Control system of a work machine and work machine

Abstract

In the control of a work machine, contact with other work machines is avoided while reducing work efficiency reduction caused by avoidance to a minimum. There are: an action management unit (211) that acquires a work instruction (230) including a final target position and a present position of the work machine (100) and sets a target position; a path planning unit (212) that generates a target path (240) between the present position and the target position; and a motion generation unit (213) that causes the work machine (100) to travel along the target path (240), and the action management unit (211) decides an avoidance position from an avoidable position based on a work range of another work machine different from the work machine (100) and at least one of the present position of the work machine (100) and the final target position, and sets it as the target position when receiving an avoidance instruction (250) containing the avoidable position based on the work range of the other work machine.

Description

TECHNICAL FIELD

[0001] The present application relates to a control system of a work machine and a work machine. BACKGROUND

[0002] A work machine and a control system of a work machine that automatically excavate an object of excavation and load it to a prescribed loading position are proposed. A dump truck and other work machines that transport materials sometimes enter a work site, and thus it is required that an automatically driven work machine avoids contact with them while continuing work.

[0003] For example, a driving support technique is disclosed in Patent Literature 1 that makes a vehicle avoid to a pre-set avoidance place according to path information set to the vehicle without performing switching from automatic driving to manual driving, and waits to be able to continue driving by manual driving of a driver.

[0004] In addition, an automatic driving control device that performs automatic driving based on a road configuration map is disclosed in Patent Literature 2 that makes a vehicle avoid to a shoulder of a setting interval of a cable guard in a case where automatic driving cannot be controlled.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2018-181120

[0008] Patent Literature 2: Japanese Patent Application Publication No. 2018-193038 SUMMARY

[0009] In the techniques disclosed in Patent Literature 1 and Patent Literature 2, the object is a vehicle that travels on a public road, and only safe avoidance is considered. However, when a work machine that performs work in a work area and travels at the same time avoids, it is sometimes necessary to consider the travel path of a dump truck and other work machines that perform work in the work area and work efficiency. In these patent literatures, the travel path of a dump truck and other work machines that perform work in the work area and the reduction of work efficiency caused by avoidance are not considered at all.

[0010] The present application is made in view of the above, and aims to provide a control technique of a work machine that avoids contact with a dump truck and other work machines while suppressing reduction of work efficiency caused by avoidance to a minimum.

[0011] To achieve the above object, a representative aspect of the present application is a control system of a work machine having a control device that causes the work machine to act, the control system being characterized in that the control device has an action management section that acquires a work instruction including information of a work performed by the work machine and a present position of the work machine, and sets a target position based on the work instruction and the present position, a path planning section that generates a target path between the present position and the target position, and an action generation section that causes the work machine to travel along the target path, the action management section receives an avoidance instruction containing an avoidable position based on a work range of another work machine different from the work machine, in a case where the avoidance instruction is received, an avoidance position is decided from the avoidable position based on the work range of another work machine and the present position of the work machine, and the avoidance position is set as the target position.

[0012] Effects of Invention

[0013] According to the present application, in the control of the work machine, it is possible to avoid contact with another work machine while minimizing reduction in work efficiency caused by avoidance. Furthermore, the above and other objects, constitutions and effects are apparent from the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a diagram for explaining an outline of the first embodiment.

[0015] Figure 2 is a schematic view of an appearance of a wheel loader of the first embodiment.

[0016] Figure 3 is a configuration diagram of a control system of the wheel loader of the first embodiment.

[0017] Figure 4 is a hardware configuration diagram of the control system of the first embodiment.

[0018] Figure 5 is a functional block diagram of an automatic driving control device of the first embodiment.

[0019] Figure 6 (a) to (c) of FIG. 1 are explanatory diagrams for explaining the map data of the first embodiment.

[0020] Figure 7 In FIG. 2, (a) is an explanatory diagram for explaining an example of a work instruction of the first embodiment, (b) to (d) are explanatory diagrams for explaining an example of a target path of the first embodiment, and (e) is an explanatory diagram for explaining an example of an avoidance instruction of the first embodiment.

[0021] Figure 8 is a flowchart of the action management process of the first embodiment.

[0022] Figure 9 is a functional block diagram of the autonomous driving control device of the second embodiment.

[0023] Figure 10 is a flowchart of the target position setting process of the third embodiment.

[0024] Figure 11 In (a), (b), and (c), (a) is an explanatory diagram for explaining an example of the avoidance instruction of the third embodiment, and (b) and (c) are explanatory diagrams for explaining examples of the target path candidate of the third embodiment. DETAILED DESCRIPTION

[0025] Hereinafter, an embodiment of the work machine support system of the present application will be described with reference to the accompanying drawings. Figure 1

[0026] <<First Embodiment>>

[0027] First, an outline of the first embodiment will be described. In the present embodiment, a work machine 100 such as a wheel loader, which automatically travels within a work area 300, excavates an excavation object 310 in accordance with a work instruction, and carries the excavated object to a loading object 320, repeats such work. A carrying vehicle 330, which performs an action different from the work machine 100, intrudes here. The carrying vehicle 330 is, for example, a dump truck or the like that carries the object loaded into the loading object 320 outside the work area 300 or supplements the excavation object 310. Further, a management device (a computer provided in a management center) or the like that performs overall control of the work area can be provided. Figure 1 In the present embodiment, if the carrying vehicle 330 intrudes into the work area 300, an avoidance instruction is sent to a control system 180 (refer to FIG. 2) of the work machine 100. The control system 180 of the work machine 100 controls so as to avoid to an avoidance position at which a decrease in work efficiency is minimized when the avoidance instruction is received.

