Control system of a work machine

Abstract

A control system (200) of a work machine has a communication interface (18) that acquires a series of work instructions for the work machine (1), and an operation control section (110) that controls an operation of the work machine (1) to execute each task included in the work instructions acquired by the communication interface (18). The operation control section (110) executes an interrupt task that is preferentially executed among a plurality of tasks included in the work instructions, after performing an operation of the work machine (1) instructed by an executing task, in a case where the interrupt task and a non-interrupt task other than the interrupt task are included in the plurality of tasks.

Description

Technical Field

[0001] This invention relates to the control system of operating machinery. Background Technology

[0002] Previously, control systems for work machinery that automatically excavate objects and automatically load the excavated objects into predetermined locations have been proposed. For example, the control system for work machinery described in Patent Document 1 includes: an excavation target position calculation unit that calculates the excavation target position; a loading target position calculation unit that calculates the loading target position; an automatic positioning unit that automatically positions the work machinery at the calculated excavation target position and loading target position; an automatic excavation control unit that automatically excavates the object at the excavation target position; and an automatic loading control unit that automatically loads the object at the loading target position.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 10-88625 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] However, in the control system of the operating machinery described in Patent Document 1, in the event of a sudden work instruction such as a priority interruption task, it is necessary to reconfigure the site environment and the operating machinery, thus making it difficult to cope with interruption tasks.

[0008] The present invention was made in view of the above-mentioned problems, and its object is to provide a control system for working machinery that can easily cope with task interruptions.

[0009] Methods for solving problems

[0010] The control system for the working machine of the present invention includes: a work instruction acquisition unit that acquires a series of work instructions for the working machine; and a motion control unit that controls the motion of the working machine to perform each task included in the work instructions acquired by the work instruction acquisition unit, wherein, in the case where the plurality of tasks included in the work instructions include a priority interruption task and a non-interruption task other than the interruption task, the motion control unit executes the interruption task after performing the motion of the working machine indicated by the task being executed.

[0011] In the control system of the working machine of the present invention, when the multiple tasks included in the work instruction include a priority interrupted task and a non-interrupted task other than the interrupted task, the motion control unit executes the interrupted task after the action of the working machine indicated by the task being executed has been performed, so that the interrupted task can be easily handled.

[0012] Invention Effects

[0013] According to the present invention, interrupted tasks can be easily handled. Attached Figure Description

[0014] Figure 1 It is a three-dimensional diagram representing the operating machinery.

[0015] Figure 2 This is a schematic diagram representing the operating machinery.

[0016] Figure 3 This is a functional block diagram representing the automatic driving control device of the operating machinery.

[0017] Figure 4 This is an example of map data included in a work instruction.

[0018] Figure 5 This is an example of task data included in a job instruction.

[0019] Figure 6 This is an example of an interrupted task included in a job instruction.

[0020] Figure 7 This is a functional block diagram representing the control system of the operating machinery in the first embodiment.

[0021] Figure 8 This is a flowchart representing the processing performed by the task input processing unit.

[0022] Figure 9 This is a flowchart representing the processing performed by the task update processing department.

[0023] Figure 10 This is a flowchart representing the processing performed by the task execution processing unit.

[0024] Figure 11 This is a flowchart illustrating the processing of the loading task by the task execution processing unit.

[0025] Figure 12 This is a functional block diagram illustrating the control system of the operating machinery according to the second embodiment.

[0026] Figure 13 This is a flowchart illustrating the processing performed by the task update processing unit of the control system of the work machine in the second embodiment.

[0027] Figure 14 This is a flowchart illustrating the processing performed by the loading determination unit of the control system of the work machine according to the second embodiment.

[0028] Figure 15 This is a flowchart illustrating the processing performed by the task update processing unit of the control system of the work machinery in the third embodiment.

[0029] Figure 16 This is an example of the task data included in the work instructions of the control system of the work machinery in the fourth embodiment.

[0030] Figure 17 This is an example of an interruption task included in the operation instructions of the control system of the working machine in the fourth embodiment.

[0031] Figure 18 This is a flowchart illustrating the processing of a loading task by the task execution processing unit of the control system of the work machine according to the fourth embodiment. Detailed Implementation

[0032] Hereinafter, embodiments of the control system of the work machinery of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are labeled with the same symbols, and repeated descriptions are omitted. Furthermore, in the following description, a wheeled loader is used as an example of the work machinery, but the work machinery of the present invention is not limited to wheeled loaders, and may also be a hydraulic excavator or other work machinery. Also, in the following description, the directions of up / down, left / right, and front / back, as well as the position, are based on the direction observed from the driver's seat of the work machinery.

[0033] In addition, the control system of the work machinery of the present invention can also be set in the work machinery (i.e., mounted on the work machinery), and part or all of the control system can also be set in an external server device that can communicate with the work machinery, but examples mounted on the work machinery are given here for illustration.

[0034] [First Implementation Method]

[0035] The control system 200 of this embodiment is a system for controlling the operation of the work machine 1 according to the work instructions for the work machine 1, and mainly includes a communication interface 18 and a motion control unit 110, which will be described later. Furthermore, the communication interface 18 and the motion control unit 110 are respectively provided on the work machine 1.

