travel path 74. The optimization unit 43 optimizes the initial travel path 70 using an optimization algorithm. Examples of optimization algorithms include iLQR (iterative Linear Quadratic Regulator) and SQP (Sequential Quadratic Programming). In this embodiment, the optimization unit 43 optimizes the initial travel path 70 using iLQR.

[0069] Optimizing the initial travel path 70 includes making the initial travel path 70 smooth. As described above, the initial travel path 70 is generated by connecting multiple segments 70S. Adjacent segments 70S are connected via nodes 73. Therefore, when the work machine 1 travels according to the initial travel path 70, it may stop, turn sharply, accelerate suddenly, or turn sharply at nodes 73, for example. In other words, when the work machine 1 travels according to the initial travel path 70, it may be difficult for the work machine 1 to travel smoothly. Therefore, the optimization unit 43 optimizes the initial travel path 70 so that it becomes smooth and generates a target travel path 74.

[0070] The optimization unit 43 calculates an evaluation function E that includes specified evaluation items and generates a target travel path 74 so that the evaluation by the evaluation function E improves. The evaluation value of the evaluation function E is optimized by iterative calculation with the initial travel path 70 given as the initial solution. In this embodiment, an improvement in the evaluation by the evaluation function E means that the evaluation value of the evaluation function E decreases. The solution of the target travel path 74 (target operating conditions) is optimized so that the evaluation value of the evaluation function E decreases. The evaluation function E is expressed by equation (3) below.

[0071]

number

[0072] In equation (3), Sd is an evaluation item relating to the deviation between the terminal position (terminal state) of the work machine 1 and the target position 72 (target state). Tr is an evaluation item relating to the time required to reach the target position 72 (target state) from the initial position 71 (initial state). Ns is an evaluation item relating to the control input value. Cp is an evaluation item relating to the constraint conditions. w1, w2, w3, and w4 are weights.

[0073] The weights w1, w2, w3, and w4 may be arbitrarily set by, for example, the user of the operating condition determination system 100. By operating the input device 37, any weights w1, w2, w3, and w4 may be input to the optimization unit 43.

[0074] As the evaluation item Sd, which relates to the deviation between the terminal position (terminal state) and the target position 72 (target state), decreases, the work machine 1 can reach the target position 72. In this embodiment, the initial travel path 70 is generated so that the work machine 1 can reach the target position 72. With the initial travel path 70 given as the initial solution, an evaluation function E including the evaluation item Sd is calculated, and the solution for the target travel path 74 is optimized. As a result, a target travel path 74 is generated that allows the work machine 1 to reach the target position 72 while reducing the computational load.

[0075] By reducing the evaluation item Tr, which relates to the time required to reach the target position 72 (target state) from the initial position 71 (initial state), the work machine 1 can reach the target position 72 in a short time. By optimizing the solution of the target travel path 74 to shorten the required time, stopping of the work machine 1 is suppressed. Therefore, the target travel path 74 (target operating conditions) is optimized to be smooth, and the work machine 1 can travel smoothly.

[0076] The control input value is the control input value for controlling the work machine 1. The control input value includes the travel input value for controlling the travel device 5 and the work input value for controlling the work machine 6. The travel input value includes the travel acceleration of the travel device 5 and the steering angular velocity of the travel device 5. The work input value includes the attitude angular velocity of the work machine 6 and the height velocity of the work machine 6. In this embodiment, the work machine 1 is a wheel loader, and the steering angular velocity corresponds to the articulated angular velocity. Note that if it is assumed that the work machine 6 does not operate while the work machine 1 is traveling, the attitude velocity and height velocity of the work machine 6 do not need to be included in the control input value.

[0077] By reducing the evaluation item Ns related to the control input value (driving input value), the driving acceleration and steering angular velocity of the traveling device 5 are suppressed. In other words, sudden acceleration and sharp turns of the traveling device 5 are suppressed. As a result, the target driving path 74 (target operating conditions) is optimized to be smooth, and the work machine 1 can travel smoothly.