[0028] Figure 3 Hereinafter, the work machine 100 and the control system 180 thereof that realize this will be described. Here, a wheel loader will be described as the work machine 100.

[0029] is a diagram schematically showing the appearance of the wheel loader 100 of the present embodiment,

[0030] is a diagram showing the control system 180 of the wheel loader 100 of the present embodiment. Figure 2 Figure 3

[0031] ​​​The wheel loader 100 has a vehicle body 110 and a work machine 120 of a multi-joint type installed in front of the vehicle body 110.

[0032] The work machine 120 is a work device driven by at least one actuator. Figure 2 The work machine 120 shown has a bucket 121, a lift arm 122, a bell crank 123, a bucket link 124, a lift hydraulic cylinder 125, a bucket hydraulic cylinder 126, and a turning hydraulic cylinder 112.

[0033] The bucket 121 is a work tool provided in front of the vehicle body. The lift hydraulic cylinder 125 and the bucket hydraulic cylinder 126 are hydraulic actuators (hydraulic cylinders) that drive the bucket 121 and the lift arm 122, respectively, and are installed between the work machine 120 and the vehicle body 110. The lift arm 122 and the lift hydraulic cylinder 125 are each provided on the left and right of the vehicle body 110.

[0034] The lift arm 122 is rotatably supported on the vehicle body 110 and rotates (pivots) in the up-and-down direction (pitching motion) in conjunction with the extension and contraction drive of the lift hydraulic cylinder 125. In addition, the bucket 121 rotates (dumping motion or tilting motion) in conjunction with the extension and contraction drive of the bucket hydraulic cylinder 126.

[0035] One end of the lift hydraulic cylinder 125 is connected to the lift arm 122, and the other end is connected to the vehicle body 110. One end of the bucket hydraulic cylinder 126 is connected to the bell crank 123, and the other end is connected to the vehicle body 110. Furthermore, the bell crank 123 is connected to the bucket link 124. Figure 2 The link mechanism of the bucket 121 of the wheel loader 100 shown is a Z-link type (bell crank type) that uses the bell crank 123.

[0036] Four wheels (front right wheel 131FR, front left wheel 131FL, rear right wheel 131RR (see Figure 2 ), and rear left wheel 131RL) are provided on the vehicle body 110. Hereinafter, the wheels 131 are collectively referred to as wheels 131 without particular distinction. Each wheel 131 is driven by a power transmission device that uses the engine 111 (see Figure 3 ) as a power source. The driving force is transmitted to the ground via each wheel 131, whereby the wheel loader 100 advances or retreats.

[0037] In addition, the wheel loader 100 has a multi-joint type steering mechanism that rotates by generating a difference in angle in the vehicle body vertical direction to the front of the vehicle body and the rear of the vehicle body.

[0038] As shown in Fig. 1, the wheel loader 100 has a vehicle body 110 and a work machine 120 of a multi-joint type installed in front of the vehicle body 110. Figure 3As shown, the wheel loader 100 has an engine 111, a steering hydraulic cylinder 112, a drive power transmission device 113, a hydraulic pump 114, a control valve 115, a center joint 132C, brakes 133F and 133R, a front differential device 134F, a rear differential device 134R, a position measuring device 141, a pressure sensor 142, a control system 180, and a user interface 190.

[0039] In addition, as shown in FIG. 1, the wheel loader 100 has a bucket 121, a lift arm 122, a lift hydraulic cylinder 125, a bucket hydraulic cylinder 126, and a work implement 123. Figure 3 As shown, the control system 180 has an autonomous driving control device 200, a hydraulic control device 160, an engine control device 150, and a travel control device 170.

[0040] The engine 111 is a power source of the wheel loader 100. The engine 111 drives the hydraulic pump 114 and the drive power transmission device 113.

[0041] The drive power transmission device 113 transmits the driving force of the engine 111 to the front right wheel 131FR and the front left wheel 131FL via the center joint 132C and the front differential device 134F, and transmits the driving force of the engine 111 to the rear right wheel 131RR and the rear left wheel 131RL via the center joint 132C and the rear differential device 134R, to accelerate the wheel loader 100.

[0042] In addition, the hydraulic pump 114 supplies working oil to the control valve 115 by being driven by the engine 111. The working oil is distributed by the control valve 115 and drives the steering hydraulic cylinder 112, the lift hydraulic cylinder 125, the bucket hydraulic cylinder 126, and the brakes 133F and 133R. The steering hydraulic cylinder 112, the lift hydraulic cylinder 125, and the bucket hydraulic cylinder 126 are extended and contracted by the supply of the working oil, whereby the angle of the front of the vehicle body with respect to the rear of the vehicle body, the angle of the lift arm 122 with respect to the front of the vehicle body, and the angle of the bucket 121 are changed, respectively. In addition, the brakes 133F and 133R are closed by the working oil, whereby the rotation of the wheels 131FR, 131FL, 131RR, and 131RL is suppressed to decelerate and stop the wheel loader 100.

[0043] The position measuring device 141 acquires the present position information of the wheel loader 100. The position measuring device 141 is a GNSS (Global Navigation Satellite System). However, the position measuring device 141 is not limited thereto. The position measuring device 141 can use a camera and a LiDAR (Light Detection and Ranging) to perform positioning by a known SLAM (Simultaneous Localization and Mapping).