[0036] Figure 1 It is a 3D diagram representing the operating machinery. Figure 2 This is a schematic diagram representing the operating machinery. For example... Figure 1As shown, the working machine 1 is, for example, an electrically driven wheel loader, having a bucket (also called a working tool) 2 positioned at the front of the working machine 1, and a pair of rotatable booms 3 supporting the bucket 2. The booms 3 are rotatably supported on the body of the working machine 1. When the booms 3 rotate, the bucket 2 moves up and down. In addition, the booms 3 support the boom cranks 4 so that they can rotate. When the boom cranks 4 rotate, the bucket 2 also rotates relative to the booms 3 via the bucket connecting rod 5.

[0037] The work machine 1 has a front left tire 6FL, a front right tire 6FR, a rear left tire 6RL, and a rear right tire 6RR, and moves by driving these tires. In addition, the work machine 1 has an articulated steering mechanism that rotates by creating an angle difference between the front and rear of the vehicle body about the vertical direction of the vehicle body.

[0038] like Figure 2 As shown, the working machine 1 has an engine 7 as its power source. The engine 7 drives the hydraulic pump 8 and the drive force transmission device 9. The drive force transmission device 9 transmits the driving force of the engine 7 to the left front tire 6FL and the right front tire 6FR, the left rear tire 6RL and the right rear tire 6RR via the central connector 10, the front differential device 11F and the rear differential device 11R, respectively, so that the working machine 1 can accelerate.

[0039] On the other hand, the hydraulic pump 8 supplies working oil to the control valve 12 via the drive of the engine 7. The working oil is distributed by the control valve 12 to the steering cylinder 13, the lifting cylinder 14, the bucket cylinder 15, and the brakes 16F and 16R respectively. The steering cylinder 13, the lifting cylinder 14, and the bucket cylinder 15 extend and retract respectively due to the supplied working oil, thereby changing the angles of the front and rear of the vehicle body, the angle of the lifting arm 3 relative to the vehicle body, and the angle of the bucket 2 relative to the vehicle body. In addition, the brakes 16F and 16R are closed by the supplied working oil, thereby suppressing the rotation of the front left tire 6FL, the front right tire 6FR, the rear left tire 6RL, and the rear right tire 6RR, thereby slowing down and stopping the working machine 1.

[0040] Furthermore, the operating machinery 1 includes: a positioning device 17, a communication interface 18, a pressure sensor 19, an engine control device 20, a hydraulic control device 21, a travel control device 22, and an automatic driving control device 100. The positioning device 17, for example, consists of two GNSS (Global Navigation Satellite System) receivers (see reference 100) that determine their position by receiving signals from positioning satellites. Figure 1The positioning device 17 is configured to output the measured position information of the operating machinery 1 to the automatic driving control device 100. In addition, the positioning device 17 is not limited to a GNSS receiver, and can also use a known SLAM (Simultaneous Localization and Mapping) system that uses a camera or LiDAR.

[0041] The communication interface 18 is equivalent to the "work instruction acquisition unit" described in the scope of the patent claim. It acquires a series of work instructions for the machine 1 from the process management terminal 30 and outputs the acquired work instructions to the automatic driving control device 100. As described later, the work instructions include task data related to the work and map data, etc. In addition, the work instruction acquisition unit only needs to be able to acquire work instructions from the process management terminal 30, and can be a wireless communication device or the like, in addition to the communication interface 18.

[0042] The pressure sensor 19 detects the load information of the object loaded on the working machine 1 (i.e., the object housed in the bucket 2) based on the hydraulic pressure of the lifting cylinder 14 or the stress of the lifting cylinder 14, and outputs the detected load information to the automatic driving control device 100.

[0043] The automatic driving control device 100 is, for example, a microcomputer consisting of a CPU (Central Processing Unit) for performing calculations, a ROM (Read Only Memory) for recording the program used for calculations as a secondary storage device, and a RAM (Random Access Memory) for storing the calculation process and storing temporary control variables as a temporary storage device. It performs various calculations, settings, judgments, and generation processes related to the automatic driving of the working machine 1 by executing the stored program.

[0044] For example, the automatic driving control device 100 generates engine control signals, hydraulic control signals and driving control signals based on the work instructions obtained from the process management terminal 30 via the communication interface 18, the position information of the working machine 1 determined by the positioning device 17, and the load information detected by the pressure sensor 19. The generated engine control signal is output to the engine control device 20, the hydraulic control signal is output to the hydraulic control device 21, and the driving control signal is output to the driving control device 23.

[0045] The engine control unit 20 controls the speed of the engine 7 according to the engine control signal from the automatic driving control unit 100. The hydraulic control unit 21 controls the opening and closing degree of the control valve 12 according to the hydraulic control signal from the automatic driving control unit 100. The driving control unit 22 controls the gear ratio and rotation direction of the drive force transmission device 9 according to the driving control signal from the automatic driving control unit 100.

[0046] The process management terminal 30 is a terminal used to send work instructions to each operating machine 1 on site. Work instructions can be manually created and sent by site managers or others, or they can be automatically generated and sent by sensors to obtain overall work progress information on site.