[0078] The constraints include ensuring that the work machine 1 and the obstacle 200 do not come into contact. By reducing the evaluation item Cp related to the constraints, the work machine 1 can reach the target position 72 without coming into contact with the obstacle 200. In this embodiment, the initial travel path 70 is generated so that the work machine 1 and the obstacle 200 do not come into contact. With the initial travel path 70 given as the initial solution, an evaluation function E including the evaluation item Cp is calculated, and the solution for the target travel path 74 is optimized. This generates a target travel path 74 in which contact between the work machine 1 and the obstacle 200 is suppressed while reducing the computational load.

[0079] In this embodiment, the constraints of the evaluation function E include the condition that the frame 81 surrounding the work machine 1 at each of the multiple nodes 73 does not extend outside the safety area 80. The evaluation item Cp related to the constraints includes a penalty value that changes based on the distance between the frame 81 and the outline of the safety area 80.

[0080] Figure 10 is a diagram illustrating the penalty value related to the constraints according to the embodiment. As described above, the safety area 80 is set to include the frame 81 surrounding the work machine 1. If the frame 81 is located inside the safety area 80 and the distance between the vertices of the frame 81 and the outline of the safety area 80 is sufficient, the penalty value is set to a small value. In the example shown in Figure 10, if the distance between the vertices of the frame 81 located inside the safety area 80 and the outline of the safety area 80 is less than or equal to the threshold Dv, the penalty value is set to virtually zero. If the distance between the vertices of the frame 81 and the outline of the safety area 80 exceeds the threshold Dv, the penalty value increases as the distance between the vertices of the frame 81 and the outline of the safety area 80 decreases. If at least a part of the frame 81 extends outside the safety area 80, the penalty value becomes infinite. The optimization unit 43 calculates the evaluation function E so that the penalty value, which is the evaluation item Cp related to the constraints, becomes small, and generates the target travel path 74.

[0081] Note that an improvement in the evaluation function E can also be achieved by increasing the evaluation value of the evaluation function E. Changing the sign of the evaluation function E means that a larger evaluation value of the evaluation function E results in a better evaluation.

[0082] Figure 11 is a diagram illustrating the target travel path 74 according to the embodiment. As shown in Figure 11, the optimization unit 43 optimizes the initial travel path 70 to generate the target travel path 74 of the work machine 1. The target travel path 74 is generated by optimizing the initial travel path 70 so that it becomes smooth.

[0083] When the running device 5 is driven according to the target driving path 74, the driving control unit 45 controls the running device 5 based on the deviation between the target trajectory and the vehicle state measured by the sensors. This target trajectory is a smooth and easy-to-follow trajectory determined by the calculation of the evaluation function E. Therefore, the work machine 1 can travel smoothly from the initial position 71 to the target position 72. The work machine 1 can travel to the target position 72 with stopping and stationary steering suppressed. The work machine 1 can travel to the target position 72 with rapid acceleration and rapid turning suppressed.

[0084] As described above, the constraints are conditions for maintaining the stability of the work machine 1. The constraints may include one or both of the following: that the work machine 1 does not tip over during travel, and that the load held in the bucket 9 of the work machine 6 does not collapse during travel. In this embodiment, the load held in the bucket 9 includes soil and sand. The load (soil and sand) held in the bucket 9 not collapsing means that the load does not spill out of the bucket 9 or fall out of the bucket 9. If the travel device 5 accelerates rapidly or makes a sharp turn, the likelihood of the work machine 1 tipping over or the load held in the bucket 9 collapsing increases. By generating a target travel path 74 that satisfies the constraints, the tipping of the work machine 1 and the collapse of the load held in the bucket 9 are suppressed.

[0085] The above describes an example of generating a target travel path 74 for the travel device 5 as the target operating path for the work machine 1. As described above, the target operating path for work machine 1 includes the target working path for work machine 6. The target working path for work machine 6 includes the target trajectory of the working machine 6 in operation.