[0044] The user interface (input device) 190 is a PC, a tablet terminal, a smart phone, or the like, and can also be another device as long as it can input the work instruction described later.

[0045] The automatic driving control device (control device) 200 generates an engine control signal, a hydraulic control signal, and a travel control signal based on various instructions (work instruction, avoidance instruction, work re-execution instruction, and the like) from the user interface 190, present position information from the position measurement device 141, and load information from the pressure sensor 142, and transmits them to the engine control device 150, the hydraulic control device 160, and the travel control device 170, respectively.

[0046] Based on these signals, the engine control device 150 controls the rotation speed of the engine 111, the hydraulic control device 160 controls the opening and closing degree of the control valve 115, and the travel control device 170 controls the speed ratio and the rotation direction of the driving force transmission device 113.

[0047] The control system 180 is a computer for performing various information processing related to the operation of the wheel loader 100, and is implemented by, for example, a microcomputer or the like.

[0048] Figure 4 is a diagram showing the hardware configuration of the control system 180. The control system 180 has a CPU (Central Processing Unit) 181, a memory 182, a storage device 183, and an input / output interface (I / F) 184. In addition, it can also have a communication interface (I / F) 185. In addition, the CPU 181, the memory 182, and the storage device 183 can be provided in each part within the control system 180, respectively. A plurality of configurations can also be used in common.

[0049] The CPU 181 expands and executes a program stored in the storage device 183 in the memory 182. The memory 182 is, for example, a RAM (Random Access Memory) that functions as a work area. The storage device 183 is a ROM (Read Only Memory) and a flash memory or the like, and stores data for a program and processing of the CPU 181, data generated in processing, data generated by processing, and the like.

[0050] In the present embodiment, each function of the control system 180 is implemented by, for example, the CPU 181 downloading and executing a program stored in the storage device 183 to the memory 182.

[0051] The input / output I / F 184 is an interface for input and output of data. In the present embodiment, input and output of data between the user interface 190 is performed. In the present embodiment, the operator of the wheel loader 100 inputs a work instruction, an avoidance instruction, and a work re-execution instruction via the user interface 190.

[0052] Further, the storage device 183 has a ROM and a flash memory as semiconductor memories, but can have a magnetic storage device such as a hard disk drive instead of these.

[0053] Next, the automatic driving control device 200 will be described. Figure 5 is a functional block diagram of the automatic driving control device 200 of the present embodiment. The automatic driving control device 200 has an action management section 211, a path planning section 212, and an action generation section 213.

[0054] Further, in a case where an instruction is not received from the outside via the user interface 190, a reception section is also provided.

[0055] The action management section 211 acquires a work instruction, an avoidance instruction, and a work re-execution instruction and a present position, decides an action mode of the wheel loader 100 and transmits to the action generation section 213, and sets a target position, transmits to the path planning section 212. Further, a target path is received from the path planning section 212 according to the transmission of the target position. In addition, the action management section 211 also transmits the decided action mode to the user interface 190 as one of the notification information.

[0056] The action management section 211 receives a work instruction, an avoidance instruction, and a work re-execution instruction from the user interface 190. In addition, a present position is received from the position measuring device 141.

[0057] The action mode has a work mode including a travel mode, a digging mode, a loading mode, a dozing mode, and the like, and an avoidance mode. The action management section 211 decides the action mode to be any one of the travel mode, the digging mode, the loading mode, the dozing mode, according to the work instruction. In addition, if the avoidance instruction is received, the action mode is decided to be the avoidance mode. Further, if a signal indicating that an other vehicle of a type that is prescribed to be avoided in advance has entered the work area 300 is received, the action mode can be set to the avoidance mode.

[0058] The path planning section 212 calculates a target path of the wheel loader 100 from a present position to a target position using the map data 220 (refer to Figure 6 (a) to Figure 6 (c) of FIG. 20) and transmits to the action management section 211 and the action generation section 213. The path planning section 212 receives a target position from the action management section 211. In addition, a present position is received from the position measuring device 141.

[0059] The action generating section 213 causes the working machine to travel along the target path, and causes the bucket 121 to act in a manner to perform digging, loading, and unloading.

[0060] The action generating section 213 generates a travel action signal in a manner to cause the wheel loader 100 to travel along the target path. The action generating section 213 transmits the travel action signal to the travel control device 170 as a travel control signal, and to the hydraulic control device 160 as a hydraulic control signal. In addition, the action generating section 213 generates a work action signal of the bucket 121 in a manner to perform digging, loading, and unloading according to the action mode.

[0061] In addition, the action generating section 213 calculates a required engine speed according to the travel action and the work action, and transmits the same to the engine control device 150 as an engine control signal. For example, the travel control signal can be a pedal operation amount of an accelerator and a brake, an operation amount of a steering operation device, and a switching signal of a forward-reverse switch, as with the conventional manual operation. In addition, the hydraulic control signal can be a lever operation amount of the lift arm 122 and the bucket 121.

[0062] Next, the map data 220 will be described. Figure 6 (a) of FIG. 10 is a diagram for explaining the map data 220 of the embodiment, Figure 6 (b) of FIG. 10, and Figure 6 (c) of FIG. 10 is an example of the map data 220 of the embodiment. Further, the map data 220 is generated in advance, and stored in the storage device 183 or the like.

