Control system, control method, and control program

Abstract

A generation unit generates a virtual wall defined in a planar form on a vehicle body coordinate system with a representative point of a rotating body as an origin. A rotation transformation unit rotationally transforms the virtual wall around the origin of the vehicle body coordinate system as the rotating body rotates. A positioning unit determines a position of an outer shell of a work machine in the vehicle body coordinate system. An intervention control unit controls the work machine so that the outer shell does not contact the virtual wall.

Description

Technical Field

[0001] This disclosure relates to control systems, control methods, and control procedures.

[0002] This application claims priority to Japanese Patent Application No. 2021-141532 filed on August 31, 2021, the contents of which are incorporated herein by reference. Background Technology

[0003] To limit the range of motion of a work machine, a technique of setting up a virtual wall in space is known. The control device of the work machine can control it to limit the amount of action of the machine's actuators based on the distance between the virtual wall and the work machine, thereby preventing the work machine from exceeding the virtual wall.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2019 / 189030 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, when a virtual wall is set up at the work site, its position is represented by a global coordinate system. Therefore, if the work machinery is to be controlled based on the virtual wall, the machinery needs a GNSS or similar structure to identify its position in the global coordinate system. However, the work machinery may not necessarily have a structure to obtain position information based on GNSS or similar mechanisms.

[0009] On the other hand, when a virtual wall is set in a vehicle coordinate system based on a rotating body, the virtual wall set in the vehicle coordinate system is configured as a ring centered on the working machine in order to track the rotation of the rotating body. Therefore, it is difficult to set a virtual wall along a plane such as a building in the vehicle coordinate system.

[0010] The purpose of this disclosure is to provide a control device, control method, and control program that can restrict the movement of operating machinery along a virtual wall on a plane without referring to a global coordinate system.

[0011] Methods for solving problems

[0012] According to a first aspect of the invention, a control system controls a working machine having a rotatable rotating body. The control system has a processor. The processor generates a virtual wall defined in planar form on a vehicle coordinate system with a representative point of the rotating body as the origin. As the rotating body rotates, the processor causes the virtual wall to rotate around the origin of the vehicle coordinate system. The processor determines the position of the working machine's housing in the vehicle coordinate system. The processor controls the working machine so that the housing does not contact the virtual wall.

[0013] According to a second aspect of the present invention, there is a control method for a working machine having a rotatable rotating body, comprising a generation step, a transformation step, a determination step, and a control step. The generation step generates a virtual wall defined in planar form on a vehicle coordinate system with a representative point of the rotating body as the origin. The transformation step transforms the virtual wall around the origin of the vehicle coordinate system as the rotating body rotates. The determination step determines the position of the working machine's outer casing on the vehicle coordinate system. The control step controls the working machine so that the outer casing does not contact the virtual wall.

[0014] According to a third aspect of the present invention, a control program is a computer-executed program for controlling a working machine having a rotatable body, comprising a generation step, a transformation step, a determination step, and a control step. The generation step generates a virtual wall defined in planar form on a vehicle coordinate system with a representative point of the rotatable body as the origin. The transformation step transforms the virtual wall around the origin of the vehicle coordinate system as the rotatable body rotates. The determination step determines the position of the working machine's outer casing on the vehicle coordinate system. The control step controls the working machine so that the outer casing does not contact the virtual wall.

[0015] Invention Effects

[0016] According to at least one of the above methods, the movement of the operating machinery can be restricted by a virtual wall on a plane without referring to a global coordinate system. Attached Figure Description

[0017] Figure 1 This is a schematic diagram showing the structure of the working machine involved in the first embodiment.

[0018] Figure 2 This is a diagram showing the drive system of the working machine according to the first embodiment.

[0019] Figure 3 This is a schematic block diagram showing the structure of the control device according to the first embodiment.

[0020] Figure 4 This diagram illustrates an example of the resetting of the virtual wall accompanying the rotation of the rotating body in the first embodiment.

[0021] Figure 5 This is a flowchart illustrating the method for setting the front wall according to the first embodiment.

[0022] Figure 6 This is a flowchart illustrating the method for setting the sidewalls according to the first embodiment.

[0023] Figure 7 This is a flowchart illustrating the method for setting the upper wall according to the first embodiment.

[0024] Figure 8 This is a flowchart illustrating the method for setting the lower wall according to the first embodiment.

[0025] Figure 9 This is a flowchart illustrating the updating and intervention control of the virtual wall set in the first embodiment.

[0026] Figure 10 This is a flowchart illustrating the updating and intervention control of the virtual wall set in the first embodiment.

[0027] Figure 11 This is a schematic diagram showing the structure of the operating system involved in other embodiments. Detailed Implementation

[0028] <First Implementation Method>

[0029] Structure of Operating Machinery

[0030] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings.

[0031] Figure 1 This is a schematic diagram showing the structure of the work machine 100 according to the first embodiment. The work machine 100 according to the first embodiment is, for example, a hydraulic excavator. The work machine 100 includes a traveling body 120, a rotating body 140, a working machine 160, a cab 180, and a control device 200. The work machine 100 according to the first embodiment generates a planar virtual wall through the operation of the operator and is controlled to prevent the work machine 100 from contacting the virtual wall. Thus, the operator can operate the work machine 100 to prevent it from entering a restricted area.

[0032] The walking body 120 supports the working machine 100 in a walking manner. The walking body 120 is, for example, a pair of tracks on the left and right sides.

[0033] The rotating body 140 can rotate freely around the rotation center and is supported on the walking body 120.

[0034] The work machine 160 is movably supported on the rotating body 140. The work machine 160 is hydraulically driven. The work machine 160 has a boom 161, an arm 162, and a bucket 163 as a working implement. The proximal end of the boom 161 is rotatably mounted on the rotating body 140. The proximal end of the arm 162 is rotatably mounted on the distal end of the boom 161. The bucket 163 is rotatably mounted on the distal end of the arm 162. Here, the portion of the rotating body 140 in which the work machine 160 is mounted is referred to as the front portion. Furthermore, regarding the rotating body 140, based on the front portion, the portion on the opposite side is referred to as the rear portion, the portion on the left is referred to as the left portion, and the portion on the right is referred to as the right portion.