[0047] Next, with Figure 3 Based on this, the automatic driving control device 100 will be described in detail. Figure 3 This is a functional block diagram representing the automatic driving control device of the operating machinery. For example... Figure 3 As shown, the automatic driving control device 100 includes: a motion control unit 110, a path planning unit 120, and a motion generation unit 130.

[0048] The motion control unit 110 is a microcomputer consisting of a CPU that performs calculations, a ROM that records the program used for calculations as a secondary storage device, and a RAM that stores the calculation process and temporary control variables as a temporary storage device. It controls the operation of the work machine 1 by executing the tasks included in the work instructions obtained from the communication interface 18.

[0049] For example, the motion control unit 110 sets the motion mode and target position of the machine tool 1 based on the work instructions obtained from the process management terminal 30 via the communication interface 18, the position information of the machine tool 1 measured by the positioning device 17, and the load information detected by the pressure sensor 19. Furthermore, the motion control unit 110 outputs the set motion mode to the motion generation unit 130 and the set target position to the path planning unit 120. A detailed description of the motion control unit 110 will follow later.

[0050] Examples of operational modes include driving mode, digging mode, and loading mode. Furthermore, in this embodiment, "loading" includes the work machine 1 loading the object into the cargo box of the transport vehicle, and the work machine 1 transporting the excavated object to its destination and unloading it. Therefore, in this embodiment, the "loading action" includes the action of the work machine 1 loading the object into the cargo box of the transport vehicle, and the action of transporting the excavated object to its destination and unloading it.

[0051] The path planning unit 120 sets a target path based on the work instructions obtained from the process management terminal 30 via the communication interface 18, the position information of the machine 1 measured by the positioning device 17, and the target position set by the motion control unit 110. Specifically, the path planning unit 120 uses the map data included in the work instructions to set a target path from the current position of the machine 1 to the target position. In addition, the path planning unit 120 outputs the set target path to the motion generation unit 130.

[0052] The motion generation unit 130 generates actions for controlling the engine control unit 20, the hydraulic control unit 21, and the travel control unit 22 based on the motion mode set by the motion control unit 110, the target path set by the path planning unit 120, and the position information of the working machine 1 measured by the positioning device 17. Specifically, the motion generation unit 130 generates a travel motion for moving the working machine 1 from its current position along the target path based on the target path set by the path planning unit 120 and the position information of the working machine 1 measured by the positioning device 17. In addition, the motion generation unit 130 generates operating actions of the bucket 2, such as digging and loading, based on the motion mode set by the motion control unit 110.

[0053] Furthermore, the motion generation unit 130 outputs the generated driving motion as a driving control signal to the driving control device 22, and the generated working motion as a hydraulic control signal to the hydraulic control device 21. The driving control signal can, for example, be the same as conventional manual operation, set as the pedal operation amount of the accelerator and brake, and the switching signal for the forward / reverse switch. The hydraulic control signal can, for example, be the same as conventional manual operation, set as the lever operation amount of the boom 3 and bucket 2. Furthermore, the motion generation unit 130 calculates the required engine speed based on the generated driving motion and working motion, and outputs the calculated result as an engine control signal to the engine control device 20.

[0054] Next, with Figures 4-6 This section explains the map data and task data included in the job instructions. Each job instruction contains map data and task data related to the job. The task data includes priority interrupted tasks and non-interrupted tasks. Interrupted tasks are those that take precedence over non-interrupted tasks, such as tasks represented by the number "2" in the processing method described later. On the other hand, non-interrupted tasks are general tasks without priority distinctions (such as tasks represented by the numbers "0" and "1" in the processing method described later), and are performed sequentially according to the order listed in the task instruction list.

[0055] Figure 4 This is an example of map data included in a work instruction. For example... Figure 4As shown, map data is assigned as multiple coordinate points (p0 to p9) and line segments connecting them. Figure 4 In this context, Q1 and Q2 represent the excavation location, R1 and R2 represent the loading location, and O1 represents the obstacle. These excavation locations, loading locations, and obstacles are assigned attribute information that is associated with the coordinates.

[0056] Figure 5 This is an example of the task data included in a job instruction. For example... Figure 5 As shown, the task data is a task instruction list that sets the object, excavation position, and loading position together. For example, in loading task M1, machine 1 excavates object M1 at excavation position Q1 and loads it to loading position R1. After loading to loading position R1 is completed, loading task M1 is marked as complete, and the machine moves on to the next loading task, M2. In loading task M2, machine 1 excavates object M2 at excavation position Q2 and loads it to loading position R2. After loading task M2 is completed, the machine moves on to the next task in the order recorded in the task instruction list. Furthermore, in the last task recorded in the task instruction list, machine 1 is in standby position.

[0057] In addition, such as Figure 5 As shown, the task data specifies the processing method for each task. This processing method is represented, for example, by numbers such as "0", "1", and "2". In this embodiment, for example, "0" indicates a processing method that discards an acquired task, and "1" indicates a processing method that executes tasks sequentially according to the order recorded in the task instruction list. On the other hand, "2" indicates a processing method with a higher priority than "1", that is, an interrupted task that is executed before "1".

