Work machine

Abstract

Provided is a work machine capable of selecting a more suitable operation according to the surrounding environment or the operation mode when an obstacle is monitored. A work machine is provided with: an obstacle monitoring sensor for monitoring an obstacle; and a control device for controlling the work machine on the basis of the monitoring result of the obstacle monitoring sensor, the control device controlling the work machine on the basis of the position of the work machine in the work site when the obstacle is monitored or the operation mode of the work machine when the obstacle is monitored, and the control device controlling the work machine on the basis of the position of the work machine in the work site when the obstacle is monitored. And a control unit that determines whether or not the obstacle should be bypassed, and changes the control content of the work machine in accordance with the determination result.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] In the past, a working machine that performs a prescribed action for avoiding a collision has been proposed (for example, Patent Document 1). Patent Document 1 describes a wheel loader having: a sensor for measuring the distance between a dump truck and a boom of the wheel loader; and a controller for controlling the action of the wheel loader. The controller described in Patent Document 1 controls a prescribed action for avoiding a collision (raising the boom, stopping the wheel loader, outputting a warning sound or displaying a warning) when the distance between the dump truck and the boom is below a threshold value due to the travel of the wheel loader.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2018 / 043104 Summary of the invention

[0006] Problems to be solved by the invention

[0007] A wheel loader performs operations such as digging soil and sand with a bucket and loading the excavated soil and sand into a dump truck. During a series of operations of the wheel loader, soil and sand may fall from the bucket to the ground. According to the technology described in Patent Document 1, obstacles such as soil and sand measured by a sensor are identified as loading objects, and when the distance between the soil and sand and the boom is less than a threshold value, the wheel loader may be stopped.

[0008] However, the surrounding environment and operation mode (operation mode) in which the wheel loader operates are various. For example, when the wheel loader operates in a relatively wide operation area or when the wheel loader is traveling, it is sometimes more appropriate to continue the operation by bypassing sand and soil rather than stopping the operation of the wheel loader.

[0009] On the other hand, when the wheel loader is operating in a relatively narrow work area or when the wheel loader is excavating, it may be more appropriate to continue traveling over sand and soil rather than stopping the operation of the wheel loader.

[0010] In the technology described in Patent Document 1, when the distance between the boom and the sand or the like is less than a threshold value, the wheel loader may be stopped without exception, and a more appropriate operation may not be selected according to the surrounding environment or operation mode of the wheel loader.

[0011] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a working machine which can select a more appropriate action according to the surrounding environment or action mode when an obstacle is detected.

[0012] Means for solving problems

[0013] In order to achieve the above-mentioned purpose, the working machine of the present invention has: an obstacle monitoring sensor, which monitors obstacles; and a control device, which controls the working machine according to the monitoring results of the obstacle monitoring sensor, wherein the control device determines whether the obstacle should be bypassed based on the position of the working machine in the work site when the obstacle is detected, or the action mode of the working machine when the obstacle is detected, and changes the control content of the working machine according to the judgment result.

[0014] Effects of the Invention

[0015] According to the present invention, it is possible to provide a working machine that, when an obstacle is detected, selects a more appropriate action according to the surrounding environment or the action mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view schematically showing the working machine according to the first embodiment.

[0017] Figure 2 It is a system configuration diagram schematically showing a control system for a working machine according to the first embodiment.

[0018] Figure 3 This is a functional block diagram of the automatic driving control device for the working machine according to the first embodiment.

[0019] Figure 4 It is a plan view schematically showing an example of the moving range of the working machine according to the first embodiment.

[0020] Figure 5 This is a flowchart showing a calculation process executed by the behavior management unit of the working machine according to the first embodiment.

[0021] Figure 6 This is a diagram showing an example of a process for determining an operation mode and a target position executed by the behavior management unit of the working machine according to the first embodiment.

[0022] Figure 7 This is a flowchart showing a calculation process executed by a behavior management unit of a working machine according to a modification of the first embodiment.

[0023] Figure 8 It is a system configuration diagram schematically showing a control system for a working machine according to a second embodiment.

[0024] Fig. 9 This is a functional block diagram of a notification control device for a working machine according to a second embodiment.

[0025] Fig.10 This is a flowchart showing a calculation process executed by the notification management unit of the working machine according to the second embodiment.

[0026] Fig.11 This is a flowchart showing a calculation process executed by a notification management unit of a working machine according to a modification of the second embodiment. DETAILED DESCRIPTION

[0027] <First embodiment>

[0028] Hereinafter, a wheel loader V1 as a working machine according to a first embodiment of the present invention will be described with reference to the drawings. Figure 1 and Figure 2 , a schematic structure of the wheel loader V1 and a system structure of a control system according to the present embodiment will be described. Figure 1 It is a perspective view schematically showing the wheel loader V1 according to the first embodiment. Figure 2 1 is a system configuration diagram schematically showing a control system of the wheel loader V1.

[0029] For ease of explanation, Figure 1 The "front", "rear", "left" and "right" are defined based on the traveling direction of the wheel loader V1, and the "up" and "down" are defined based on gravity. That is, Figure 1 The arrows "front" and "rear" indicate the forward and backward directions of the wheel loader V1, and the arrows "up" and "down" indicate the up and down directions of the wheel loader V1. The left and right (vehicle width) direction of the wheel loader V1 is defined as a direction perpendicular to the front and rear directions and the up and down directions.