[0035] The operator's cab 180 is located at the front of the rotating body 140. Inside the operator's cab 180, there is an operating device 141 for the operator to operate the machinery 100, and a monitoring device 142 serving as a human-machine interface for the control device 200. The monitoring device 142 is implemented by a computer having, for example, a touch panel.

[0036] The control device 200 controls the traveling body 120, the rotating body 140, and the working machine 160 based on the operator's operation of the operating device. The control device 200 is located, for example, inside the cab 180.

[0037] Drive System of Operation Machinery 100

[0038] Figure 2 This is a diagram showing the drive system of the work machine 100 according to the first embodiment.

[0039] The work machinery 100 has multiple actuators for driving the work machinery 100. Specifically, the work machinery 100 has an engine 111, a hydraulic pump 112, a control valve 113, a pair of travel motors 114, a rotary motor 115, a boom cylinder 116, a stick cylinder 117, and a bucket cylinder 118.

[0040] Engine 111 is the prime mover used to drive hydraulic pump 112.

[0041] The hydraulic pump 112 is driven by the engine 111 and supplies working oil to the travel motor 114, the slewing motor 115, the boom cylinder 116, the stick cylinder 117 and the bucket cylinder 118 via the control valve 113.

[0042] Control valve 113 controls the flow rate of working oil supplied from hydraulic pump 112 to travel motor 114, rotary motor 115, boom cylinder 116, stick cylinder 117 and bucket cylinder 118.

[0043] The walking motor 114 is driven by working oil supplied from the hydraulic pump 112 and drives the walking body 120.

[0044] The rotary motor 115 is driven by working oil supplied from the hydraulic pump 112, and causes the rotating body 140 to rotate relative to the traveling body 120.

[0045] Boom cylinder 116 is a hydraulic cylinder used to drive boom 161. The proximal end of boom cylinder 116 is mounted on rotating body 140. The distal end of boom cylinder 116 is mounted on boom 161.

[0046] The boom cylinder 117 is a hydraulic cylinder used to drive the boom 162. The proximal end of the boom cylinder 117 is mounted on the boom 161. The distal end of the boom cylinder 117 is mounted on the boom 162.

[0047] Bucket cylinder 118 is a hydraulic cylinder used to drive bucket 163. The proximal end of bucket cylinder 118 is mounted on stick 162. The distal end of bucket cylinder 118 is mounted on bucket 163.

[0048] Measurement System for Operation Machinery 100

[0049] The machine tool 100 has multiple sensors for measuring the posture and position of the machine tool 100. Specifically, the machine tool 100 has an inclinometer 101, a rotation angle sensor 102, a boom angle sensor 103, a stick angle sensor 104, a bucket angle sensor 105, and a payload meter 106.

[0050] Inclinometer 101 measures the attitude of rotating body 140. Inclinometer 101 measures the tilt of rotating body 140 relative to the horizontal plane (e.g., roll angle, pitch angle, and yaw angle). An example of inclinometer 101 is an IMU (Inertial Measurement Unit). In this case, inclinometer 101 measures the acceleration and angular velocity of rotating body 140 and calculates the tilt of rotating body 140 relative to the horizontal plane based on the measurement results. Inclinometer 101 is positioned, for example, below the driver's cab 180. Inclinometer 101 outputs the attitude data of rotating body 140 as measured values ​​to control device 200.

[0051] Rotation angle sensor 102 measures the rotation angle of rotating body 140 relative to walking body 120. The measured value of rotation angle sensor 102 is zero, for example, when the walking body 120 and rotating body 140 are aligned. Rotation angle sensor 102 is, for example, located at the rotation center of rotating body 140. Rotation angle sensor 102 outputs rotation angle data as a measured value to control device 200.

[0052] The boom angle sensor 103 measures the boom angle, which is the rotation angle of the boom 161 relative to the rotating body 140. The boom angle sensor 103 may be an IMU mounted on the boom 161. In this case, the boom angle sensor 103 measures the boom angle based on the tilt of the boom 161 relative to the horizontal plane and the tilt of the rotating body as measured by the inclinometer 101. The measured value of the boom angle sensor 103 is zero, for example, when the straight direction through the proximal and distal ends of the boom 161 coincides with the longitudinal direction of the rotating body 140. Alternatively, in other embodiments, the boom angle sensor 103 may also be a stroke sensor mounted on the boom cylinder 116. Furthermore, in other embodiments, the boom angle sensor 103 may also be a rotation sensor installed on a pin used to connect the rotating body 140 and the boom 161. The boom angle sensor 103 outputs the measured boom angle data to the control device 200.

[0053] The stick angle sensor 104 measures the stick angle, which is the rotation angle of the stick 162 relative to the boom 161. The stick angle sensor 104 can also be an IMU mounted on the stick 162. In this case, the stick angle sensor 104 measures the stick angle based on the tilt of the stick 162 relative to the horizontal plane and the boom angle measured by the boom angle sensor 103. The measured value of the stick angle sensor 104 is zero, for example, when the direction of the straight line through the proximal and distal ends of the stick 162 coincides with the direction of the straight line through the proximal and distal ends of the boom 161. Alternatively, in other embodiments, the stick angle sensor 104 can also be a stroke sensor mounted on the stick cylinder 117 for angle calculation. Furthermore, in other embodiments, the stick angle sensor 104 can also be a rotation sensor installed on the pin connecting the boom 161 and the stick 162. The stick angle sensor 104 outputs the measured stick angle data to the control device 200.

[0054] The bucket angle sensor 105 measures the rotation angle of the bucket 163 relative to the stick 162, i.e., the bucket angle. The bucket angle sensor 105 can also be a stroke sensor installed in the bucket cylinder 118 used to drive the bucket 163. In this case, the bucket angle sensor 105 measures the bucket angle based on the stroke of the bucket cylinder. The measured value of the bucket angle sensor 105 is zero, for example, when the direction of the straight line through the proximal end and tip of the bucket 163 coincides with the direction of the straight line through the proximal end and distal end of the stick 162. Alternatively, in other embodiments, the bucket angle sensor 105 can also be a rotation sensor installed in the pin connecting the stick 162 and the bucket 163. Furthermore, in other embodiments, the bucket angle sensor 105 can also be an IMU mounted on the bucket 163. The bucket angle sensor 105 outputs the measured bucket angle data to the control device 200.