[0058] Figure 6 This is an example of an interrupt task included in a job instruction. Here, it is designated as an interrupt task by setting the processing method to the number "2". Furthermore, an interrupt task is a task used for temporary (in other words, sudden) interrupt handling. When it is desirable to prioritize the execution of multiple tasks relative to already acquired tasks, it is preferable to execute the interrupt task after discarding the already acquired tasks. For example, as described above, the interrupt task with the number "2" is executed after discarding the already acquired tasks by setting the processing method to the number "0".

[0059] Figure 7 This is a functional block diagram illustrating the control system of the operating machinery in the first embodiment. For example... Figure 7 As shown, the motion control unit 110 of the control system 200 of the operating machinery includes: a map data input processing unit 111, a task input processing unit 112, a task update processing unit 113, a task execution processing unit 114, a map memory 116, a queue 117, an interrupt task buffer 118, and a current task buffer 119.

[0060] like Figure 7 As shown, the communication interface 18 connected to the motion control unit 110 extracts the map data and task data contained in the work instructions obtained from the process management terminal 30, outputs the extracted map data to the map data input processing unit 111, and outputs the extracted task data to the task input processing unit 112.

[0061] The map data input processing unit 111 stores the map data obtained via the communication interface 18 into the map memory 116.

[0062] The task input processing unit 112 divides the task data obtained via the communication interface 18 into interrupt tasks and non-interrupt tasks, and stores the interrupt tasks in the interrupt task buffer 118 and the non-interrupt tasks in the queue 117. Specifically, the task input processing unit 112 divides the obtained tasks into interrupt tasks (e.g., tasks with a processing method number of "2") and non-interrupt tasks (e.g., tasks with a processing method number of "1") according to the processing method number contained in the task data, stores the interrupt tasks in the interrupt task buffer 118 and the non-interrupt tasks in the queue 117.

[0063] Furthermore, in the following description, to distinguish between the tasks stored in queue 117, interrupt task buffer 118, and current task buffer 119, tasks stored in queue 117 will sometimes be referred to as "tasks in the queue," tasks stored in interrupt task buffer 118 will be referred to as "interrupt tasks," and tasks stored in current task buffer 119 will be referred to as "current tasks" or "tasks in execution." Also, "tasks in the queue" are only non-interrupt tasks, while "current tasks" or "tasks in execution" are sometimes interrupt tasks and sometimes non-interrupt tasks.

[0064] The task execution processing unit 114 sets the operation mode and target position of the work machine 1 based on the current task (i.e., the task in progress) stored in the current task buffer 119, the map data stored in the map memory 116, the position information of the work machine 1 measured by the positioning device 17, and the load information detected by the pressure sensor 19. Furthermore, the task execution processing unit 114 outputs the set operation mode to the action generation unit 130 and the set target position to the path planning unit 120. Additionally, when the task execution processing unit 114 determines that the current task (the task in progress) is completed, it outputs a task completion flag to the task update processing unit 113. The task execution processing unit 114 will be described further later.

[0065] The task update processing unit 113 updates the tasks in the current task buffer 119 based on the presence or absence of the task completion flag output by the task execution processing unit 114, the tasks stored in the queue 117 (tasks in the queue), and the interrupted tasks stored in the interrupted task buffer 118.

[0066] Next, with Figures 8-11 The processes performed by the motion control unit 110 will be described in detail based on this. Furthermore, the processes performed by the motion control unit 110 are performed asynchronously and periodically. Hereinafter, they will be described in the order of task input processing unit 112, task update processing unit 113, and task execution processing unit 114.

[0067] Figure 8 This is a flowchart illustrating the processing performed by the task input processing unit. For example... Figure 8 As shown, in step S1121, the task input processing unit 112 determines whether a job instruction has been obtained based on the presence or absence of task data from the communication interface 18. If task data is present, it is determined that a job instruction has been obtained, and the process proceeds to step S1122.

[0068] In step S1122, the task input processing unit 112 determines whether there are any interrupted tasks in the acquired task data. At this time, as described above, the task input processing unit 112 divides the acquired tasks into interrupted tasks and non-interrupted tasks, and determines whether there are interrupted tasks based on the results.

[0069] If it is determined that there are no interrupted tasks (in other words, all tasks are non-interrupted), the process proceeds to step S1123. In step S1123, the task input processing unit 112 stores the tasks included in the job instruction sequentially in queue 117. At this time, the task input processing unit 112 stores each task in queue 117 in the order recorded in the task instruction list. On the other hand, if it is determined that there are interrupted tasks, the process proceeds to step S1124. In step S1124, the task input processing unit 112 stores the interrupted tasks in the interrupted task buffer 118.

[0070] Figure 9 This is a flowchart illustrating the processes performed by the task update processing department. For example... Figure 9 As shown, in step S1131, the task update processing unit 113 determines whether there is a current task (i.e., an executing task) in the current task buffer 119. If it is determined that there is a current task, the process proceeds to step S1132. On the other hand, if it is determined that there is no current task, the process proceeds to step S1134.