[0063] The map data 220 has a plurality of points (nodes: de) within the work area 300, and line segments (arcs: Arc) connecting the points. As shown in Figure 6 (b) of FIG. 10, the map data 220 has coordinates 222 and attributes 223 of each point 221, as shown in Figure 6 (c) of FIG. 10, the map data 220 has information of end points 225, 226 of each line segment 224. Further, Q1 and Q2 in the map indicate digging objects, R1 and R2 indicate loading objects, and O1 is an obstacle.

[0064] Next, the work instruction 230, the target path 240, and the avoidance instruction 250 will be described.

[0065] Figure 7(a) indicates an example of the work instruction 230. The work instruction 230 has, for example, an identifier (ID) 231 given to each work instruction 230, a type of the object 232, a target loading amount 233, a loading position 234, a digging position 235, and a dumping position 236. The work instruction 230 is, for example, created by a management device or the like, and is provided to the wheel loader 100. The action management section 211 sequentially implements the work instruction 230.

[0066] For example, the work instruction 230 of the identifier Ins01 is an instruction to repeatedly perform a work of digging the object Ml at the digging position Ql and loading it to the loading position Rl, and to complete after the loading amount reaches Wl.

[0067] The action management section 211, if receiving the work instruction 230 of the identifier Ins01, first sets the action mode to the travel mode, sets the digging position Ql (p8) as the target position, and transmits to the path planning section 212. The path planning section 212 generates the target path 240 from the present position to the target position p8, and transmits to the action management section 211 and the action generation section 213.

[0068] Here, Figure 7 (b) indicates an example of the target path 240 generated when the present position is p3. The target path 240 has passing points 241 including the positions from the present position to the target position, and FNR 242 indicating the travel direction between the points. In the FNR 242, the advance is indicated by F, and the retreat is indicated by R.

[0069] The action management section 211 acquires the present position at a prescribed time interval, and every time the present position is acquired, judges whether the target position (p8) coincides with the present position. Also, in the case of coincidence, judges that the target position (p8) is reached, and sets the action mode to the digging mode. During the period when the action mode is the digging mode, acquires the load of the bucket 121 from the pressure sensor 142 at a prescribed time interval, and judges whether the change amount coincides with the digging amount. Also, in the case of coincidence, judges that the digging has been completed, and sets the action mode to the travel mode. Then, the loading position Rl (p6) is set as the target position, and transmitted to the path planning section 212. The path planning section 212 generates the target path 240 from the present position (p8) to the target position (p6).

[0070] The action management section 211 acquires the present position at a prescribed time interval, and determines whether the target position (p6) and the present position coincide with each other every time the present position is acquired. Also, in the case where they coincide with each other, it is determined that the target position (p6) has been reached, and the action mode is set to the loading mode. During the period in which the action mode is the loading mode, the load of the bucket 121 is acquired from the pressure sensor 142 at a prescribed time interval, and it is determined whether the change amount coincides with the loading amount. Also, in the case where they coincide with each other, it is determined that the loading has been completed, and it is determined that the work instruction 230 of the identifier Ins01 has been completed.

[0071] The action management section 211 shifts to the work instruction 230 of the next identifier Ins02 after the work of the identifier Ins01 is completed. The work instruction 230 of the identifier Ins02 is an instruction to excavate the object M2 at the excavation position Q2 and load it to the loading position R2, and to complete it after the loading amount reaches W2.

[0072] Also, in this example, it is instructed that the excavation position and the unloading position are the same position. This means that the remaining amount is unloaded to the original excavation position with respect to the target amount. For example, in the work instruction 230 of the identifier Ins01, when the target loading amount W1 is reached in the loading position R1, the remaining object in the bucket 121 is unloaded to the original excavation position Q1. In this case, the action management section 211 sets the target position to Q1 (p8) after loading, instructs each section, and causes the work machine to travel by the same method as described above, and in the case where it is determined that the target position (p8) has been reached, sets the action mode to the unloading mode, and performs unloading.

[0073] Also, the action management section 211 can be configured to calculate the difference ΔW1 between the loading amount and the target loading amount W1 when loading is performed in the loading position R1, and adjust the excavation amount at the next excavation position Q1 using the difference ΔW1. In this case, the action management section 211 controls the excavation so that the excavation amount does not exceed the difference ΔW1 when excavating.

[0074] Figure 7 (e) indicates an example of the avoidance instruction 250. The avoidance instruction 250 has, for example, an identifier (ID) 251 given to each avoidance instruction 250, and an avoidable position 252. The avoidable position 252 is information of a position in the work area 300 that can be avoided by the wheel loader 100, and is registered with a point of the map data 220.

[0075] For example, Figure 6In the graph data 220 shown in (a), in a case where the entrance to the work area 300 is set to p9, and the dump truck carries the excavated objects to p8 and p1, p9, p7, p8, p3, p4, and p1 connected from p9 become the work range of the dump truck. In this case, as shown in (b), the dump truck moves to p9, and then moves to p8 and p1 via p7, p8, p3, p4, and p1. Figure 7 As shown in (e), the avoidable positions 252 of the wheel loader 100 are p0, p2, p5, and p6.

[0076] The avoidance instruction 250 is created by the management device or the like based on the travel path information of the carrying vehicle 330 in advance, for example, when the carrying vehicle 330 such as a dump truck intrudes into the work area 300. In addition, the avoidance instruction 250 can be created based on the work range information of other work machines that intrude into the work area 300, not limited to the travel path information of the carrying vehicle 330. In the present embodiment, the user is notified of the created avoidance instruction 250, and the user inputs the avoidance instruction 250 to the automatic driving control device 200 via the user interface 190.