[0086] Figure 12 is a diagram illustrating the target work path of the work machine 6 according to the embodiment. The initial posture of the work machine 1 includes the posture of the work machine 6 at the initial position 71. The target posture includes the posture of the work machine 6 at the target position 72. The initial path search unit 41 may search for the initial work path of the work machine 6 from the initial posture to the target posture as the initial path, satisfying constraints for maintaining the stability of the work machine 1. The optimization unit 43 may optimize the initial work path to generate the target work path of the work machine 6 from the initial posture to the target posture. In the example shown in Figure 12, the work machine 1 is in a load-holding posture at the initial position 71, holding the load in the bucket 9. At the target position 72, the work machine 1 is in a loading posture, loading the load held in the bucket 9 onto the dump body of the dump truck 38.

[0087] [Method for determining target operating conditions] Figure 13 is a flowchart showing the method for determining target operating conditions according to the embodiment. The initial path search unit 41 searches for candidate initial paths for the work machine 1 from the initial state to the target state so as to satisfy the given constraints (step S1).

[0088] The initial path search unit 41 may search for one candidate initial path, or it may search for multiple candidate initial paths. The initial path search unit 41 may, for example, search for a first candidate initial path based on a hybrid A* algorithm and search for a second candidate initial path based on Dijkstra's algorithm.

[0089] The initial path search unit 41 searches for candidate initial paths for the work machine 1 that satisfy constraints for maintaining the stability of the work machine 1. The constraints include that the work machine 1 and any obstacles 200 that would interfere with the operation of the work machine 1 do not come into contact. The constraints may also include that the work machine 1 does not tip over during its travel, and that the load held in the bucket 9 of the work machine 6 does not collapse during the travel of the work machine 1, or both.

[0090] The constraints may be provided to the initial pathfinding unit 41 from the input device 37. The constraints may also be provided to the initial pathfinding unit 41 from an external computer separate from the server 101. The constraints may be determined in the server 101. The constraints may be stored in advance in the storage unit 44.

[0091] After the initial path has been found, the safety area setting unit 42 sets the safety area 80. The safety area setting unit 42 sets the safety area 80, which includes the work machine 1 located at each of the multiple nodes 73 and does not include obstacles 200, based on each of the nodes 73 (step S2).

[0092] The multiple safety areas 80 set in step S2 are stored in the storage unit 44.

[0093] The optimization unit 43 optimizes the initial path candidates explored in step S1 to generate a target motion path for the work machine 1. The optimization unit 43 calculates an evaluation function E and generates a target motion path that improves the evaluation by the evaluation function E (step S3).

[0094] If there is only one candidate initial path found in step S1, the optimization unit 43 optimizes that one initial path to generate a target operation path. If there are multiple candidate initial paths found in step S1, the optimization unit 43 optimizes at least one of the multiple candidate initial paths to generate a target operation path. If there are multiple candidate initial paths found in step S1, the optimization unit 43 may optimize each of the multiple candidate initial paths to generate a target operation path.

[0095] The evaluation function E includes an evaluation item Cp related to the constraints. The constraints include the condition that the frame 81 surrounding the work machine 1 does not extend outside the safety area 80. The evaluation item Cp includes a penalty value that decreases as the distance between the vertices of the frame 81, which are located inside the safety area 80, and the outline of the safety area 80 increases.

[0096] The travel control unit 45 controls the operation of the travel device 5 from the initial position 71 to the target position 72 based on the target operating conditions (target travel conditions) generated by the optimization unit 43. The work equipment control unit 46 controls the operation of the work equipment 6 from the initial position 71 to the target position 72 based on the target operating conditions (target work conditions) generated by the optimization unit 43. Both the travel device 5 and the work equipment 6 can operate smoothly according to the target operating path generated by the optimization unit 43.