[0071] In step S1132, the task update processing unit 113 determines whether the current task is completed based on the presence or absence of a task completion flag output by the task execution processing unit 114. If a task completion flag is present, the current task is determined to be completed, and the process proceeds to step S1133. In step S1133, the task update processing unit 113 discards the completed current task. On the other hand, if no task completion flag is present, the current task is determined to be incomplete, and the process returns.

[0072] In step S1134, the task update processing unit 113 determines whether there is an interrupt task in the interrupt task buffer 118. If it is determined that there is an interrupt task, the process proceeds to step S1135.

[0073] In step S1135, the task update processing unit 113 updates the tasks in the current task buffer 119 by transferring interrupt tasks stored in the interrupt task buffer 118 to the current task buffer 119. In this way, interrupt tasks stored in the interrupt task buffer 118 can be transferred to the current task buffer 119 with priority over tasks stored in the queue 117 (i.e., non-interrupt tasks), and can be executed with priority over non-interrupt tasks.

[0074] On the other hand, if it is determined in step S1134 that there is no interrupted task, the process proceeds to step S1136. In step S1136, the task update processing unit 113 determines whether there is a task (i.e., a non-interrupted task) in queue 117. If it is determined that there is a task in queue 117, the process proceeds to step S1137.

[0075] In step S1137, the task update processing unit 113 transfers tasks from the queue to the current task buffer 119. For example, the task update processing unit 113 transfers the first task stored in the queue 117 (in other words, the task listed at the top of the task instruction list) to the current task buffer 119, updating the tasks in the current task buffer 119. In this way, the tasks stored in the queue 117 are transferred to the current task buffer 119 in sequence and executed sequentially.

[0076] Figure 10 This is a flowchart representing the processing performed by the task execution processing unit. For example... Figure 10 As shown, in step S1141, the task execution processing unit 114 refers to the current task stored in the current task buffer 119.

[0077] In step S1142, following step S1141, the task execution processing unit 114 determines whether the current task stored in the current task buffer 119 has been updated. The determination of whether the current task has been updated is based, for example, on whether the content of the current task has changed. If it is determined that the current task has not been updated, the process proceeds to step S1143. In step S1143, the task execution processing unit 114 continues processing the currently executing task.

[0078] On the other hand, if it is determined that the current task has been updated, the process proceeds to step S1144. In step S1144, the task execution processing unit 114 initializes the task execution processing. For example, as described later... Figure 11 In the case of the loading task shown, the task execution processing unit 114 starts processing from the beginning. In addition, if an initial position is specified in the task, the task execution processing unit 114 can also perform initialization such as returning the working machine 1 to the initial position.

[0079] Figure 11 This is a flowchart illustrating the processing of the loading task by the task execution processing unit. Here, examples are listed. Figure 5 The M1 loading task (the working machine 1 digs at digging position Q1, loads the load at loading position R1, and completes the M1 loading task after loading at loading position R1 is finished) will be described. In step S1001, the task execution processing unit 114 sets the digging position recorded in the task data (more specifically, the current task) as the target position and outputs the set target position to the path planning unit 120. Specifically, the task execution processing unit 114 sets the digging position Q1 as the target position based on the digging position Q1 recorded in the current task and the map data stored in the map memory 116. The set target position is, for example, the coordinates of Q1.

[0080] In step S1002 following step S1001, in order to travel from the current position to the excavation position Q1, the task execution processing unit 114 sets the operation mode of the working machine 1 to the driving mode and outputs the set operation mode to the action generation unit 130.

[0081] In step S1003, following step S1002, the task execution processing unit 114 determines whether the working machine 1 has reached the digging position Q1 (i.e., the target position) based on the target position set in step S1001 and the position information of the working machine 1 measured by the positioning device 17. If it is determined that the digging position Q1 has not been reached, the processing returns to step S1002. On the other hand, if it is determined that the digging position Q1 has been reached, the processing proceeds to step S1004.

[0082] In step S1004, the task execution processing unit 114 sets the operation mode of the working machine 1 to the digging mode according to the order recorded in the current task, and outputs the set operation mode to the action generation unit 130.

[0083] In step S1005, following step S1004, the task execution processing unit 114 determines whether the digging operation in digging mode has ended based on the load information detected by the pressure sensor 19. If it is determined that the digging operation has not ended, the processing returns to step S1004. On the other hand, if it is determined that the digging operation has ended, the processing proceeds to step S1006. Furthermore, in addition to load information, the determination of the end of the digging operation can also be based on information related to the height and posture of the bucket 2.

[0084] In step S1006, the task execution processing unit 114 sets the loading position R1 as the target position based on the loading position R1 recorded in the current task and the map data stored in the map memory 116, and outputs the set target position to the path planning unit 120. The set target position is, for example, the coordinates of R1.

[0085] In step S1007 following step S1006, in order to travel from the current position (here, the digging position Q1) to the loading position R1, the task execution processing unit 114 sets the operation mode of the working machine 1 to the driving mode and outputs the set operation mode to the action generation unit 130.