[0030] The wheel loader V1 uses a bucket 1 to dig soil and the like, transports the excavated soil and the like, and loads the excavated soil and the like onto a loading object R ( Figure 4 ) machinery. Figure 1 As shown, the wheel loader V1 has a bucket 1 as a working tool and a lifting arm 2 that rotatably supports the bucket 1 on the front side in the traveling direction. The lifting arm 2 is rotatably supported on the body of the wheel loader V1. In addition, a bell crank 3 is rotatably supported on the lifting arm 2. The bell crank 3 rotates the bucket 1 relative to the lifting arm 2 via a bucket link 4.

[0031] like Figure 1 and Figure 2As shown, the wheel loader V1 includes a front right tire 21FR, a front left tire 21FL, a rear right tire 21RR, and a rear left tire 21RL, and travels by driving these tires.

[0032] The wheel loader V1 has an articulated steering mechanism, and the center joint 23C extending in the vertical direction (up and down direction) of the vehicle body is used as an axis, and the front vehicle body and the rear vehicle body are caused to rotate by causing an angle difference. In addition to the function of causing an angle difference between the front vehicle body and the rear vehicle body of the wheel loader V1, the center joint 23C has a function of distributing the driving force of the engine 10 to the front differential device 24F and the rear differential device 24R as described later.

[0033] The wheel loader V1 includes an engine 10 as a power source, a hydraulic pump 14 driven by the engine 10, and a driving force transmission device 22. The driving force of the engine 10 is transmitted to a center joint 23C via the driving force transmission device 22. The driving force of the engine 10 is distributed to a front differential device 24F and a rear differential device 24R via the center joint 23C.

[0034] The driving force of the engine 10 is distributed to the tires (the front left tire 21FL, the front right tire 21FR, the rear left tire 21RL, and the rear right tire 21RR) via the front differential device 24F and the rear differential device 24R. As a result, the wheel loader V1 travels.

[0035] The hydraulic pump 14 is driven by the engine 10, thereby supplying hydraulic oil to the control valve 15. The hydraulic oil is distributed by the control valve 15 and supplied to the steering cylinder 11, the lift cylinder 12, the bucket cylinder 13, and the brakes 14F and 14R.

[0036] The steering cylinder 11 , the lift cylinder 12 , and the bucket cylinder 13 are extended and retracted by the supplied hydraulic oil, thereby changing the angle between the front and rear vehicle bodies, the angle of the lift arm 2 relative to the vehicle body, and the angle of the bucket 1 relative to the lift arm 2 .

[0037] The brakes 14F and 14R are closed by the supplied hydraulic oil, thereby suppressing the rotation of the tires (front left tire 21FL, front right tire 21FR, rear left tire 21RL, rear right tire 21RR), and the wheel loader V1 is decelerated and stopped.

[0038] The wheel loader V1 also includes an automatic driving control device 100 , an engine control device 500 , a hydraulic control device 600 , a travel control device 700 , a communication interface 60 , a mobile body monitoring information receiving device (mobile body acquisition device) 61 , a positioning device 51 , and an obstacle monitoring sensor 52 .

[0039] like Figure 1As shown, the positioning device 51 includes a first positioning device 51R disposed on the right side of the vehicle body and a second positioning device 51L disposed on the left side of the vehicle body above the vehicle body of the wheel loader V1. The positioning device 51 is a well-known GNSS (Global Navigation Satellite System), but the positioning device 51 of this embodiment is not limited thereto. For example, the positioning device 51 may be formed by using a camera or LiDAR through a well-known SLAM (Simultaneous Localization and Mapping). The positioning device 51 obtains the position information of the wheel loader V1 and sends the position information to the automatic driving control device 100.

[0040] The obstacle monitoring sensor 52 is provided on the front side above the body of the wheel loader V1. The obstacle monitoring sensor 52 monitors obstacles around (for example, in front of) the wheel loader V1 and transmits information about the obstacles to the automatic driving control device 100. The obstacle monitoring sensor 52 can be any one as long as it can monitor obstacles, and can be composed of, for example, a well-known LiDAR or millimeter wave radar.

[0041] The obstacles in this embodiment are sand and soil spilled from the bucket 1 during excavation or loading operations, and therefore their positions cannot be stored in advance in the automatic driving control device 100. Structures such as protective walls surrounding the excavation area A and the loading area B, which can store their positions in advance in the automatic driving control device 100, are not included in the obstacles in this embodiment. In addition, even if the obstacles in this embodiment come into contact with the wheel loader V1, the possibility of damage is low. Working machinery, operators, etc. other than the wheel loader V1 and the loading object R (mobile bodies described later) are more likely to be damaged when they come into contact with the wheel loader V1, and therefore, they are not included in the obstacles in this embodiment.

[0042] The communication interface 60 may be any one that can acquire communication information from the external process management terminal 800 , and may be, for example, a wireless communication device mounted on the wheel loader V1 .

[0043] The process management terminal 800 is a terminal for sending communication information to each work machine at the work site. The process management terminal 800 can be used by the manager of the work site to manually create communication information and send the communication information. The process management terminal 800 can also be used to obtain the overall work progress of the work site through sensors, etc., automatically generate communication information, and send the communication information. Examples of the communication information sent from the process management terminal 800 include map data (e.g., map data indicating the movement range of the wheel loader V1) Figure 4 ), the operation content of the wheel loader V1 (excavation operation, loading operation, etc.), the number of operations, the excavation position of the excavated object, the loading position of the excavated object, etc.

[0044] The mobile body monitoring information receiving device 61 is a device for obtaining mobile body monitoring information indicating that a mobile body other than the wheel loader (host vehicle) V1 of this embodiment is monitored, and is installed in the wheel loader V1. The mobile body monitoring information receiving device 61 obtains the mobile body monitoring information from the monitoring devices CA and CB installed in the specified areas (excavation area A and loading area B) described later. In this embodiment, the mobile body is a movable object other than the wheel loader V1 and the loading object R, and as an example thereof, a working machine (other wheel loaders, etc.) or an operator can be cited.