[0055] The load cell 106 measures the weight of the cargo held in the bucket 163. For example, the load cell 106 measures the bottom pressure of the cylinder of the boom 161 and converts it into the weight of the cargo. Alternatively, the load cell 106 may also be a load sensor. The load cell 106 outputs the weight data of the cargo as a measured value to the control unit 200.

[0056] Structure of Control Device 200

[0057] Figure 3 This is a schematic block diagram showing the structure of the control device 200 according to the first embodiment.

[0058] The control device 200 is a computer having a processor 210, a main memory 230, a storage device 250, and an interface 270. The control device 200 is an example of a control system. The control device 200 receives measurement values ​​from the inclinometer 101, the rotation angle sensor 102, the boom angle sensor 103, the stick angle sensor 104, the bucket angle sensor 105, and the payload meter 106.

[0059] Storage 250 is a non-transitory tangible storage medium. Examples of storage 250 include magnetic disks, optical disks, optical discs, and semiconductor memories. Storage 250 can be an internal medium directly connected to the bus of control device 200, or an external medium connected to control device 200 via interface 270 or a communication line. Storage 250 stores control programs for controlling the machine tool 100.

[0060] The control program can also be a program used to implement the functions of the control device 200. For example, the control program can also function by combining with other programs already stored in the memory 250, or with other programs installed on other devices. Furthermore, in other embodiments, the control device 200 may, in addition to the above-described structure, also have a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device), or alternatively, have a custom LSI such as a PLD. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions implemented by the processor can also be implemented by this integrated circuit.

[0061] The storage device 250 records geometric data representing the dimensions and center of gravity position of the rotating body 140, boom 161, stick 162, and bucket 163. Geometric data is data representing the position of an object in a defined coordinate system.

[0062] Software Structure

[0063] The processor 210, by executing a control program, includes an operation quantity acquisition unit 211, an input unit 212, a display control unit 213, a measurement value acquisition unit 214, a positioning unit 215, a generation unit 216, a rotation conversion unit 217, an intervention determination unit 218, an intervention control unit 219, and a control signal output unit 220.

[0064] The operation quantity acquisition unit 211 acquires operation signals from the operation device 141 to indicate the operation quantity of each actuator.

[0065] The input unit 212 receives operation input from the monitoring device 142.

[0066] The display control unit 213 outputs screen data to the monitoring device 142 so that the monitoring device 142 can display the screen data.

[0067] The measurement acquisition unit 214 acquires measurement values ​​from the inclinometer 101, the rotation angle sensor 102, the boom angle sensor 103, the stick angle sensor 104, the bucket angle sensor 105, and the payload meter 106.

[0068] The positioning unit 215 determines the position of the outer casing of the working machine 100 in the vehicle coordinate system. The outer casing of the working machine 100 refers to the external shape of the working machine 100. The outer casing of the working machine 100 is defined, for example, by the shape that forms the outer shape of the rotating body 140 and the working machine 160. Specifically, the positioning unit 215 determines the position of multiple points of the outer casing of the working machine 100 in the vehicle coordinate system based on various measurement values ​​obtained by the measurement value acquisition unit 214 and geometric data recorded in the storage 250. The multiple points of the outer casing determined by the positioning unit 215 include the tip of the bucket 163, the end of the stick 162 on the bucket 163 side (top of the stick), the end of the stick 162 on the boom 161 side (top of the stick), and a point behind the counterweight of the rotating body 140. The vehicle coordinate system is an orthogonal coordinate system with a representative point of the rotating body 140 (e.g., a point passing through the center of rotation) as the origin. The calculations of the positioning unit 215 will be described later. Furthermore, the points determined by the positioning unit 215 are not limited to this.

[0069] When the input unit 212 receives the virtual wall generation instruction from the operator, the generation unit 216 calculates the parameters of the virtual wall based on the position of the bucket tip 163 determined by the positioning unit 215. The generation unit 216 records the parameters of the virtual wall in the generated vehicle coordinate system in the main memory 230.

[0070] As the rotating body 140 rotates, the slewing transformation unit 217 updates the parameters of the virtual wall stored in the main memory 230. Specifically, the slewing transformation unit 217 transforms the parameters of the virtual wall with the origin of the vehicle coordinate system as the center, and transforms the changes in pitch angle, roll angle, and yaw angle measured by the inclinometer 101. Figure 4 This diagram illustrates an example of the resetting of the virtual wall accompanying the rotation of the rotating body in the first embodiment. For example, as... Figure 4 As shown, when the virtual wall is set and the rotating body 140 rotates, the rotation transformation unit 217 calculates the changes in roll angle, pitch angle, and yaw angle caused by the rotation of the rotating body 140 by referring to the measurement values ​​obtained by the inclinometer 101 obtained by the measurement value acquisition unit 214, and rotates the parameters of the virtual wall around the origin of the vehicle coordinate system. Therefore, the rotation transformation unit 217 cancels the rotation of the virtual wall caused by the rotation of the rotating body 140.

[0071] The intervention determination unit 218 determines whether to restrict the rotation speed of the rotating body 140 or the speed of the working machine 160 based on the positional relationship between multiple points of the housing and the virtual wall determined by the positioning unit 215. Hereinafter, the situation where the control device 200 restricts the speed of the rotating body 140 or the working machine 160 may also be referred to as intervention control. Specifically, the intervention determination unit 218 calculates the minimum rotation angle until at least one of the multiple points of the housing comes into contact with the virtual wall. If this minimum rotation angle is below a specific angle, it determines that intervention control should be performed on the rotating body 140. Furthermore, the intervention determination unit 218 calculates the minimum distance between the virtual wall and the working machine 160. If this minimum distance is below a specific distance, it determines that intervention control should be performed on the working machine 160.