[0077] Further, in a case where the carrying vehicle 330 that intruded into the work area 300 exits from the work area 300, a work re-execution instruction is issued. The user issues the work re-execution instruction, and the work re-execution instruction is input to the automatic driving control device 200 via the user interface 190.

[0078] When the avoidance instruction 250 is received, the action management section 211 performs avoidance processing. Specifically, the action management section 211 determines the closest avoidable position to the current position among the avoidable positions 252 as an avoidance position. Then, the determined avoidance position is transmitted to the path planning section 212 as a target position.

[0079] Next, the action management processing performed by the action management section 211 based on the present embodiment will be described. Figure 8 The processing flow of the action management processing of the present embodiment will be described. The present processing is repeatedly performed at a predetermined time interval.

[0080] First, the action management section 211 acquires the current position from the positioning device 141 (step S1101). Further, in a case where the output cycle of the positioning device 141 is different from the processing cycle of the action management processing, the latest current position information is acquired from the current position information output by the positioning device 141.

[0081] The action management section 211 determines whether the current action mode is the avoidance mode (step S1102).

[0082] In a case where it is not the avoidance mode (S1102; No), the action management section 211 determines whether the avoidance instruction 250 is received from the user interface 190 (step S1103).

[0083] In a case where the avoidance instruction 250 is not received (S1103; No), the action management section 211 performs an operation process for executing automatic operation (step S1104), and ends the process. Specifically, the operation is performed in accordance with the operation instruction 230.

[0084] On the other hand, in a case where the avoidance instruction 250 is received in step S1101 (S1101; Yes), the action management section 211 performs a process in a case where the avoidance instruction 250 is newly acquired.

[0085] The action management section 211 first records the present action mode and the target position in the storage 183 (step S1201). The target position stored in the storage 183 is referred to as a final target position.

[0086] The action management section 211 sets the avoidance mode as the action mode (step S1202), and transmits it to the action generation section 213.

[0087] Also, the action management section 211 newly sets the target position (step S1203). Based on the avoidable position 252 to which the avoidance instruction 250 is imparted and the present position information acquired from the position measurement section 141, the closest avoidance position is selected from the avoidable positions 252, and set as the target position.

[0088] Then, the action management section 211 transmits the target position to the route planning section 212, and returns, acquiring the target route 240 (step S1204). Here, Figure 7 (c) indicates, for example Figure 6 the target route 240 generated in a case where the avoidance instruction 250 shown in (e) is received. Here, pO which is the closest avoidable position 252 to p3 is selected as the avoidance position. Therefore, the target route 240 from p3 through backing toward pO is generated. Figure 7

[0089] Also, a travel instruction is output to the action generation section 213 (step S1205). Further, at this time, the action mode is the avoidance mode.

[0090] Then, the present position and the target position are compared, and it is determined whether or not they are identical (step S1206). In a case where they are not identical (S1205; No), the process is directly ended. At this time, the action mode is also the avoidance mode.

[0091] ​On the other hand, in the affirmative case (S1206; Yes), the user is notified of the completion of the avoidance (step S1207). Here, an avoidance completion notification is generated and sent to the user interface 190. Also, the action generation section 213 is instructed in a manner to stand by directly at the position (step S1208). At this time, the action mode is also the avoidance mode.

[0092] In step S1102, in the case where the avoidance mode is in place (S1102; Yes), it is determined whether or not a job re-execution instruction has been acquired via the user interface 190 (step S1301).

[0093] In the case where the job re-execution instruction has not been acquired (S1301; No), the processing proceeds to step S1206, and the avoidance action is continued. On the other hand, in the case where the job re-execution instruction has been acquired (S1301; Yes), the action mode and the final target position being executed before the avoidance, which are recorded in step S1201, are read from the storage device 183 (step S1302). Also, the read final target position is set as the target position (step S1303), and sent to the path planning section 212. Also, the target path 240 is acquired from the path planning section 212 according to the sent target position (step S1304), and the processing is transferred to step S1104, causing the automatic job re-execution.

[0094] The current position at this point is p0. For example, Figure 6 In the case where the Ins01 of the job instruction 230 shown in (a) of FIG. 22 is executed, Figure 7 The final target position is the loading position R1, and p8 in the map data 220. Figure 7 (d) shows an example of the target path 240 generated in this case. As shown in the figure, the target path 240 is generated that proceeds from p0 toward p8.

[0095] As explained above, the work machine control system 180 that controls the action of the work machine such as the wheel loader 100 of the present embodiment has the action management section 211 that acquires the job instruction 230 containing the final target position and the current position of the wheel loader 100 and sets the target position, the path planning section 212 that generates the target path 240 between the current position and the target position, and the action generation section 213 that causes the wheel loader 100 to travel according to the target path. Also, the action management section 211, in the case where the avoidance instruction 250 is received, decides the avoidance position from the avoidable positions 252 contained in the avoidance instruction 250 based on at least one of the current position and the final target position, sets the avoidance position as the target position.

[0096] Thus, according to the present embodiment, it is possible to select an evading position that is optimal in terms of the present position of the host vehicle (wheel loader 100) when the evading instruction 250 is received. For example, in a case where there are a plurality of evadable positions, the evadable position closest to the present position is selected as the evading position. Thus, a short evading distance is sufficient, and it is possible to shorten the time of work interruption. That is, the control system 180 according to the present embodiment makes it possible to avoid contact with the dump truck and other working machines while suppressing reduction in work efficiency caused by evading to a minimum.