[0097] The travel control unit 45 controls the travel device 5 so as to minimize the deviation between the detected position of the work machine 1 detected by the position sensor 24 and the position of the work machine 1 defined by the target travel conditions. The travel control unit 45 controls the travel device 5 so as to minimize the deviation between the detected direction of the work machine 1 detected by the direction sensor 25 and the direction of the work machine 1 defined by the target travel conditions. The travel control unit 45 controls the travel device 5 so as to minimize the deviation between the detected speed or acceleration of the travel device 5 detected by the speed sensor 26 and the speed or acceleration of the travel device 5 defined by the target travel conditions. The travel control unit 45 controls the travel device 5 so as to minimize the deviation between the steering angle or steering angular velocity of the travel device 5 detected by the steering sensor 27 and the steering angle or steering angular velocity of the travel device 5 defined by the target travel conditions. The work machine control unit 46 controls the work machine 6 so as to minimize the deviation between the detected attitude of the work machine 6 detected by the work machine attitude sensor 28 and the attitude of the work machine 6 defined by the target work conditions.

[0098] [effect] As described above, the processor 33 of the operating condition determination system 100 includes an initial path search unit 41 that searches for candidate initial paths for the work machine 1 from the initial state to the target state in order to satisfy the given constraints, and an optimization unit 43 that optimizes at least one of the candidate initial paths to generate a target operating path for the work machine 1.

[0099] According to the embodiment, the initial path is searched to satisfy the constraints. By optimizing the initial path searched to satisfy the constraints, a target operating path is generated that allows the work machine 1 to operate smoothly. The work machine 1 can operate smoothly by operating according to the target operating path.

[0100] The optimization unit 43 calculates an evaluation function E to optimize the initial path and generates a target driving path that improves the evaluation by the evaluation function E. The evaluation value of the evaluation function E is optimized by iterative calculation with the initial path given as the initial solution. The initial path given as the initial solution is generated to satisfy the constraints. Therefore, the solution of the target driving path 74 is optimized to satisfy the constraints. Furthermore, the evaluation function E is calculated with the initial path that satisfies the constraints given as the initial solution. Therefore, the solution of the target driving path is optimized with reduced computational load.

[0101] The evaluation function E includes an evaluation item Cp related to constraints. The constraints include the condition that the frame 81 surrounding the work machine 1 does not extend outside the safety area 80. The evaluation item Cp includes a penalty value that decreases as the distance between the vertices of the frame 81, which are located inside the safety area 80, and the outline of the safety area 80 increases. This optimizes the solution of the target motion path while reducing the computational load. For example, if the evaluation function E is calculated to satisfy the constraint that the distance between the work machine 1 and the obstacle 200 must be greater than zero, the computational load may increase. In this embodiment, the safety area 80 is set inside the restricted work area 82. Multiple safety areas 80 are pre-set based on each of the multiple nodes 73. The computational load on the processor 33 is reduced by calculating the evaluation function E to satisfy the constraint that the frame 81 does not extend outside the pre-set safety area 80.

[0102] [Other embodiments] In the above-described embodiment, the articulated cylinder 7, boom cylinder 12, and bucket cylinder 13 are all hydraulic cylinders. At least one of the articulated cylinder 7, boom cylinder 12, and bucket cylinder 13 may be an electrically operated cylinder.

[0103] In the above-described embodiment, the functions of the server 101 may be provided in the controller 31. For example, the controller 31 may have the functions of an initial path search unit 41, a safety area setting unit 42, an optimization unit 43, and a storage unit 44. In the above-described embodiment, the server 101 may be omitted.

[0104] In the above embodiment, the working machine 1 is assumed to be a wheel loader. The working machine 1 may be any working machine having a work mechanism for holding the load. The working machine 1 may be, for example, a forklift, a bulldozer, or a motor grader.