[0045] In the present embodiment, the wheel loader V1 is described as having the mobile object monitoring information receiving device 61 separate from the communication interface 60 . However, the mobile object monitoring information receiving device 61 may be omitted by including the mobile object monitoring information in the communication information acquired by the communication interface 60 .

[0046] like Figure 2 As shown, the automatic driving control device 100 obtains the communication information sent from the process management terminal 800 via the communication interface 60, obtains the moving body monitoring information via the moving body monitoring information receiving device 61, obtains the position information of the wheel loader V1 via the positioning device 51, and obtains the obstacle information around the wheel loader V1 via the obstacle monitoring sensor 52.

[0047] The automatic driving control device 100 generates an engine control signal, a hydraulic control signal, and a travel control signal based on this information, and sends these signals to the engine control device 500, the hydraulic control device 600, and the travel control device 700, respectively.

[0048] The engine control device 500 controls the rotation speed of the engine 10 according to the engine control signal. The hydraulic control device 600 controls the opening and closing degree of the control valve 15 according to the hydraulic control signal. The travel control device 700 controls the speed ratio and rotation direction of the driving force transmission device 22 according to the travel control signal.

[0049] Next, refer to Figure 3 , the functions of the automatic driving control device 100 of this embodiment are explained. Figure 3 1 is a functional block diagram of the automatic driving control device 100 of the wheel loader V1. The automatic driving control device 100 includes a behavior management unit 110, a path planning unit 120, and a motion generation unit 130. The behavior management unit 110 corresponds to the control device of the present invention.

[0050] The action management unit 110 obtains communication information via the communication interface 60, obtains mobile body monitoring information via the mobile body monitoring information receiving device 61, obtains position information of the wheel loader V1 via the positioning device 51, obtains obstacle information via the obstacle monitoring sensor 52, and obtains action completion judgment information from the action generation unit 130.

[0051] The action management unit 110 determines the next action mode of the wheel loader V1 based on the map data indicating the moving range of the wheel loader V1, the position information, and the action completion judgment information contained in the communication information, and sends the action mode to the action generation unit 130. In addition, the action mode of the wheel loader V1 indicates the way the wheel loader V1 acts. The action management unit 110 may determine a driving mode with driving as the main action, an excavation mode with excavation as the main action, or a loading mode with loading as the main action mode of the wheel loader V1 ( Figure 6 ).

[0052] In addition, the action management unit 110 calculates the target position corresponding to the next action mode of the wheel loader V1 based on the above position information and the above map data, and sends the path planning instruction together with the target position to the path planning unit 120. The action management unit 110 calculates the vehicle position within the moving range of the wheel loader V1 by comparing the above position information with the above map data, and uses the information on the vehicle position when calculating the next action mode and the target position. For details of the calculation processing performed by the action management unit 110, see Figures 4 to 6 This will be described later.

[0053] The path planning unit 120 acquires the target position calculated by the behavior management unit 110 , acquires the position information of the wheel loader V1 via the positioning device 51 , and acquires the obstacle information via the obstacle monitoring sensor 52 .

[0054] When receiving the path planning instruction from the behavior management unit 110, the path planning unit 120 calculates the target path that the wheel loader V1 should move, and sends the target path to the action generation unit 130. Here, the target path is calculated as the travel path of the wheel loader V1 from the position information obtained via the positioning device 51, that is, the current position of the wheel loader V1 to the target position calculated by the behavior management unit 110, that is, the travel path that does not interfere with the obstacles obtained via the obstacle monitoring sensor 52. When receiving the path planning instruction from the behavior management unit 110, the path planning unit 120 calculates the target path and updates the target path each time.

[0055] The action generation unit 130 obtains the next action mode of the wheel loader V1 determined by the action management unit 110 , obtains the target path calculated by the path planning unit 120 , obtains the position information of the wheel loader V1 via the positioning device 51 , and obtains obstacle information via the obstacle monitoring sensor 52 .

[0056] The motion generation unit 130 generates a travel motion of the wheel loader V1 so that the current position of the wheel loader V1 is along the target path, and transmits the generated travel motion to the travel control device 700 as a travel control signal.

[0057] Furthermore, the motion generation unit 130 generates working motions of the bucket, such as digging and loading, based on the acquired motion pattern, and transmits the generated working motions to the hydraulic control device 600 as hydraulic control signals.

[0058] Furthermore, the motion generation unit 130 calculates the rotation speed of the engine 10 required to realize the travel motion and the work motion, and transmits the calculated rotation speed to the engine control device 500 as an engine control signal.

[0059] For example, as in conventional manual operation, the travel control signal may be the amount of operation of the accelerator and brake pedals and the switching signal of the forward / reverse switch, and the hydraulic control signal may be the amount of operation of the lever operating the boom 2 and the lever operating the bucket 1.

[0060] When the wheel loader V1 reaches the end point (ie, target position) of the target route or when the work operation corresponding to the acquired operation pattern is completed, the operation generation unit 130 transmits operation completion determination information to the operation management unit 110 .

[0061] In addition, the action generation unit 130 may determine the size of the obstacle based on the obstacle information obtained through the obstacle monitoring sensor 52. At this time, the action generation unit 130 may estimate the influence of the size of the obstacle on the driving stability of the wheel loader V1 based on the determination result, and perform control to slow down the driving speed of the wheel loader V1 or stop the driving.