[0097] <Modified Example 1>

[0098] Further, in the above-described embodiment, the evadable position 252 is included in the evading instruction 250. However, the evadable position can also be generated by the automatic driving control device 200. In this case, the automatic driving control device 200 has an evadable position generation section that generates an evadable position based on work range information of an incoming vehicle.

[0099] The evadable position generation section receives work range information of the vehicle such as the carrying vehicle 330 when the vehicle intrudes into the work area 300, for example. Based on the work range information, the evadable position 252 is determined on the map data 220.

[0100] <Modified Example 2>

[0101] In the above-described embodiment, the evadable position closest to the present position is set as the evading position, but it is not limited thereto. For example, the evadable position closest to the final target position can be set as the evading position.

[0102] <Second Embodiment>

[0103] Next, a second embodiment of the present application will be described. In the first embodiment, the evading instruction 250 is issued in a case where another vehicle such as the carrying vehicle 330 has intruded into the work area 300. In the present embodiment, the evading instruction 250 is also issued in a case where an abnormality has occurred in the wheel loader 100.

[0104] Hereinafter, the present embodiment will be described with emphasis on a configuration different from the first embodiment.

[0105] The wheel loader 100 according to the present embodiment has the same configuration as the first embodiment. Also, the control system 180 is the same as the first embodiment.

[0106] The function of the automatic driving control device 200 according to the present embodiment will be described. Figure 9 is a functional block diagram of the automatic driving control device 200 according to the present embodiment.

[0107] As shown in the figure, the automatic driving control device 200 of the present embodiment has, in addition to the configuration (the action management unit 211, the path planning unit 212, the action generation unit 213) of the first embodiment, an abnormality detection unit 214.

[0108] The abnormality detection unit 214 confirms the soundness of the wheel loader 100, and in the case of having an abnormality, transmits an avoidance instruction 250 to the action management unit 211. The assumed abnormality examples here are a failure of each device constituting the wheel loader 100, a breakage of an electrical or mechanical or hydraulic connection portion, a communication delay of a sensor and a controller, and the like. The abnormality detection unit 214 judges the presence or absence of an abnormality on the basis of a sensor signal from each of various sensors (hereinafter referred to as a mounted sensor 143) provided (mounted) to each portion of the wheel loader 100.

[0109] The mounted sensor 143 is, for example, a vehicle speed sensor, a steering angle sensor, a positioning device for self-position acquisition, various pressure sensors (for a lift, a bucket, a brake, and the like), and the like. In a case where a sensor signal indicating a state in which it is not possible to confirm the soundness of an actuator and a peripheral device for realizing an action such as travel and work is output from the mounted sensor, the abnormality detection unit 214 judges that there is an abnormality.

[0110] The action management unit 211, in a case where it receives at least one of the avoidance instruction 250 transmitted from the user interface 190 and the avoidance instruction 250 transmitted from the abnormality detection unit 214, performs the same avoidance processing as in the first embodiment.

[0111] Thus, the control system 180 of the wheel loader 100 of the present embodiment further has the abnormality detection unit 214 that transmits the avoidance instruction 250 to the action management unit 211 in a case where an abnormality of the wheel loader 100 is detected.

[0112] Accordingly, according to the present embodiment, the operation processing at the time of avoidance described in the first embodiment can be implemented not only on the basis of the avoidance instruction 250 from the user but also on the basis of the abnormality detection of the wheel loader 100. Thus, by expanding the range of application of the processing at the time of avoidance, it is possible to shorten the interruption time of work as in the first embodiment even at the time of an abnormality, and it is possible to suppress a decrease in work efficiency to a minimum.

[0113] <<Third Embodiment>>

[0114] Next, the third embodiment of the present application will be described. In the first and second embodiments, at the time of avoidance, the avoidable position closest to any one of the present position and the final target position is set as the avoidance position. On the other hand, in the present embodiment, the avoidable position that is the shortest in the entire travel path is set as the avoidance position.

[0115] Hereinafter, the present embodiment is described with a focus on a configuration different from the first embodiment. Here, a case where the overall travel distance is compared and decided in a case where the avoidable position closest to the present position and the avoidable position closest to the final target position are respectively set as the avoidance position is described as an example.

[0116] The wheel loader 100 of the present embodiment is the same as the first embodiment. Also, the control system is the same as the first embodiment. Also, the functional blocks of the automatic driving control device 200 and the hardware configuration are the same as the first embodiment. However, the functions of the action management section 211 and the path planning section 212 are different.

[0117] The action management section 211 of the present embodiment, if receiving the avoidance instruction, extracts the avoidable position closest to the present position as the first avoidance position candidate as in the first embodiment. Also, in the present embodiment, the avoidable position closest to the target position at the point in time is extracted as the second avoidance position candidate. The action management section 211 transmits the first avoidance position candidate and the second avoidance position candidate to the path planning section 212 together with the present position and the final target position.

[0118] The path planning section 212, if receiving the passing-by place from the action management section 211, calculates the target path to pass by the passing-by place. In the present embodiment, if receiving the avoidance position candidate from the action management section 211, the path planning section 212 calculates the target path to pass by the avoidance position candidate from the present position until the final target position for each avoidance position candidate, and transmits the target path candidate to the action management section 211 as the target path candidate.