[0105] [Note] This disclosure may also take the following form: (Note 1) Equipped with a processor, The aforementioned processor, Search for candidate initial paths for the work machine from the initial state to the target state while satisfying the given constraints. The target operating path of the work machine is generated by optimizing at least one of the candidate initial paths. A system for determining the operating conditions of industrial machinery. (Note 2) The aforementioned constraints include the fact that the work machine and any obstacles that would interfere with the operation of the work machine do not come into contact with each other. A system for determining the operating conditions of the work machine described in Appendix 1. (Note 3) The aforementioned constraints include, either or both, that the work machine does not tip over during its movement, and that the load held by the work machine does not collapse during its movement. A system for determining the operating conditions of the work machine described in Appendix 1 or Appendix 2. (Note 4) The aforementioned processor, An evaluation function including evaluation items related to the aforementioned constraints is calculated, and the target motion path is generated such that the evaluation by the evaluation function is improved. A system for determining the operating conditions of a work machine as described in any one of the appendices 1 to 3. (Note 5) The evaluation items include the time required to reach the target state from the initial state. System for determining the operating conditions of the work machine described in Appendix 4. (Note 6) The evaluation items include control input values ​​for controlling the work machine, System for determining the operating conditions of the work machine described in Appendix 4. (Note 7) The initial path includes multiple segments connected via nodes, The aforementioned processor, A safe area that does not include the obstacles is set based on each of the multiple nodes. The aforementioned constraints include the condition that the frame surrounding the work machine does not extend outside the safety area. The operating condition determination system for the work machine described in Appendix 2. (Note 8) The system includes a working machine operating condition determination system as described in any one of the appendices 1 to 7. A type of machinery used for industrial work. (Note 9) Traveling device and A vehicle body supported by the aforementioned running gear, The vehicle comprises a work machine supported by the vehicle body, The work machines described in Appendix 8. (Note 10) The processor is located in the vehicle body. The work machines described in Appendix 9. (Note 11) The processor, The process involves searching for candidate initial paths for the work machine from the initial state to the target state while satisfying the given constraints, The process involves optimizing at least one of the candidate initial paths to generate a target operating path for the work machine. A method for determining the operating conditions of a work machine. (Note 12) The aforementioned constraints include the fact that the work machine and any obstacles that would interfere with the operation of the work machine do not come into contact with each other. Method for determining the operating conditions of the work machine described in Appendix 11. (Note 13) The aforementioned constraints include, either or both, that the work machine does not tip over during its movement, and that the load held by the work machine does not collapse during its movement. A method for determining the operating conditions of a work machine as described in Appendix 11 or Appendix 12. (Note 14) The aforementioned processor, An evaluation function including evaluation items related to the aforementioned constraints is calculated, and the target motion path is generated such that the evaluation by the evaluation function is improved. A method for determining the operating conditions of a work machine as described in any one of the appendices 11 to 13. (Note 15) The evaluation items include the time required to reach the target state from the initial state. Method for determining the operating conditions of the work machine described in Appendix 14. (Note 16) The evaluation items include control input values ​​for controlling the work machine, Method for determining the operating conditions of the work machine described in Appendix 14. (Note 17) The initial path includes multiple segments connected via nodes, The aforementioned processor, A safe area that does not include the obstacles is set based on each of the multiple nodes. The aforementioned constraints include the condition that the frame surrounding the work machine does not extend outside the safety area. Method for determining the operating conditions of the work machine described in Appendix 12. [Explanation of symbols]

[0106] 1...Working machine, 2...Body, 2F...Front frame, 2R...Rear frame, 3...Articulation mechanism, 4...Wheels, 4F...Front wheels, 4R...Rear wheels, 5...Running gear, 6...Working machine, 7...Articulation cylinder, 8...Boom, 9...Bucket (working component), 10...Bell crank, 11...Bucket link, 12...Boom cylinder, 13...Bucket cylinder, 14...Bracket, 15...Bracket, 16...Drive unit, 17...Power take-off, 18...Power transmission device, 19...Brake device, 20...Steering pump, 21...Steering control valve, 22...Working machine pump, 23...Working machine control valve, 24...Position sensor, 25...Direction sensor, 26...Speed ​​sensor, 27...Steering sensor, 28...Working machine attitude sensor, 28A...Boom angle sensor, 28B...Bucket angle sensor, 31...Controller, 32...Computer, 33...Processor, 34...Main memory, 35... Storage, 36…Interface, 37…Input device, 38…Dump truck, 41…Initial path search unit, 42…Safety area setting unit, 43…Optimization unit, 44…Memory unit, 45…Travel control unit, 46…Work equipment control unit, 50…Rear axle oscillation mechanism, 51…Front axle, 52…Rear axle, 53…Rear propeller shaft, 54…Coupling unit, 61…Input shaft, 62…Output shaft, 70…Initial travel path, 70A…Arc Segment, 70AL...Left arc segment, 70AR...Right arc segment, 70L...Line segment, 70S...Segment, 71...Initial position, 72...Target position, 73...Node, 74...Target travel path, 80...Safety area, 81...Frame, 82...Work area, 100...Operating condition determination system, 101...Server, 102...Communication system, 200...Obstacle, 200A...First obstacle, 200B...Second obstacle, 200C...Third obstacle.