[0062] For example, the action generation unit 130 stops the wheel loader V1 when the size of the obstacle is larger than a predetermined threshold. In addition, the action generation unit 130 slows down the wheel loader V1 when the size of the obstacle is less than a predetermined threshold. The threshold of the size of the obstacle is determined based on whether there is a possibility of the wheel loader V1 overturning when it travels over the obstacle. Therefore, a more appropriate action corresponding to the size of the obstacle can be selected through the calculation processing of the action generation unit 130, regardless of the calculation processing result of the action management unit 110 described later.

[0063] Next, refer to Figures 4 to 6 , the contents of the calculation processing performed in the action management unit 110 of this embodiment are explained. Figure 4 It is a plan view schematically showing an example of the moving range of the wheel loader V1. Figure 5 2 is a flowchart showing a calculation process executed by the behavior management unit 110 of the wheel loader V1. Figure 6 1 is a diagram showing an example of a process for determining an operation mode and a target position executed by the behavior management unit 110 of the wheel loader V1.

[0064] like Figure 4 As shown, the movement range of the wheel loader V1 is defined as a plurality of coordinate points and an area surrounded by these points in the map data included in the communication information transmitted from the process management terminal 800 .

[0065] Specifically, the moving range of the wheel loader V1 of the present embodiment is composed of a moving area U surrounded by P1 to P4, an excavation area A surrounded by P11 to P14, and a loading area B surrounded by P21 to P24. The excavation area A includes an excavation object Q that is an excavation target of the wheel loader V1. The excavation area A is an area where the wheel loader V1 performs excavation work on the excavation object Q, and is a work area surrounded by a protective wall and the like and having a limited width.

[0066] The loading area B includes a loading object R for loading the excavated material Q. The loading area B is an area where the excavated material Q is loaded by the wheel loader V1, and is a limited width work area surrounded by a protective wall or the like. The excavation area A and the loading area B correspond to the prescribed area of ​​the present invention. In addition, the prescribed area is not limited to the excavation area A and the loading area B, but is preferably an area where there are structures or prohibited areas around, and a limited width work area is set from the operation or action of the wheel loader V1.

[0067] The moving area U includes the waiting position W of the wheel loader V1. The moving area U is an area where the wheel loader V1 moves between the waiting position W, the excavation area A, and the loading area B, and is wider than the excavation area A and the loading area B.

[0068] The wheel loader V1 travels from the waiting position W to the excavation area A in the movement area U, and excavates the excavated object Q in the excavation area A. Thereafter, the wheel loader V1 travels from the excavation area A to the loading area B in the movement area U while holding the excavated object Q with the bucket 1, and loads the excavated object Q onto the loading object R in the loading area B.

[0069] After loading is completed, the wheel loader V1 repeatedly excavates in the excavation area A and loads in the loading area B until all the excavated objects Q are loaded on the loading object R. When all the excavated objects Q are loaded on the loading object R, the wheel loader V1 travels in the moving area U and returns to the standby position W.

[0070] Monitoring devices CA and CB are installed in the excavation area A and the loading area B, and the intrusion of mobile objects (operators, other wheel loaders, etc.) is monitored by the monitoring devices CA and CB. The monitoring devices CA and CB are monitoring cameras that monitor mobile objects other than the wheel loader V1 in the excavation area A and the loading area B, and send the monitoring results as mobile object monitoring information to the mobile object monitoring information receiving device 61. The monitoring devices CA and CB can obtain the position information of the wheel loader V1 obtained by the positioning device 51. Therefore, the monitoring devices CA and CB can easily distinguish the wheel loader V1 from mobile objects other than the wheel loader V1.

[0071] Here, as a feature of the excavation area A and the loading area B of the present embodiment, at least a portion of the area is smaller than the minimum turning diameter of the wheel loader V1, and the wheel loader V1 is difficult to turn in the excavation area A and the loading area B. In addition, the excavation area A and the loading area B may be areas where the monitoring devices CA and CB monitor the intrusion of mobile objects.

[0072] like Figure 5 As shown, the action management unit 110 determines whether a moving body (for example, an operator, another wheel loader, etc.) other than the wheel loader (own vehicle) V1 is detected in the excavation area A or the loading area B based on the moving body monitoring information sent from the monitoring devices CA and CB (S1101). When the action management unit 110 determines that a moving body is detected (S1101 is yes), the action management unit 110 stops the movement of the wheel loader V1 (S1108). After that, the operation processing returns to the beginning. Therefore, regardless of the current position and action mode of the wheel loader V1, when a moving body other than the wheel loader V1 enters the excavation area A or the loading area B, the movement of the wheel loader V1 can be stopped, and the wheel loader V1 can be prevented from contacting the moving body.

[0073] On the other hand, if the action management unit 110 determines that the moving object is not detected (S1101: No), the operation process proceeds to S1102. In S1102, the action management unit 110 determines whether the prescribed action (e.g., driving action, excavation action, loading action) corresponding to the prescribed action mode is completed.

[0074] Specifically, when the action management unit 110 obtains the action completion judgment information from the action generation unit 130, it determines that the prescribed action is completed (S1102 Yes). Then, the operation process enters S1103. On the other hand, when the action management unit 110 does not obtain the action completion judgment information from the action generation unit 130, it determines that the prescribed action is not completed (S1102 No). Then, the operation process enters S1105.

[0075] In S1103, the action management unit 110 determines the next action mode of the wheel loader V1. Specifically, the action management unit 110 determines the next action mode of the wheel loader V1 based on the current position of the wheel loader V1 and the action mode corresponding to the completed action. Figure 6 The table shown determines the next operation mode of the wheel loader V1.