[0119] The action management section 211 decides the avoidance position based on the target path candidate of each avoidance position candidate received from the path planning section 212. Here, the avoidance position candidate of which the travel distance calculated based on the target path candidate is the shortest is decided as the avoidance position. The travel distance is calculated based on the map data 220. Also, the avoidance position is notified to the path planning section 212 as the target position.

[0120] Next, the action management processing performed by the action management section 211 based on the present embodiment is described. The action management processing performed by the action management section 211 based on the present embodiment is basically the same as the action management processing of the first embodiment. However, the processing at the time of the target position setting of step S1203 is different.

[0121] Figure 10The flow of the target position setting process of the above step S1203 of the present embodiment, that is, the target position setting process in the avoidance mode, will be described. As shown in the figure, the action management section 211 first sets avoidance position candidates (step S3101). Here, as described above, the avoidance position candidate is extracted from the avoidance instruction 250 including the avoidance positions 252, which are the closest to the present position and the final target position.

[0122] Here, the present process will be described by a specific example. The map data 220 shown in (a) to (c) of FIG. 24, the present position p0, and the final target position p8 are assumed. The avoidance instruction 250 shown in (a) of FIG. 24 is assumed to be received. In the avoidance instruction 250, three places, p2, p5, and p6, are registered as the avoidance positions 252. The avoidance position candidate extracted as the avoidance position 252 closest to the present position p0 (first avoidance position candidate) is p2. In addition, the avoidance position candidate extracted as the avoidance position 252 closest to the final target position p8 (second avoidance position candidate) is p6. Figure 6 Figure 6 Figure 11 The avoidance instruction 250 includes the avoidance positions 252, which are the closest to the present position and the final target position. The avoidance position candidate is extracted from the avoidance instruction 250. The avoidance position candidate extracted as the avoidance position 252 closest to the present position p0 (first avoidance position candidate) is p2. In addition, the avoidance position candidate extracted as the avoidance position 252 closest to the final target position p8 (second avoidance position candidate) is p6.

[0123] Then, the action management section 211 sets the extracted avoidance position candidates as the passing-through places (step S3102). Here, the avoidance position candidates are sent to the route planning section 212 as the passing-through places. In addition, the action management section 211 returns the target route candidates for each avoidance position candidate (step S3103).

[0124] Here, the target route candidates generated for each avoidance position candidate of the above specific example will be described. In the case where the first avoidance position candidate p2 is the avoidance position, the target route candidate (first target route candidate) is generated, which advances from the present position p0 to the final target position p8 via the first avoidance position candidate p2. Figure 11 (b) of FIG. 24 shows the first target route candidate 240a. As shown in the figure, the first target route candidate 240a is generated so as to be F (forward) from p0 to p2, R (reverse) from p2 via p3 to p0, and F thereafter until p8.

[0125] In addition, in the case where the second avoidance position candidate p6 is the avoidance position, the target route candidate (second target route candidate) is generated, which advances from the present position p0 to the final target position p8 via the second avoidance position candidate p6. Figure 11 (c) of FIG. 24 shows the second target route candidate 240b. As shown in the figure, the second target route candidate 240b is generated so as to be F from p0 via p3, p7 to p6, R from p6 via p7 to p9, and F from p7 to p8.​​

[0126] Next, the action management section 211 calculates the travel distance of each target path, and determines a target path candidate with the shortest travel distance (step S3104). Here, the distance between each point is calculated using the coordinate values of each point for the first target path candidate 240a and the second target path candidate 240b, and the sum of the distances is set as the travel distance.

[0127] Also, the action management section 211 determines the avoidance position candidate within the determined target path candidate as the avoidance position (step S3105). Also, the determined avoidance position is set as the target position (step S3106).

[0128] The other processes are the same as in the first embodiment, and thus the description is omitted.

[0129] As described above, according to the control system 180 of the wheel loader 100 of the present embodiment, the action management section 211 determines the avoidance position candidate through which the target path candidate with the shortest travel distance passes, among each target path candidate from the present position to the final target position via the multiple avoidance position candidates selected from the avoidable positions 252.

[0130] Thus, according to the present embodiment, the path with the shortest total travel distance in the entire work instruction performed by the wheel loader 100 is selected from among the multiple avoidable positions. Therefore, the work interruption time caused by avoidance can be shortened, contact with the dump truck and other work machines can be avoided, and the reduction in work efficiency caused by avoidance can be minimized.

[0131] <Modification 3>

[0132] Further, in the above-described embodiments, only the closest avoidable position to the present position and the closest avoidable position to the final target position are extracted as avoidance position candidates, but the present embodiment is not limited thereto. For example, all of the avoidable positions can be extracted.

[0133] In this case, the action management section 211 extracts all of the avoidable positions as avoidance position candidates in the above-described step S3101, and transmits them to the path planning section 212. Also, the path planning section 212 calculates target path candidates for all of the avoidance position candidates (avoidable positions), and transmits them back to the action management section 211.

[0134] The action management section 211 calculates the travel distance for all of the target path candidates, selects the shortest distance therefrom, determines the avoidance position candidate (avoidable position) used by the target path candidate with the shortest distance as the avoidance position, and sets it as the target position.

[0135] <Modification 4>

[0136] Further, the present embodiment can have the abnormality detection section 214 as with the second embodiment.