Claims

1. Equipped with a processor, The aforementioned processor, Search for candidate initial paths for the work machine from the initial state to the target state while satisfying the given constraints. The target operating path of the work machine is generated by optimizing at least one of the candidate initial paths. A system for determining the operating conditions of industrial machinery.

2. The aforementioned constraints include the fact that the work machine and any obstacles that would interfere with the operation of the work machine do not come into contact with each other. A system for determining the operating conditions of a work machine according to claim 1.

3. The aforementioned constraints include, either or both, that the work machine does not tip over during its movement, and that the load held by the work machine does not collapse during its movement. A system for determining the operating conditions of a work machine according to claim 1.

4. The aforementioned processor, An evaluation function including evaluation items related to the aforementioned constraints is calculated, and the target motion path is generated such that the evaluation by the evaluation function is improved. A system for determining the operating conditions of a work machine according to claim 1.

5. The evaluation items include the time required to reach the target state from the initial state. A system for determining the operating conditions of a work machine according to claim 4.

6. The evaluation items include control input values ​​for controlling the work machine, A system for determining the operating conditions of a work machine according to claim 4.

7. The initial path includes multiple segments connected via nodes, The aforementioned processor, A safe area that does not include the obstacles is set based on each of the multiple nodes. The aforementioned constraints include the condition that the frame surrounding the work machine does not extend outside the safety area. A system for determining the operating conditions of a work machine according to claim 2.

8. The system comprises the operating condition determination system for the work machine described in claim 1, A type of machinery used for industrial work.

9. Traveling device and A vehicle body supported by the aforementioned running gear, The vehicle comprises a work machine supported by the vehicle body, The working machine according to claim 8.

10. The processor is located in the vehicle body. The working machine according to claim 9.

11. The processor, The process involves searching for candidate initial paths for the work machine from the initial state to the target state while satisfying the given constraints, The process involves optimizing at least one of the candidate initial paths to generate a target operating path for the work machine. A method for determining the operating conditions of a work machine.

12. The aforementioned constraints include the fact that the work machine and any obstacles that would interfere with the operation of the work machine do not come into contact with each other. A method for determining the operating conditions of a work machine according to claim 11.

13. The aforementioned constraints include, either or both, that the work machine does not tip over during its movement, and that the load held by the work machine does not collapse during its movement. A method for determining the operating conditions of a work machine according to claim 11.

14. The aforementioned processor, An evaluation function including evaluation items related to the aforementioned constraints is calculated, and the target motion path is generated such that the evaluation by the evaluation function is improved. A method for determining the operating conditions of a work machine according to claim 11.

15. The evaluation items include the time required to reach the target state from the initial state. A method for determining the operating conditions of a work machine according to claim 14.

16. The evaluation items include control input values ​​for controlling the work machine, A method for determining the operating conditions of a work machine according to claim 14.

17. The initial path includes multiple segments connected via nodes, The aforementioned processor, A safe area that does not include the obstacles is set based on each of the multiple nodes. The aforementioned constraints include the condition that the frame surrounding the work machine does not extend outside the safety area. A method for determining the operating conditions of a work machine according to claim 12.

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