[0076] For example, when the wheel loader V1 reaches the excavation area A in the driving mode, the current position is the excavation area A and the completed action mode is the driving mode. Therefore, the action management unit 110 determines the excavation mode as the next action mode (refer to Figure 6 At this time, the action management unit 110 selects the excavation target position as the target position of the wheel loader V1.

[0077] In addition, when the wheel loader V1 has completed the excavation mode in the excavation area A, the current position is the excavation area A, and the completed operation mode is the excavation mode. Therefore, the behavior management unit 110 determines the travel mode as the next operation mode (refer to Figure 6 At this time, the action management unit 110 selects the loading area B as the target position of the wheel loader V1. Figure 6 After that, the operation process proceeds to S1104.

[0078] In S1104, the behavior management unit 110 sends a route planning instruction to the route planning unit 120 in order to plan a target route from the current position of the wheel loader V1 to the target position to which the wheel loader V1 should move. Thereafter, the present calculation process returns to the start.

[0079] In S1105, the behavior management unit 110 determines whether an obstacle (such as sand, etc.) is detected around the wheel loader V1 based on the obstacle information obtained by the obstacle monitoring sensor 52. When the behavior management unit 110 determines that the above obstacle is not detected (S1105 No), the operation process proceeds to S1107.

[0080] In S1107, the behavior management unit 110 does not update the target path of the wheel loader V1 (ie, does not send a path planning instruction to the path planning unit 120), and continues the action corresponding to the current action mode (eg, driving mode) of the wheel loader V1. Thereafter, the calculation process returns to the start.

[0081] On the other hand, when the behavior management unit 110 determines that the obstacle is detected (Yes in S1105), the calculation process proceeds to S1106.

[0082] In step S1106, the action management unit 110 determines whether the current position of the wheel loader V1 is a specified area (i.e., the excavation area A or the loading area B). If the action management unit 110 determines that the current position is a specified area (S1106 Yes), the operation process proceeds to S1107, and if it determines that the current position is not a specified area (S1106 No), the operation process proceeds to S1104.

[0083] The behavior management unit 110 controls the wheel loader V1 based on the monitoring result of the obstacle monitoring sensor 52. Specifically, in S1104 and S1107 after S1106, the behavior management unit 110 determines whether to bypass the obstacle based on the position of the wheel loader V1 when the obstacle is detected, and changes the control content of the wheel loader V1 based on the determination result.

[0084] Specifically, when the position of the wheel loader V1 when the obstacle is detected is within the specified area (S1106: Yes), in S1107, the action management unit 110 determines that the obstacle should not be bypassed, and the action of the wheel loader V1 when the obstacle is detected is continued. That is, the action management unit 110 does not update the target path of the wheel loader V1 (that is, does not send a path planning instruction to the path planning unit 120) and continues the action corresponding to the current action mode of the wheel loader V1 (for example, the excavation mode). After that, this operation process returns to the beginning.

[0085] In the excavation area A and the loading area B, since at least a part of the area is smaller than the minimum turning diameter of the wheel loader V1, there is insufficient space for bypassing the obstacle. However, as in the present embodiment, when the current position of the wheel loader V1 when the obstacle is detected is within the prescribed area, the target path of the wheel loader V1 is not updated, thereby, for example, contact with a guard wall or the like due to an unnecessary steering operation can be prevented.

[0086] Furthermore, even when excavated material Q such as sand and soil scattered on the ground in the excavation area A or the loading area B is detected as an obstacle, the operation corresponding to the current operation mode of the wheel loader V1 can be continued. When the excavation operation corresponding to the excavation mode is performed in the excavation area A, and when the loading operation corresponding to the loading mode is performed in the loading area B, the wheel loader V1 travels at a relatively low speed, so it is possible to continue the operation while passing over obstacles such as sand and soil, and the operation of the wheel loader V1 can be performed efficiently.

[0087] On the other hand, when the position of the wheel loader V1 is outside the predetermined area when the obstacle is detected (S1106: No), the behavior management unit 110 determines in S1104 that the obstacle should be bypassed, and generates a travel route bypassing the obstacle.

[0088] That is, when the action management unit 110 detects that the position of an obstacle such as sand is the moving area U, it controls the target path of the wheel loader V1 to be updated in a way to bypass the obstacle (i.e., sends a path planning instruction for generating a driving path to the path planning unit 120). After that, the operation processing returns to the beginning.

[0089] The moving area U is wider than the excavation area A and the loading area B, so there is sufficient space for bypassing obstacles. When performing the driving action corresponding to the driving mode in the moving area U, the wheel loader V1 travels at a relatively high speed, so by bypassing the obstacle, the risk of overturning when passing over obstacles such as sand and soil at a high speed can be avoided.

[0090] <Modification of the first embodiment>

[0091] Next, a modification of the wheel loader V1 of the first embodiment will be described. The wheel loader of this modification is different from the above-mentioned wheel loader V1 in the function of the action management unit. Hereinafter, for the structure having the same or similar function as the wheel loader V1 of the first embodiment, the same reference numerals as those of the wheel loader V1 are marked and their description is omitted, and the different parts are described.

[0092] Figure 7 FIG. 4 is a flowchart showing a calculation process performed by the action management unit of the working machine according to the modification of the first embodiment. Figure 7 As shown, when the action management unit determines that an obstacle is detected (S1105: Yes), the operation processing proceeds to S1106a.