[0072] When the intervention control unit 219 is determined by the intervention determination unit 218 to be subject to intervention control, it controls the operation quantity of the intervention target in the operation quantity obtained by the operation quantity acquisition unit 211.

[0073] The control signal output unit 220 outputs the operation quantity acquired by the operation quantity acquisition unit 211 or the operation quantity controlled by the intervention determination unit 218 to the control valve 113.

[0074] Calculation of Positioning Unit 215

[0075] Here, the method for determining the position of a point on the outer casing of the working machine 100 by the positioning unit 215 is described. The positioning unit 215 determines the position of the point on the outer casing based on various measurement values ​​obtained by the measurement value acquisition unit 214 and geometric data stored in the storage 250. The storage 250 records geometric data representing the dimensions and center of gravity position of the rotating body 140, boom 161, stick 162, and bucket 163.

[0076] The geometric data of the rotating body 140 represents the position (x) of the pin supporting the boom 161 of the rotating body 140 in the vehicle coordinate system, which is the local coordinate system. bm y bm z bm ), and the position of the point on the outer shell of the rotating body 140 (x) sp y sp z sp Points on the outer shell of the rotating body 140, such as protruding points of the counterweight, are likely to contact the wall due to rotation. The vehicle coordinate system is an X-axis extending forward and backward with the rotation center of the rotating body 140 as the reference. sb The axis, the Y-axis extending to the left and right sb The axis, extending Z in the upward and downward directions sb A coordinate system consisting of axes. Furthermore, the vertical direction of the body of revolution 140 is not necessarily the same as the vertical direction.

[0077] The geometric data of boom 161 represents the position (x, y) of the boom top in the boom coordinate system, which serves as the local coordinate system. am y am z am The boom coordinate system is based on the position of the pin connecting the boom 161 and the rotating body 140, and extends along the length direction from the X-axis. bm The Y-axis extends in the direction of the pin. bm Axis, and X bm axis and Y bm Z-axis perpendicular bm The coordinate system is formed by axes. The position of the top of the boom is the location of the pin connecting the boom 161 and the stick 162. The top of the boom is one of the points on the outer shell of the working machine 100.

[0078] The geometric data for stick 162 represents the position (x, y) of the top of the stick in the stick coordinate system, which serves as the local coordinate system. bk y bk z bk The stick coordinate system is based on the position of the pin connecting the stick 162 and the boom 161, and extends along the length direction from the X-axis. am The Y-axis extends in the direction of the pin. am Axis, and X am axis and Y bm Z-axis perpendicular am The coordinate system is formed by the axes. The position of the top of the stick is the location of the pin connecting the stick 162 and the bucket 163. The top of the stick is one of the points on the outer shell of the working machine 100.

[0079] The geometric data of bucket 163 represents the position (x, y) of the tip of bucket 163 in the bucket coordinate system, which serves as the local coordinate system. ed y ed z ed The shovel tip is one of the points on the outer shell of the working machine 100. The bucket coordinate system is based on the position of the pin connecting the bucket 163 and the stick 162, and extends from the X-axis in the direction towards the shovel tip. bk Y-axis extending along the direction of the pin bk Axis, and X bk axis and Y bk Z-axis perpendicular bk A coordinate system formed by axes.

[0080] The positioning unit 215 is based on the boom angle θ obtained by the measurement value acquisition unit 214. bm The measured values ​​and geometric data of the rotating body 140 are used to generate the boom-body transformation matrix T for transforming from the boom coordinate system to the body coordinate system using the following equation (1). bm sbBoom-body transformation matrix T bm sb It is around Y bm Shaft rotation arm angle θ bm And the deviation (x) between the origin of the translation vehicle coordinate system and the origin of the boom coordinate system bm y bm z bm A matrix of ).

[0081] Furthermore, the positioning unit 215 calculates the position of the boom top in the boom coordinate system, represented by the geometric data of the boom 161, and the boom-car body transformation matrix T. bm sb The product of and is used to determine the position of the top of the boom in the vehicle coordinate system.

[0082]

[0083] The positioning unit 215 is based on the stick angle θ obtained by the measurement acquisition unit 214. am The measured values ​​and geometric data of boom 161 are used to generate the boom-boom transformation matrix T for transforming from the boom coordinate system to the boom coordinate system using the following equation (2). am bm The boom-stick transformation matrix T am bm It is around Y am Shaft rotation boom angle θ am And the deviation (x) between the origin of the translation boom coordinate system and the origin of the stick coordinate system am y am z am The positioning unit 215 calculates the boom-body transformation matrix T. bm sb With the boom-jib transformation matrix T am bm The product of these terms generates the stick-to-body transformation matrix T, used to transform the stick coordinate system to the vehicle body coordinate system. am sb Furthermore, the positioning unit 215 determines the position of the top of the stick in the stick coordinate system, represented by the geometric data of the stick 162, and the stick-vehicle transformation matrix T. am sb The product of these terms is used to determine the position of the top of the boom in the vehicle coordinate system.

[0084]

[0085] The positioning unit 215 is based on the bucket angle θ obtained by the measurement acquisition unit 214. bkThe measured values ​​and geometric data of the stick 162 are used to generate the bucket-stick transformation matrix T for transforming from the bucket coordinate system to the stick coordinate system using the following equation (3). bk am Bucket-stick transformation matrix T bk am It is around Y bk Shaft rotation bucket angle θ bk And the deviation (x) between the origin of the boom coordinate system and the origin of the bucket coordinate system. bk y bk z bk The positioning unit 215 calculates the boom-body transformation matrix T. am sb With the bucket-stick transformation matrix T bk am The product of these terms generates the bucket-body transformation matrix T, used to transform the bucket coordinate system to the body coordinate system. bk sb .

[0086]

[0087] The positioning unit 215 determines the position of the bucket tip in the bucket coordinate system, represented by the geometric data of the bucket 163, and the bucket-vehicle transformation matrix T. bk sb The product of these terms is used to determine the position of the bucket tip of bucket 163 in the vehicle coordinate system.

[0088] Control Methods for 100 Types of Operating Machinery

[0089] The control method of the work machine 100 according to the first embodiment will be described below.

[0090] First, the operator of the work machinery 100 operates the monitoring device 142 to set up the virtual wall.