[0086] In step S1008, following step S1007, the task execution processing unit 114 determines whether the working machine 1 has reached the loading position R1 (i.e., the target position) based on the target position set in step S1006 and the position information of the working machine 1 measured by the positioning device 17. If it is determined that the loading position R1 has not been reached, the processing returns to step S1007. On the other hand, if it is determined that the loading position R1 has been reached, the processing proceeds to step S1009.

[0087] In step S1009, the task execution processing unit 114 sets the operation mode of the working machine 1 to loading mode according to the order recorded in the current task, and outputs the set operation mode to the action generation unit 130.

[0088] In step S1010, following step S1009, the task execution processing unit 114 determines whether the loading operation in the loading mode has ended based on the load information detected by the pressure sensor 19. If it is determined that the loading operation has not ended, the processing returns to step S1009. On the other hand, if it is determined that the loading operation has ended, the processing proceeds to step S1011. Furthermore, in addition to load information, the determination of the end of the loading operation can also be based on information related to the height and posture of the bucket 2.

[0089] In step S1011, the task execution processing unit 114 determines that the M1 loading task recorded in the current task has been completed, and outputs the task completion flag to the task update processing unit 113.

[0090] In the control system 200 of the machine tool in this embodiment, when there are interrupted tasks and non-interrupted tasks among the multiple tasks included in the work instruction from the process management terminal 30, the task input processing unit 112 of the motion control unit 110 stores the interrupted task in the interrupted task buffer 118, and the task update processing unit 113 transfers the interrupted task stored in the interrupted task buffer 118 to the current task buffer 119. Therefore, after the machine tool 1 performs an action (e.g., a loading action) indicated by the executing task, the interrupted task can be executed with priority over the non-interrupted task, thus making it easier to handle interrupted tasks. In particular, after the loading action of the machine tool 1 indicated by the executing task is performed, the machine tool 1 is in an unloaded state, thus making it easier to execute interrupted tasks.

[0091] [Second Implementation]

[0092] Next, refer to Figures 12-14 A second embodiment of the control system for the working machinery will be described. The control system 200A of this embodiment differs from the first embodiment in that the motion control unit 110A also includes a loading determination unit 115, and in the processing content of the task update processing unit 113A. Hereinafter, only the differences will be described.

[0093] Figure 12 This is a functional block diagram illustrating the control system of the operating machinery according to the second embodiment. For example... Figure 12 As shown, the motion control unit 110A of the control system 200A of the working machine also includes a loading determination unit 115. The loading determination unit 115 determines whether the working machine 1 is loaded with an object (in other words, loaded or unloaded) based on the load information detected by the pressure sensor 19 and the motion mode set by the task execution processing unit 114, and outputs the determination result to the task update processing unit 113A. The processing performed by the loading determination unit 115 will be described later.

[0094] On the other hand, the task update processing unit 113A updates the tasks in the current task buffer 119 based on the presence or absence of the task completion flag output by the task execution processing unit 114, the tasks stored in the queue 117, the interrupted tasks stored in the interrupted task buffer 118, and the result determined by the loading determination unit 115.

[0095] Figure 13 This is a flowchart illustrating the processing performed by the task update processing unit of the control system of the work machine in the second embodiment. Figure 13 The processing shown is relative to the processing performed by the task update processing unit of the first embodiment (see reference). Figure 9 Further steps S1138 and S1139 were added. Here, only the added steps S1138 and S1139 will be described.

[0096] Specifically, if it is determined in step S1132 that the current task is not completed, the process proceeds to step S1138. In step S1138, the task update processing unit 113A determines whether the working machine 1 has an interrupted task and no loading based on the presence or absence of interrupted tasks stored in the interrupted task buffer 118 and the determination result of the loading determination unit 115.

[0097] For example, if there is both an interrupted task and a loading process, if there is neither an interrupted task nor a loading process, or if there is a loading process but no interrupted task, it is determined that there is not "an interrupted task and no loading process", and the process changes to "return". On the other hand, if it is determined that there is "an interrupted task and no loading process", the process proceeds to step S1139.

[0098] In step S1139, the task update processing unit 113A transfers the interrupt tasks stored in the interrupt task buffer 118 to the current task buffer 119, thereby updating the tasks in the current task buffer 119. In this way, even if the current task is not completed and is not loaded, the interrupt tasks stored in the interrupt task buffer 118 can be transferred to the current task buffer 119, and the interrupt tasks can be executed immediately as the current tasks. Conversely, interrupt tasks are not executed when they are loaded, thereby preventing interruptions of ongoing actions.

[0099] Figure 14 This is a flowchart illustrating the processing performed by the loading determination unit of the control system of the work machinery in the second embodiment. For example... Figure 14As shown, in step S1151, the loading determination unit 115 determines whether the operation mode set by the task execution processing unit 114 is a digging mode. If it is determined to be a digging mode, the process proceeds to step S1155. On the other hand, if it is determined not to be a digging mode, the process proceeds to step S1152.

[0100] In step S1152, the loading determination unit 115 determines whether the operation mode set by the task execution processing unit 114 is a loading mode. If it is determined to be a loading mode, the process proceeds to step S1155. On the other hand, if it is determined not to be a loading mode, the process proceeds to step S1153.