[0093] In S1106a, the behavior management unit determines whether the operation mode of the wheel loader is a predetermined operation mode. Here, the predetermined operation mode refers to an excavation mode for excavating the excavated object Q or a loading mode for loading the excavated object Q.

[0094] If the action management unit determines that the action mode is the prescribed action mode (S1106a: Yes), the operation process proceeds to S1107, and if the action mode is determined not to be the prescribed action mode (S1106a: No), the operation process proceeds to S1104. In S1104 and S1107 after S1106a, the action management unit determines whether to bypass the obstacle based on the action mode of the wheel loader V1 when the obstacle is detected, and changes the control content of the wheel loader V1 based on the determination result.

[0095] Specifically, when the action mode of the wheel loader when the obstacle is detected is a predetermined action mode (excavation mode or loading mode) (S1106a is yes), in S1107, the action management unit determines that the obstacle should not be bypassed, and the action of the wheel loader V1 when the obstacle is detected is continued. That is, the action management unit controls the action (e.g., excavation action) corresponding to the current action mode (e.g., excavation mode, etc.) of the wheel loader without updating the target path of the wheel loader (i.e., not sending a path planning instruction to the path planning unit). After that, this operation process returns to the beginning.

[0096] When the wheel loader performs an operation corresponding to the excavation mode or the loading mode, the wheel loader travels at a relatively low speed, and can therefore continue the operation by crossing obstacles such as sand and soil, regardless of the area in which the wheel loader operates, and can efficiently perform the operation of the wheel loader.

[0097] On the other hand, when the action mode of the wheel loader when an obstacle is detected is not a prescribed action mode (excavation mode or loading mode) (S1106a No), in S1104, the action management unit determines that the obstacle should be bypassed and generates a driving path bypassing the obstacle. For example, when the action mode when an obstacle such as sand is detected is a driving mode, the action management unit controls the update of the target path of the wheel loader to bypass the obstacle (i.e., sends a path planning instruction for generating a driving path to the path planning unit). After that, the operation processing returns to the beginning.

[0098] The wheel loader in the travel mode travels at a higher speed than the wheel loader in the excavation mode or the loading mode. Therefore, by bypassing the obstacle, the risk of overturning when passing over an obstacle such as sand and soil at a high speed can be avoided.

[0099] <Second embodiment>

[0100] Next, refer to Figures 8 to 10, a wheel loader according to a second embodiment of the present invention will be described. The wheel loader according to this embodiment is different from the wheel loader according to the first embodiment in that, instead of the automatic driving control device 100, a steering wheel 31, a working device operating lever 32, a brake pedal 33, an accelerator pedal 34, and a shift operating lever 35 for manually operating the wheel loader are provided, and a notification control device 200 and a notification device (notification device) 53 are added. Hereinafter, for the structure having the same or similar functions as the wheel loader V1 described above, the same symbols as those of the wheel loader V1 are marked and their description is omitted, and the different parts are described.

[0101] Figure 8 2 is a system configuration diagram schematically showing a control system of a wheel loader according to a second embodiment. Figure 8 As shown, the hydraulic control device 600 controls the opening and closing degree of the control valve 15 according to the operation amount of the steering wheel 31, the working device operating lever 32, and the brake pedal 33. The engine control device 500 controls the speed of the engine 10 according to the operation amount of the accelerator pedal 34. The travel control device 700 controls the speed ratio and rotation direction of the driving force transmission device 22 according to the operation of the shift operating lever 35.

[0102] The notification control device 200 obtains communication information transmitted from the process management terminal 800 via the communication interface 60 , obtains position information of the wheel loader via the positioning device 51 , and obtains information on obstacles around the wheel loader via the obstacle monitoring sensor 52 .

[0103] The notification control device 200 generates a notification control signal based on this information and sends the signal to the notification device 53. The notification device 53 can notify the operator through volume, melody, light volume, message, color, etc. As an example, the notification device 53 changes the intensity of notification to the operator, for example, a rotating light can be used. In the case where the notification device 53 is a rotating light, the intensity of the notification is changed by changing the volume of the sound, the pitch (frequency) of the sound, the brightness of the light, the speed of rotation, etc. In addition, in this embodiment, a rotating light is listed as an example of the notification device 53, but a monitor that displays the position of the obstacle can also be used as the notification device 53. In this case, the intensity can be changed by making the contrast, color, frequency (flashing speed), etc. when the obstacle position display flashes.

[0104] Next, refer to Fig. 9 , the functions of the notification control device 200 of this embodiment are explained. Fig. 9 1 is a functional block diagram of a notification control device 200 for a wheel loader according to the second embodiment. The notification control device 200 includes a notification management unit 210 and a notification signal generation unit 220. The notification management unit 210 corresponds to the control device of the present invention.

[0105] The notification management unit 210 obtains the communication information via the communication interface 60, obtains the position information of the wheel loader via the positioning device 51, and obtains the obstacle information via the obstacle monitoring sensor 52. The notification management unit 210 determines the notification mode based on the map data indicating the moving range of the wheel loader included in the communication information, the position information, and the obstacle information, and sends the notification mode to the notification signal generation unit 220. The details of the calculation process performed by the notification management unit 210 will be described later.

[0106] The notification signal generator 220 obtains the notification mode determined by the notification management unit 210, generates a notification control signal based on the notification mode, and transmits the notification control signal to the notifier 53. The notification signal generator 220 changes the intensity of notification by the notifier 53 such as the revolving light by controlling the notification control signal.

[0107] Next, refer to Fig.10 , the contents of the calculation processing performed in the notification management unit 210 of this embodiment are explained. Fig.10 This is a flowchart showing a calculation process executed by the notification management unit 210 of the wheel loader according to the second embodiment.