[0091] The Setting of Virtual Walls

[0092] If the input unit 212 receives a virtual wall setting instruction from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a selection screen for the type of virtual wall to be set. The control device 200 can set five types of virtual walls: front wall, left wall, right wall, top wall, and bottom wall. The front wall, left wall, and right wall are walls that extend vertically. The top wall and bottom wall are walls that extend horizontally.

[0093] (The setting of the front wall)

[0094] Figure 5 This is a flowchart illustrating the method for setting the front wall according to the first embodiment.

[0095] If the input unit 212 receives a setting instruction for the front wall from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a guide screen containing the setting button (step S101). The guide screen indicates that the operator should move the tip of the bucket 163 to the desired setting point on the front wall and then press the setting button. The operator operates the work machine 100 to move the tip of the bucket 163 to the desired position and then presses the setting button. The input unit 212 receives the setting button operation from the monitoring device 142 (step S102).

[0096] The measurement acquisition unit 214 acquires the measurement values ​​of the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and load cell 106 at the moment the setting button is activated (step S103). The positioning unit 215 determines the position of the bucket tip 163 in the vehicle coordinate system based on the acquired measurement values ​​(step S104).

[0097] The generation unit 216 calculates the parameters of the front wall extending vertically based on the roll angle and pitch angle obtained from the inclinometer 101 in step S103 and the position of the shovel tip determined in step S104. The virtual wall is represented by a normal vector indicating the normal direction of the virtual wall and a position vector indicating the position of the point through which the virtual wall passes. The generation unit 216 uses X... sb The value of the axis is -1, Y sb The value of the axis is 0, Z sb The normal vector is calculated by using the vectors with a value of 0 for the roll and pitch angles (step S105). Furthermore, the generation unit 216 sets the vector representing the position of the shovel tip obtained in step S104 as the position vector (step S106). The generation unit 216 records the generated front wall parameters in the main memory 230 (step S107). Additionally, if the front wall parameters are already recorded in the main memory 230, the old parameters are overwritten with the new parameters.

[0098] (Settings for the right and left walls)

[0099] Figure 6 This is a flowchart illustrating the method for setting the sidewalls according to the first embodiment.

[0100] If the input unit 212 receives a setting instruction for the right or left wall from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a first guide screen containing the setting button (step S121). The guide screen indicates that the operator should move the tip of the bucket 163 to the desired setting point for the right or left wall and then press the setting button. The operator operates the work machinery 100 to move the tip of the bucket 163 to the desired position and then presses the setting button. The input unit 212 receives the setting button operation from the monitoring device 142 (step S122).

[0101] The measurement acquisition unit 214 acquires the measurement values ​​from the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and payload meter 106 at the moment the setting button is activated (step S123). The positioning unit 215 determines the position of the bucket tip 163 in the vehicle coordinate system (first position of the bucket tip) based on the acquired measurement values ​​(step S124). The positioning unit 215 temporarily records the determined position of the bucket tip, the roll angle, pitch angle, and yaw angle acquired in step S123 in the main memory 230.

[0102] Next, the display control unit 213 displays a second guide screen containing a setting button on the monitoring device 142 (step S125). The guide screen indicates that the operator should move the tip of the bucket 163 to the desired setting point on the right or left wall and then press the setting button. The operator operates the work machinery 100 to move the tip of the bucket 163 to a position different from the position set in step S122 and then presses the setting button. The input unit 212 receives the setting button operation from the monitoring device 142 (step S126).

[0103] The measurement acquisition unit 214 acquires the measurement values ​​of the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and payload meter 106 at the moment the second setting button is operated (step S127). Based on the acquired measurement values, the positioning unit 215 determines the position of the bucket tip 163 in the vehicle coordinate system (the second position of the bucket tip) (step S128).

[0104] The posture of the work machine 100 when the position of the shovel tip was measured for the first time is different from the posture of the work machine 100 when the position of the shovel tip was measured for the second time. Therefore, the rotation transformation unit 217 rotates the machine based on the position of the shovel tip recorded in the main memory 230 for the first time, the roll angle, pitch angle, and yaw angle, and the roll angle, pitch angle, and yaw angle when the position of the shovel tip was measured for the second time (step S129). As a result, the rotation transformation unit 217 can transform the position of the shovel tip for the first time into the position in the vehicle coordinate system at the current moment.

[0105] The generation unit 216 calculates the difference between the vector representing the first shovel tip transformed in step S129 and the vector representing the position of the second shovel tip obtained in step S128, as the wall vector (step S130). The wall vector is a vector along the surface of the virtual wall and passes through the positions of the first and second shovel tips. Next, the generation unit 216 calculates the vertical vector in the vertical direction based on the roll angle and pitch angle when the position of the second shovel tip is calculated (step S131). The generation unit 216 calculates the normal vector by calculating the cross product of the vector calculated in step S130 and the vertical vector (step S132). Furthermore, the generation unit 216 obtains the position vector based on the position of the second shovel tip obtained in step S128 (step S133). The generation unit 216 records the parameters of the generated left or right wall in the main memory 230 (step S134). In addition, if the parameters of the left or right wall are already recorded in the main memory 230, the old parameters are overwritten with the new parameters.

[0106] (The setting of the upper wall)

[0107] Figure 7 This is a flowchart illustrating the method for setting the upper wall according to the first embodiment.

[0108] If the input unit 212 receives a setting instruction for the upper wall from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a guide screen containing the setting button (step S141). The guide screen indicates that the operator should move the tip of the bucket 163 to the desired setting point on the upper wall and then operate the setting button. The operator operates the work machine 100 to move the tip of the bucket 163 to the desired position and then operates the setting button. The input unit 212 receives the operation of the setting button from the monitoring device 142 (step S142).

[0109] The measurement acquisition unit 214 acquires the measurement values ​​of the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and load cell 106 at the moment the setting button is activated (step S143). The positioning unit 215 determines the position of the bucket tip 163 in the vehicle coordinate system based on the acquired measurement values ​​(step S144).