[0137] <Variant 5>

[0138] Further, in each of the above embodiments and variants, it is explained that the work instruction 230, the avoidance instruction 250, and the work re-execution instruction are input by the user via the user interface 190, but the acquisition of each of these instructions is not limited thereto. For example, the automated driving control device 200 can have a reception section via which information is directly received. The reception section is realized by the communication I / F 185. In this case, the management device or the like creates these instructions and transmits them to the automated driving control device 200.

[0139] Further, instead of the avoidance instruction 250, information indicating that another vehicle, such as the carrying vehicle 330, has intruded into the work area 300 and information specifying the work range of the other vehicle can be received. In this case, the movement management section 211 determines the avoidable position based on these pieces of information and the map data 220.

[0140] The above describes the embodiments of the present application in detail, but the present application is not limited to the above-described embodiments and includes various variants.

[0141] For example, the above-described embodiments apply the present application to the wheel loader 100, but the application target of the present application is not limited thereto and can be applied to a work machine other than the wheel loader 100, such as a hydraulic excavator. In particular, if applied to a dump truck or the like having a large one-time loading capacity, the travel distance caused by avoidance can be made the shortest, and thus the efficiency is further improved.

[0142] Further, the above-described embodiments are described in detail for the purpose of making the present application easy to understand and are not limited to necessarily having all the configurations described.

[0143] Further, the present application is not limited to the above-described embodiments and can be variously modified without departing from the scope of the present application, and all technical matters included in the technical idea described in the technical solution become the object of the present application. The above-described embodiments represent preferred examples, but various alternative examples, modified examples, variants, or improved examples can be realized by those skilled in the art from the content disclosed in the present specification, and these are also included in the technical scope described in the appended technical solution.

[0144] Explanation of Reference Signs

[0145] 100: work machine (wheel loader), 110: vehicle body, 111: engine, 112: steering hydraulic cylinder, 113: drive force transmission device, 114: hydraulic pump, 115: control valve, 120: work machine, 121: bucket, 122: lift arm, 123: bell crank, 124: bucket link, 125: lift hydraulic cylinder, 126: bucket hydraulic cylinder, 131: wheel, 131FL: front left wheel, 131FR: front right wheel, 131RL: rear left wheel, 131RR: rear right wheel, 132C: center joint, 133F: brake, 133R: brake, 134F: front differential device, 134R: rear differential device, 141: positioning device, 142: pressure sensor, 143: onboarding sensor, 150: engine control device, 160: hydraulic control device, 170: travel control device, 180: control system, 181: CPU, 182: memory, 183: storage device, 184: input / output I / F, 185: communication I / F, 190: user interface (input device), 200: automatic driving control device (control device), 211: action management unit, 212: path planning unit, 213: action generation unit, 214: abnormality detection unit, 220: map data, 221: point, 222: coordinate, 223: attribute, 224: line segment, 225: end point, 226: end point, 230: work instruction, 231: identifier (ID), 232: type, 233: target loading amount, 234: loading position, 235: excavation position, 236: unloading position, 240: target path, 240a: first target path candidate, 240b: second target path candidate, 241: passing point, 242: FNR, 250: avoidance instruction, 251: identifier (ID), 252: avoidable position, 300: work area, 310: excavation object, 320: loading object, 330: transport vehicle.

Claims

1. A control system for a working machine, comprising a control device for causing the working machine to move, characterized in that, The control device has: The Operations Management Department acquires operation instructions and the current position of the operation machinery, including information on the operation performed by the machinery and the final target position, and sets the target position based on the operation instructions and the current position. The path planning unit generates a target path between the current location and the target location; and The motion generation unit causes the working machine to travel along the target path. During the execution of operations according to the work instructions, the action management unit receives an avoidance instruction. This avoidance instruction includes avoidable locations based on the operating range of other working machines different from the operating machine. Upon receiving the avoidance instruction, the unit determines an avoidance location from the avoidable locations based on the operating range of the other working machines and the current position of the operating machine, and sets the avoidance location as the target location. When the working machinery reaches the avoidance position, the motion generation unit is instructed to allow the working machinery to remain in the avoidance position. Upon receiving an instruction to re-execute the job, the final target location is set as the target location, thereby re-executing the job according to the job instruction.

2. The control system for the operating machinery according to claim 1, characterized in that, The control device also has an anomaly detection unit. The anomaly detection unit acquires signals of anomalies in the operating machinery and sends the evasion instruction to the action management unit when an anomaly is detected in the operating machinery.

3. The control system for the operating machinery according to claim 1, characterized in that, The action management unit selects the closest evasive position to the current position from the available evasive positions as the evasive position.

4. The control system for the operating machinery according to claim 1, characterized in that, The action management unit, when passing through multiple evasive location candidates selected from the evasive locations to reach the final target location from the current location, will determine the evasive location candidate that is passed by the target path candidate with the shortest travel distance as the evasive location.

5. The control system for the operating machinery according to claim 4, characterized in that, As multiple candidate evasive positions, the action management unit selects a first candidate evasive position and a second candidate evasive position, wherein the first candidate evasive position is the closest evasive position to the current position, and the second candidate evasive position is the closest evasive position to the final target position.

6. The control system for the operating machinery according to claim 1, characterized in that, After the work machinery reaches the avoidance position, the action management unit outputs information indicating that the avoidance action is completed to the input device used to input the work instructions.

7. A type of operating machinery, characterized in that, The operating machinery is equipped with the control system of any one of claims 1 to 6.

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