[0108] like Fig.10 As shown, the notification management unit 210 determines whether an obstacle (such as sand, etc.) is detected around the wheel loader based on the obstacle information obtained by the obstacle monitoring sensor 52 (S2101). If the notification management unit 210 determines that the above-mentioned obstacle is not detected (S2101 No), this operation process returns to the beginning. On the other hand, if the notification management unit 210 determines that the above-mentioned obstacle is detected (S2101 Yes), this operation process enters S2102.

[0109] In S2102, the notification management unit 210 calculates the current position of the wheel loader in the moving range by comparing the position information of the wheel loader obtained through the positioning device 51 with the map data included in the communication information, and determines whether the current position is a specified area (i.e., excavation area A or loading area B).

[0110] If the notification management unit 210 determines that the current position is a specified area (S2102: Yes), the operation process proceeds to S2103, and if the current position is determined not to be a specified area (S2102: No), the operation process proceeds to S2104. In S2103 and S2104, the notification management unit 210 determines whether to bypass the obstacle based on the position of the wheel loader when the obstacle is detected, and changes the control content of the wheel loader based on the determination result.

[0111] Specifically, when the position of the wheel loader is within the prescribed area when the obstacle is detected (Yes in S2102), in S2103, the notification management unit 210 determines that the obstacle should not be bypassed, and the intensity of the notification by the notifier 53 is weakened compared to the case where the position of the wheel loader is outside the prescribed area when the obstacle is detected. That is, the notification management unit 210 determines to set the notification mode to a weak obstacle notification, and sends the notification mode to the notification signal generation unit 220. When the notifier 53 is a rotating light, the notification management unit 210 determines to set the notification mode to a low-pitched sound (small size, low frequency), dark and low-speed rotation (small size, low frequency).

[0112] On the other hand, when the position of the wheel loader is outside the prescribed area when the obstacle is detected (No in S2102), in S2104, the notification management unit 210 determines that the obstacle should be bypassed, and the intensity of the notification by the notifier 53 is increased compared to the case where the position of the wheel loader is within the prescribed area when the obstacle is detected. That is, the notification management unit 210 determines to set the notification mode to a strong obstacle notification, and sends the notification mode to the notification signal generation unit 220. When the notifier 53 is a rotating light, the notification management unit 210 determines to set the notification mode to a high-pitched sound (large size, high frequency) and a bright and high-speed rotation (large size, high frequency).

[0113] In this way, when the current position of the wheel loader is in the specified area (excavation area A, loading area B) when an obstacle is detected, the notification management unit 210 controls to reduce the intensity of the notification by the notifier 53. Therefore, even when the excavated material Q such as sand and soil scattered on the ground in the specified area is detected as an obstacle, the trouble of notification caused to the operator can be reduced. Therefore, the operator can concentrate on the action corresponding to the current action mode (excavation mode, loading mode) of the wheel loader without bypassing obstacles such as sand and soil, and can efficiently perform the operation of the wheel loader.

[0114] On the other hand, when the current position of the wheel loader is outside the prescribed area (travel area U) when an obstacle is detected, the notification management unit 210 controls the intensity of notification by the notifier 53. Therefore, when the excavated material Q such as sand and soil scattered on the ground in the travel area U is detected as an obstacle, the operator can be given an opportunity to perform an operation to bypass the obstacle.

[0115] <Modification of Second Embodiment>

[0116] Next, a modified example of the wheel loader of the second embodiment will be described. The wheel loader of this modified example is different from the wheel loader of the second embodiment in the function of the notification management unit. Hereinafter, for the structure having the same or similar function as the wheel loader of the second embodiment, the same reference numerals as those of the wheel loader are marked and their description is omitted, and the different parts are described.

[0117] Fig.11 FIG. 2 is a flowchart showing a calculation process executed by a notification management unit of a working machine according to a modification of the second embodiment. Fig.11 As shown, when the notification management unit determines that an obstacle is detected (S2101 is), the operation processing enters S2102a.

[0118] In S2102a, the notification management unit determines whether the operation mode of the wheel loader is a predetermined operation mode (excavation mode or loading mode). The notification management unit calculates the current position of the wheel loader within the moving range by comparing the position information of the wheel loader obtained through the positioning device 51 with the map data included in the communication information, and estimates the operation mode of the wheel loader based on the current position. For example, when the current position of the wheel loader is calculated to be the excavation area A, the notification management unit estimates that the operation mode of the wheel loader is the excavation mode.

[0119] Similarly, when the current position of the wheel loader is calculated to be the loading area B, the notification management unit estimates that the operation mode of the wheel loader is the loading mode. When the current position of the wheel loader is calculated to be the driving area U, the notification management unit estimates that the operation mode of the wheel loader is the driving mode.

[0120] If the notification management unit determines that the action mode is the prescribed action mode (S2102a: Yes), the operation process proceeds to S2103, and if the action mode is determined not to be the prescribed action mode (S2102a: No), the operation process proceeds to S2104. In S2103 and S2104, the notification management unit 210 determines whether to bypass the obstacle based on the action mode of the wheel loader when the obstacle is detected, and changes the control content of the wheel loader based on the determination result.

[0121] Specifically, when the operation mode of the wheel loader when the obstacle is detected is the prescribed operation mode (S2102a is yes), in S2103, the notification management unit determines that the obstacle should not be bypassed, and weakens the intensity of the notification by the notifier 53 compared to the case where the operation mode of the wheel loader when the obstacle is detected is outside the prescribed operation mode. That is, the notification management unit determines to set the notification mode to a weak obstacle notification, and sends the notification mode to the notification signal generation unit 220.