[0110] The generation unit 216 calculates the parameters of the upper wall extending in the horizontal direction based on the roll angle and pitch angle obtained from the inclinometer 101 in step S143, and the position of the shovel tip determined in step S144. The generation unit 216 then calculates the parameters of the upper wall extending in the horizontal direction by making X... sb The value of the axis is 0, Y sb The value of the axis is 0, Z sb The normal vector is calculated using the vector roll and pitch angles with a value of -1 on the axis (step S145). Furthermore, the generation unit 216 obtains the position vector based on the position of the shovel tip calculated in step S144 (step S146). The generation unit 216 records the generated upper wall parameters in the main memory 230 (step S147). Additionally, if the upper wall parameters are already recorded in the main memory 230, the old parameters are overwritten with the new parameters.

[0111] (Setting of the lower wall)

[0112] Figure 8 This is a flowchart illustrating the method for setting the lower wall according to the first embodiment.

[0113] If the input unit 212 receives a setting instruction for the lower wall from the monitoring device 142, the display control unit 213 causes the monitoring device 142 to display a guide screen including a distance input field and a setting button (step S161). The guide screen displays instructions to move the tip of the bucket 163 above the desired setting point for the lower wall, input the distance from the tip to the lower wall in the distance input field, and operate the setting button. The distance input field is initially set to 0 meters. The operator operates the work machine 100 to move the tip of the bucket 163 to the desired position and then operates the setting button. The input unit 212 receives the input to the distance input field and the operation of the setting button from the monitoring device 142 (step S162). The input unit 212 obtains the value of the distance input field at the moment the setting button is operated (step S163).

[0114] The measurement acquisition unit 214 acquires the measurement values ​​of the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and payload meter 106 at the moment the setting button is activated (step S164). The positioning unit 215 determines the position of the bucket tip 163 in the vehicle coordinate system based on the acquired measurement values ​​(step S165).

[0115] The generation unit 216 calculates the parameters of the lower wall extending in the horizontal direction based on the roll angle and pitch angle obtained from the inclinometer 101 in step S164, the position of the shovel tip determined in step S165, and the distance obtained in step S163. The generation unit 216 then calculates the parameters of the lower wall extending in the horizontal direction by making X... sb The value of the axis is 0, Y sb The value of the axis is 0, Z sb The normal vector is calculated by using the vectors with a value of 1 for the roll and pitch angles (step S166). Furthermore, the generation unit 216 obtains the position vector by summing the vector representing the position of the shovel tip (obtained in step S165) with the depth vector obtained by multiplying the normal vector by the distance (step S167). The generation unit 216 records the generated lower wall parameters in the main memory 230 (step S168). Additionally, if the lower wall parameters are already recorded in the main memory 230, the old parameters are overwritten with the new parameters.

[0116] "Updates and Intervention Control of Virtual Walls"

[0117] The work machine 100 performs operations within the reach of the work machine 160 by rotating the rotating body 140. Therefore, the operator typically rotates the work machine 100 when performing operations such as excavation. Since the vehicle coordinate system uses the rotating body 140 as a reference, it rotates with the rotation of the work machine 100 when viewed from a global coordinate system perspective. If the virtual wall defined in the vehicle coordinate system rotates with the rotation of the work machine 100, the right and left walls will not interfere with the work machine 100 and are meaningless. For example, if a right wall is defined on the right side of the rotating body 140, the right wall will always remain on the right side of the rotating body 140 regardless of its rotation, and will not interfere with the work machine 100. Furthermore, if the front wall rotates with the rotation of the work machine 100, it will appear as a ring wall rather than a planar wall, and therefore will not function as a virtual wall along the building's walls.

[0118] Therefore, in order to maintain the position of the virtual wall in the global coordinate system before and after the operation machinery 100 rotates, the control device 200 of the first embodiment performs a rotation transformation process on the virtual wall.

[0119] Figure 9 as well as Figure 10This is a flowchart illustrating the updating and intervention control of the virtual wall set in the first embodiment. If the operator of the work machinery 100 sets at least one virtual wall through the operation of the monitoring device 142, the control device 200 begins the control shown below.

[0120] The operation signal acquisition unit 211 acquires operation signals from the operating device 141 for the boom 161, stick 162, bucket 163, and rotating body 140 (step S201). The measurement value acquisition unit 214 acquires measurement values ​​from the inclinometer 101, rotation angle sensor 102, boom angle sensor 103, stick angle sensor 104, bucket angle sensor 105, and load cell 106 (step S202).

[0121] Based on the roll angle, pitch angle, and yaw angle of the rotating body 140 obtained from the inclinometer 101 in step S202, the slewing conversion unit 217 performs slewing conversion on one or more virtual walls stored in the main memory 230 and updates them (step S203).

[0122] The positioning unit 215 calculates the positions of multiple points on the outer shell of the working machine 100 in the vehicle coordinate system based on the measurement values ​​obtained in step S202 (step S204). The intervention determination unit 218 selects the points determined by the positioning unit 215 one by one (step S205) and performs the following processes from step S206 to step S212.

[0123] Intervention determination unit 218 determines the X-axis that passes through the point selected in step S205 and is parallel to the vehicle coordinate system. sb -Y sb Cross-section of the plane (step S206). Furthermore, the intervention determination unit 218 determines the X-axis that passes through the point selected in step S205 and is parallel to the vehicle coordinate system. sb -Z sb Cross section of the plane (step S207).

[0124] Intervention determination unit 218 will select one or more virtual walls set in main memory 230 one by one (step S208) and perform the following processes from step S209 to step S212.

[0125] Intervention determination unit 218 calculates the intersection line of the cross section generated in step S206 and the virtual wall selected in step S208 as the horizontal virtual wall line (step S209). Furthermore, depending on the positional relationship between the cross section generated in step S206 and the virtual wall, sometimes a horizontal virtual wall line does not exist. When a horizontal virtual wall line exists, intervention determination unit 218 calculates the rotation angle at which the point selected in step S205 contacts the horizontal virtual wall line calculated in step S209, for both right and left rotations (step S210). For example, intervention determination unit 218 calculates the intersection point of the circle centered on the rotation center and passing through the point selected in step S205 and the horizontal virtual wall line, and calculates the angle formed by the line segment extending from the rotation center to the point selected in step S205 and the line segment extending from the rotation center to the intersection point. Furthermore, depending on the positional relationship between the point selected in step S205 and the horizontal virtual wall line, sometimes the intersection point does not exist.