[0101] In step S1153, the loading determination unit 115 determines whether the load is above or below a predetermined value based on the load information detected by the pressure sensor 19. If the load is determined to be above or below the predetermined value, the process proceeds to step S1155. On the other hand, if the load is determined not to be above or below the predetermined value, the process proceeds to step S1154.

[0102] In step S1154, the loading determination unit 115 determines that there is no loading and outputs the determination result to the task update processing unit 113A. In step S1155, the loading determination unit 115 determines that there is loading and outputs the determination result to the task update processing unit 113A. As described above, by determining that there is loading, for example during excavation or loading operations, the task update processing unit 113A can be prevented from updating the task during changes in the loading status.

[0103] [Third Implementation Method]

[0104] Next, refer to Figure 15 A third embodiment of the control system for the operating machinery will be described. The control system for the operating machinery in this embodiment differs from the second embodiment in terms of the processing content of the task update processing unit 113A. Hereinafter, only the differences will be described.

[0105] Figure 15 This is a flowchart illustrating the processing performed by the task update processing unit of the control system of the work machinery in the third embodiment. Figure 15 The processing shown is the processing of the task update processing unit 113A in the second embodiment (see reference). Figure 13 Step S1139 is replaced by step S1139'.

[0106] Specifically, if it is determined in step S1138 that "there is an interrupt task but no loading", the process proceeds to step S1139'. In step S1139', the task update processing unit swaps the interrupt task stored in the interrupt task buffer 118 with the current task stored in the current task buffer 119. That is, the interrupt task stored in the interrupt task buffer 118 is transferred to the current task buffer 119, and the executing task is transferred from the current task buffer 119 to the interrupt task buffer 118.

[0107] In this way, even if the currently executing task is not completed, the interrupt task stored in the interrupt task buffer 118 can be executed immediately as the current task without loading. In addition, by transferring the executing task to the interrupt task buffer 118, the task can be transferred to the current task buffer 119 after the interrupt task is completed, and the process can start again.

[0108] [Fourth Implementation Method]

[0109] Next, refer to Figures 16-18 A fourth embodiment of the control system for the work machinery will be described. The control system of this embodiment differs from the first embodiment in that it adds instructions related to the number of operations to the task data and in the processing content of the task execution processing unit 114. Hereinafter, only the differences will be described.

[0110] Figure 16 This is an example of the task data included in the work instructions of the control system of the machine in the fourth embodiment. Figure 17 This is an example of an interruption task included in the operation instructions of the control system of the machine in the fourth embodiment. For example... Figure 16 As shown, the task data included in the work instruction of this embodiment is different from the task data included in the work instruction of the first embodiment (see reference). Figure 5 Compared to the previous version, an item such as "number of assignments" has been added. Additionally, such as... Figure 17 As shown, the interrupt task data in this embodiment is different from the interrupt task in the first embodiment (refer to...). Figure 6 Compared to the previous version, an additional item, "number of operations," has been added. "Number of operations" can refer to, for example, the number of loads.

[0111] Therefore, in a work instruction such as loading task M1, the machine 1 digs for object M1 at digging position Q1 and loads it to loading position R1. After the number of loading operations reaches N1, the loading task M1 is completed, and the process moves on to the next loading task, M2. The same applies to interrupted tasks. When the number of loading operations is specified, the task is executed until the specified number of loading operations is reached. Alternatively, instead of "number of operations," "work quantity" (e.g., loading quantity) can be specified.

[0112] Figure 18 This is a flowchart illustrating the processing of a loading task by the task execution processing unit of the control system of the work machinery according to the fourth embodiment. For example... Figure 18 As shown, the loading task processing performed by the task execution processing unit 114 of this embodiment is different from the loading task processing of the first embodiment (see reference). Figure 11 Further steps S1010-1 and S1010-2 were added.

[0113] Steps S1010-1 and S1010-2 are added between steps S1010 and S1011. Specifically, if it is determined in step S1010 that the loading operation has ended, the process proceeds to step S1010-1. In step S1010-1, the task execution processing unit 114 subtracts the number of loads for the currently executing task. At this time, the task execution processing unit 114 subtracts the number of loads for completed loading operations from the number of jobs (here, the number of loads) contained in the task data (more specifically, the current task).

[0114] In step S1010-2, following step S1010-1, the task execution processing unit 114 determines whether the difference obtained by subtraction is greater than 0 (zero). If the difference is determined to be greater than 0, the processing returns to step S1001. On the other hand, if the difference is determined to be less than or equal to 0, the processing proceeds to step S1011. In step S1011, the task execution processing unit 114 outputs a task completion flag.

[0115] In the control system of the work machinery in this embodiment, the task execution processing unit 114 subtracts the number of completed loading operations from the number of operations (loading operations) included in the task data. Therefore, when an interruption is performed midway through an ongoing task and the original task is restarted, the original task can be set with a loading count reflecting the number of completed loading operations. For example, if an interruption is performed midway through an M1 loading task (e.g., loading operations N1 = 5) (e.g., at a point when the number of completed loading operations is 3), and the original M1 loading task is restarted after the interruption, the task execution processing unit 114 controls the work machinery 1 to perform the remaining 2 loading operations (N1-3 = 5-3 = 2) for the restarted M1 loading task. Furthermore, when the loading quantity is used instead of the loading count, the quantity of the object is measured between the end of the excavation operation and the start of the loading operation, and the loading quantity is subtracted from the loading count in the same way.