[0122] In this way, when the action mode of the wheel loader when an obstacle is detected is a predetermined action mode (excavation mode or loading mode), the notification management unit controls to reduce the intensity of notification by the notifier 53. When performing an action corresponding to the excavation mode or loading mode, the wheel loader travels at a relatively low speed. Therefore, even if the excavated material Q such as sand and soil scattered on the ground is detected as an obstacle in this mode, the trouble of notification caused to the operator can be reduced. Therefore, the operator can concentrate on the action corresponding to the current action mode (excavation mode, loading mode) of the wheel loader without bypassing obstacles such as sand and soil, and can efficiently perform the operation of the wheel loader.

[0123] On the other hand, when the action mode of the wheel loader when an obstacle is detected is not the prescribed action mode (No in S2102a), in S2104, the notification management unit determines that the obstacle should be bypassed, and increases the intensity of the notification by the notifier 53 compared to the case where the position of the wheel loader when the obstacle is detected is the prescribed action mode. That is, when the action mode when an obstacle such as sand is detected is the driving mode, the notification management unit decides to set the notification mode to a strong obstacle notification mode, and sends the notification mode to the notification signal generation unit 220.

[0124] The wheel loader in the travel mode travels at a higher speed than the wheel loader in the excavation mode or the loading mode. Therefore, when the excavated material Q such as sand and soil scattered on the ground in the travel area U is detected as an obstacle, the operator can be given an opportunity to perform an operation to bypass the obstacle. By bypassing the obstacle, the risk of overturning when passing over the obstacle such as sand and soil at a high speed can be avoided.

[0125] The preferred embodiments of the present invention have been described above, but the present invention is not limited to the wheel loader of the above embodiments, but includes all the modes included in the concept of the present invention and the claims. For example, the above embodiments apply the present invention to a wheel loader having a bucket as a working tool, but the application object of the present invention is not limited thereto, and can also be applied to working machines other than wheel loaders such as hydraulic excavators.

[0126] In addition, the above-mentioned embodiment is an embodiment described in detail in order to easily understand the present invention, and is not limited to all the structures described. In addition, in order to achieve the above-mentioned subject and effect, each structure can also be appropriately and selectively combined. For example, the shape, material, configuration, size, etc. of each component in the above-mentioned embodiment can be appropriately changed according to the specific mode of the present invention.

[0127] Explanation of symbols

[0128] CA, CB surveillance cameras (surveillance devices)

[0129] A Excavation area (specified area)

[0130] B Loading area (specified area)

[0131] V1 wheel loader (working machinery)

[0132] 52 obstacle detection sensors

[0133] 53 alarm device (alarm device)

[0134] 61 Mobile body monitoring information receiving device (mobile body acquisition device)

[0135] 110 Action Management Department (Control Device)

[0136] 210 Notify the management department (control device).

Claims

1. A working machine, comprising: an obstacle monitoring sensor for monitoring obstacles; and a control device for controlling the working machine according to the monitoring result of the obstacle monitoring sensor, characterized in that: The control device determines whether to bypass the obstacle based on the position of the working machine in the work site when the obstacle is detected or the action mode of the working machine when the obstacle is detected, and changes the control content of the working machine based on the determination result.

2. The working machine according to claim 1, characterized in that: When the position of the working machine when the obstacle is detected is within a predetermined area for performing work, the control device determines that the obstacle should not be bypassed and continues the operation of the working machine when the obstacle is detected.

3. The working machine according to claim 2, characterized in that: When the position of the working machine when the obstacle is detected is outside the predetermined area, the control device determines that the obstacle should be bypassed, and generates a travel route bypassing the obstacle.

4. The working machine according to claim 1, characterized in that: The working machine comprises: a moving object acquisition device which acquires information of moving objects other than the own vehicle in the predetermined area from a monitoring device installed in the predetermined area where the working machine is to be performed; The control device stops the operation of the working machine based on the information of the moving object acquired from the moving object acquisition device.

5. The working machine according to claim 1, characterized in that: The working machine comprises: a notification device, which notifies the detected obstacle; The control device performs the following actions: If the position of the working machine when the obstacle is detected is within the prescribed area for working, it is determined that the obstacle should not be bypassed, The intensity of the notification by the notification device is weakened compared to a case where the position of the working machine is outside the predetermined area when the obstacle is detected.

6. The working machine according to any one of claims 2 to 5, characterized in that: The predetermined area is an excavation area where excavation of excavated objects is performed and a loading area where the excavated excavated objects are loaded.

7. The working machine according to claim 1, characterized in that: When the operation mode of the working machine when the obstacle is detected is a predetermined operation mode, the control device determines that the obstacle should not be bypassed, and continues the operation of the working machine when the obstacle is detected.

8. The working machine according to claim 7, characterized in that: When the operation mode of the working machine when the obstacle is detected is not the predetermined operation mode, the control device determines that the obstacle should be bypassed, and generates a travel route bypassing the obstacle.

9. The working machine according to claim 1, characterized in that: The working machine comprises: a notification device, which notifies the detected obstacle; The control device performs the following actions: If the operation mode of the working machine when the obstacle is detected is a predetermined operation mode, it is determined that the obstacle should not be bypassed, The intensity of the notification by the notification device is weakened compared to a case where the operation mode of the working machine when the obstacle is detected is not the predetermined operation mode.

10. The working machine according to any one of claims 7 to 9, characterized in that: The predetermined operation modes are an excavation mode for excavating an excavated object and a loading mode for loading the excavated excavated object.

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