[0126] Furthermore, the intervention determination unit 218 calculates the intersection line of the cross section generated in step S207 and the virtual wall selected in step S208 as the vertical virtual wall line (step S211). Additionally, depending on the positional relationship between the cross section generated in step S207 and the virtual wall, sometimes the vertical virtual wall line does not exist. If the vertical virtual wall line exists, the intervention determination unit 218 calculates the distance between the point selected in step S205 and the vertical virtual wall line calculated in step S211 (step S212).

[0127] Based on the rotation angle of each point on the working machine 100 obtained in step S210 for each virtual wall, the intervention determination unit 218 calculates the minimum rotation angle at least one point that contacts at least one virtual wall for both right and left rotation (step S213).

[0128] The intervention determination unit 218 calculates the shortest distance between the working machine 160 and the virtual wall based on the distance of each point on the working machine 100 to each virtual wall obtained in step S212 (step S214).

[0129] The intervention determination unit 218 calculates the rotation direction and target rotation speed based on the operation signal of the rotating body 140 obtained in step S201 (step S215). The intervention determination unit 218 determines whether the minimum rotation angle for the rotation direction indicated by the operation signal is greater than the intervention start angle (step S216). If the minimum rotation angle is greater than the intervention start angle (step S216: Yes), the intervention control unit 219 does not perform intervention control for rotation. On the other hand, if the minimum rotation angle is less than or equal to the intervention start angle (step S216: No), the intervention control unit 219 determines the limit angular velocity from the minimum rotation angle based on a predetermined limit angular velocity table, and limits the target rotation speed of the rotating body 140 to a value less than or equal to the limit angular velocity (step S217). The limit angular velocity table is a function that represents the relationship between the minimum rotation angle and the limit angular velocity, and is a function that the smaller the minimum rotation angle, the smaller the limit angular velocity.

[0130] The limit angular velocity table can also be set to, for example, a deceleration rate that does not impair the operator's sense of control over the rotating body 140.

[0131] The intervention determination unit 218 calculates the target speed of the work machine 160 based on the operation signals of the boom 161, stick 162, and bucket 163 obtained in step S201 (step S218). Specifically, the intervention determination unit 218 calculates the target speed of the boom 161, stick 162, and bucket 163 based on the operation signals of the boom 161, stick 162, and bucket 163 obtained in step S201. Next, the intervention determination unit 218 determines whether the shortest distance calculated in step S214 is longer than the intervention start distance (step S219). If the shortest distance is longer than the intervention start distance (step S219: Yes), the intervention control unit 219 does not perform intervention control on the work machine 160. On the other hand, when the shortest distance is less than or equal to the intervention start distance (step S219: No), the intervention control unit 219 selects each axis of the work machine 160 one by one, and performs the following processing from steps S221 to S222 for the selected axis (step S220). The intervention control unit 219 determines whether the operation direction of the selected axis is an operation towards the virtual wall (step S221). When the operation direction of the selected axis is not an operation towards the virtual wall (step S220: No), the intervention control unit 219 does not perform intervention control for the selected axis. On the other hand, when the operation direction of the selected axis is an operation towards the virtual wall (step S220: Yes), the intervention control unit 219 determines a speed limit for the selected axis based on a pre-determined speed limit table, and limits the target speed to a value below the speed limit (step S222).

[0132] The control signal output unit 220 generates a control signal based on the target speeds of the boom 161, stick 162, and bucket 163 and the target angular velocity of the rotating body 140, and outputs it to the control valve 113 (step S223).

[0133] Functions and Effects

[0134] In this way, the control device 200 rotates and transforms the virtual wall defined in the vehicle coordinate system along with the rotation of the rotating body 140, and controls the working machine 100 so that the outer shell of the working machine 100 does not contact the virtual wall. Thus, by causing the virtual wall defined in the vehicle coordinate system to rotate with the rotation of the rotating body 140, the control device 200 can fix the absolute position of the virtual wall. Therefore, the control device 200 restricts the movement of the working machine 100 through the planar virtual wall without referring to a global coordinate system. By setting the planar virtual wall, access to areas of the construction site that are normally divided by a plane can be appropriately restricted.

[0135] Furthermore, the control device 200 according to the first embodiment determines the position of the far end of the work machine 160 in the vehicle coordinate system, and generates a virtual wall at the far end of the work machine 160 when it receives a virtual wall generation instruction. Thus, the operator can easily set the virtual wall by operating the work machine and inputting the generation instruction. However, other embodiments are not limited to this; for example, the operator can also input the coordinates of the virtual wall by operating the monitoring device 142 to set the virtual wall.

[0136] Furthermore, the control device 200 according to the first embodiment generates a virtual wall extending vertically or horizontally based on the measurements of the inclinometer 101. Generally, the area of ​​a construction site is divided vertically by walls or grids. Therefore, by setting the virtual wall to extend vertically, the entry of the work machinery 100 into the area can be appropriately controlled. In addition, since control is usually performed to prevent the work machinery 100 from exceeding its lowest point for obstacles such as overhead lines and ceilings, setting the virtual wall to extend horizontally allows for appropriate lowest point control.

[0137] <Other Implementation Methods>

[0138] The accompanying drawings illustrate one embodiment in detail above, but the specific structure is not limited to the above and various design changes can be made. That is, in other embodiments, the order of the above processes can be appropriately changed. Furthermore, some processes can be performed in parallel.

[0139] The control device 200 described in the above embodiments can be constructed using a single computer, or the structure of the control device 200 can be distributed among multiple computers, with the multiple computers cooperating to perform the function of the control device 200. In this case, some of the computers constituting the control device 200 are installed inside the work machinery 100, while the other computers are located outside the work machinery 100.