[0116] In the above embodiments, examples of the control systems 200 and 200A of the work machinery being mounted on the work machinery 1 have been described. However, for example, the communication interface 18 and the motion control units 110 and 110A may also be provided on an external server device configured to communicate with the process management terminal 30 and the work machinery 1 respectively, or only the motion control units 110 and 110A may be provided on an external server device. By having such changes, the configuration of the control systems 200 and 200A of the work machinery can be changed according to the situation, thus improving the versatility of the control systems 200 and 200A of the work machinery.

[0117] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described above. Various design changes can be made without departing from the spirit of the present invention as described in the claims. In addition, the embodiments described above have been described in detail for the purpose of easy understanding of the present invention, and are not limited to having all the structures described.

[0118] Symbol Explanation

[0119] 1: Operating machinery; 2: Bucket; 3: Lifting boom; 4: Double boom crank; 5: Bucket connecting rod; 7: Engine; 8: Hydraulic pump; 9: Drive force transmission device; 10: Central connector; 12: Control valve; 13: Steering cylinder; 14: Lifting cylinder; 15: Bucket cylinder; 17: Positioning device; 18: Communication interface; 19: Pressure sensor; 20: Engine control device; 21: Hydraulic control device; 22: Travel control device; 30: Process management terminal; 100: Automation. Driving control unit, 110, 110A: motion control unit, 111: map data input processing unit, 112: task input processing unit, 113: task update processing unit, 114: task execution processing unit, 115: loading determination unit, 116: map memory, 117: queue, 118: interrupt task buffer, 119: current task buffer, 120: path planning unit, 130: motion generation unit, 200, 200A: control system of the operating machinery.

Claims

1. A control system for a work-operated machine, comprising: The work instruction acquisition unit acquires a series of work instructions for the operating machinery; and The motion control unit controls the movement of the operating machinery to execute the tasks included in the work instructions acquired by the work instruction acquisition unit. Its features are, The control system of the operating machinery includes a loading determination unit, which determines whether the operating machinery is loaded with an object. In the case where the multiple tasks included in the job instruction include a priority interrupt task and non-interruptible tasks other than the interrupt task, When the loading determination unit determines that the working machine is loaded with the object, the motion control unit executes the interruption task after performing the action of the working machine as instructed by the executing task. When the loading determination unit determines that the working machine is not loaded with the object, the motion control unit executes the interruption task before the action of the working machine, as instructed by the task in progress, is completed.

2. The control system for the operating machinery according to claim 1, characterized in that, The motion control unit has: The task input processing unit divides the multiple tasks contained in the job instruction obtained by the job instruction acquisition unit into interrupted tasks and non-interrupted tasks; An interrupt task buffer stores the interrupt task; A queue that stores the non-interrupted tasks in the order indicated by the job instruction; The current task buffer stores tasks that are currently being executed. The task execution processing unit sets the operation mode and target position of the working machine based on the tasks being executed stored in the current task buffer, the map data contained in the work instruction, the location information of the working machine, and the load information of the object loaded on the working machine, and outputs a task completion flag when the tasks being executed are completed. as well as The task update processing unit updates the tasks in the current task buffer based on the presence or absence of a task completion flag output by the task execution processing unit, the non-interruptible tasks stored in the queue, and the interrupted tasks stored in the interrupted task buffer. The task update processing unit prioritizes transferring the interrupted tasks stored in the interrupted task buffer to the current task buffer, compared to the non-interrupted tasks stored in the queue, thereby updating the tasks in the current task buffer.

3. The control system for the operating machinery according to claim 2, characterized in that, The loading determination unit determines whether the working machine is loaded with an object based on the load information of the object loaded on the working machine and the operation mode set by the task execution processing unit, and outputs the determination result to the task update processing unit. If the task update processing unit determines that the working machine is not loaded with an object and that the interrupted task is stored in the interrupted task buffer, it will transfer the interrupted task stored in the interrupted task buffer to the current task buffer.

4. The control system for the operating machinery according to claim 3, characterized in that, The task update processing unit transfers the interrupted tasks stored in the interrupted task buffer to the current task buffer, and transfers the tasks in execution from the current task buffer to the interrupted task buffer.

5. The control system of the operating machinery according to any one of claims 2 to 4, characterized in that, The work instruction includes an indication of the amount of work or the number of times the work will be done. When the task execution processing unit restarts the original task after executing the interrupted task midway through the execution of the task, it sets the remaining amount of work or number of work for the original task, reflecting the amount of work or number of work that has been completed.

6. The control system of the operating machinery according to any one of claims 1 to 4, characterized in that, The actions of the operating machinery include loading actions. The motion control unit executes the interruption task after performing the loading action of the working machinery as instructed by the task in progress.

7. The control system of the operating machinery according to any one of claims 1 to 4, characterized in that, The work instruction acquisition unit and the motion control unit are located on the work machine, or on an external server device capable of communicating with the work machine.

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