[0140] Other embodiments of the control device 200 determine the limiting angular velocity based on a pre-determined table of limiting angular velocities when performing intervention control for rotational operations, but are not limited thereto. The moment of inertia of the working machine 100 varies depending on the posture of the working machine 160 and the weight of the cargo piled in the bucket 163. Therefore, the intervention control unit 219 can also determine the limiting angular velocity based on the change in rotational inertia. For example, by pre-storing the center of gravity positions of each component in the geometric data, the positioning unit 215 can determine the center of gravity positions of each component in the vehicle coordinate system. The intervention control unit 219 can calculate the center of gravity position of the working machine 160 based on a vector of each center of gravity position multiplied by a known weight, and further by a vector of the weight represented by the measurement value of the load cell 106 multiplied by the position of the bucket 163. Therefore, the intervention control unit 219 can determine the limiting angular velocity based on the change in rotational inertia by multiplying the limiting angular velocity obtained from the limiting angular velocity table by a coefficient corresponding to the inertia ratio calculated based on the center of gravity position and weight of the machine 160.

[0141] The work machine 100 in the first embodiment is operated by an operator mounted in the cab 180, but the work machine 100 in other embodiments is not limited to this. Figure 11 This is a diagram illustrating the structure of the work system according to other embodiments. The work machinery 100 according to other embodiments may also be as follows: Figure 10The machine is operated by the remote control device 500 as shown. In addition to the structure of the first embodiment, the remotely operated machine 100 also includes a camera 119, and the control device 200 transmits the images captured by the camera 119 to the remote control device 500 in real time. The remote control device 500 includes a driver's seat 510, a display 520, an operating device 530, and a remote control server 540. The remote control server 540 displays the images received from the machine 100 on the display 520. Thus, the operator can identify the surrounding conditions of the remotely operated machine 100. Furthermore, the remote control server 540 transmits the operator's operation signals to the operating device 530 to the machine 100 via a network. The remote control server 540 performs at least some of the functions of the control device 200 involved in the first embodiment. That is, in the operating system having the remote control server 540, the control device 200 and the remote control server 540 constitute the operating system.

[0142] The work machine 160 according to the first embodiment is equipped with a bucket 163, but is not limited thereto. For example, the work machine 160 according to other embodiments may also be equipped with other work implements such as a crusher or a grab bucket, thereby replacing the bucket. In addition, work implements such as the bucket 163 according to other embodiments may also be installed at the distal end of the boom 162 via a tilting attachment or a tilting rotation attachment.

[0143] Industrial availability

[0144] According to at least one of the above methods, the movement of operating machinery can be restricted by a planar virtual wall without referring to a global coordinate system.

[0145] Label Explanation

[0146] 100…Working machinery 101…Inclinometer 102…Rotation angle sensor 103…Boom angle sensor 104…Stick angle sensor 105…Bucket angle sensor 106…Load indicator 111…Engine 112…Hydraulic pump 113…Control valve 114…Travel motor 115…Rotary motor 116…Boom cylinder 117…Stick cylinder 118…Bucket cylinder 120…Travel body 140…Rotating body 141…Operating device 142…Monitoring device 16 0…Working machine 161…Boom 162…Stick 163…Bucket 180…Cab 200…Control device 210…Processor 211…Operation input acquisition unit 212…Input unit 213…Display control unit 214…Measurement acquisition unit 215…Positioning unit 216…Generation unit 217…Slewing conversion unit 218…Intervention determination unit 219…Intervention control unit 220…Control signal output unit 230…Main memory 250…Memory 270…Interface

Claims

1. A control system for controlling a working machine having a rotatable rotating body and a working machine disposed on said rotating body, said control system comprising: processor, The processor performs the following processing: Determine the location of the far end of the work machine; Upon receiving the instruction to generate a virtual wall, a measurement value is obtained from an inclinometer that measures the posture of the rotating body. Based on the measurement value, a virtual wall is generated at the far end of the work machine, extending in the vertical or horizontal direction and defined in planar form on the vehicle coordinate system with the representative point of the rotating body as the origin. Based on the measured values, the change in posture caused by the rotation of the rotating body is calculated; Based on the change in posture, as the rotating body rotates, the virtual wall rotates around the origin of the vehicle coordinate system. Determine the position of the outer casing of the operating machinery in the vehicle coordinate system; and Control the operating machinery so that the outer shell does not come into contact with the virtual wall.

2. The control system as described in claim 1, The processor determines the positions of multiple points on the outer casing of the operating machinery. The processor calculates, based on the positions of the plurality of points, the minimum rotation angle at which at least one of the plurality of points contacts the virtual wall when the rotating body is rotated. The processor controls the rotation of the rotating body based on the minimum rotation angle.

3. A control method for a working machine, the working machine having a rotatable rotating body and a working machine disposed on the rotating body, the control method comprising: The step of determining the location of the far end of the work machine; Upon receiving an instruction to generate a virtual wall, the step of obtaining a measurement of the posture of the rotating body, and based on the measurement, generating a virtual wall at the far end of the work machine that extends in a vertical or horizontal direction and is defined in a planar form on the vehicle coordinate system with the representative point of the rotating body as the origin; The step of calculating the change in posture caused by the rotation of the rotating body based on the measured values; Based on the change in posture, the virtual wall is transformed around the origin of the vehicle coordinate system as the rotating body rotates. The steps for determining the position of the outer casing of the operating machinery in the vehicle coordinate system; and The step of controlling the operating machinery to prevent the outer casing from contacting the virtual wall.

4. A control program that causes a computer controlling a working machine having a rotatable rotating body and a working machine disposed on said rotating body to perform the following steps: The step of determining the location of the far end of the work machine; Upon receiving an instruction to generate a virtual wall, the step of obtaining a measurement of the posture of the rotating body, and based on the measurement, generating a virtual wall at the far end of the work machine that extends in a vertical or horizontal direction and is defined in a planar form on the vehicle coordinate system with the representative point of the rotating body as the origin; The step of calculating the change in posture caused by the rotation of the rotating body based on the measured values; Based on the change in posture, the virtual wall is transformed around the origin of the vehicle coordinate system as the rotating body rotates. The steps for determining the position of the outer casing of the operating machinery in the vehicle coordinate system; and The step of controlling the operating machinery to prevent the outer casing from contacting the virtual wall.

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