Control system of work machine, work machine, remote operation system of work machine, and control method of work machine

Abstract

A control system of a work machine according to the present application includes a controller. The controller identifies a distance from the work machine to a digging object, determines whether the work machine is traveling at a travel speed that is equal to or greater than a first speed threshold, and determines whether the work machine is advancing toward the digging object. In a case where it is determined that the work machine is traveling at a travel speed that is equal to or greater than the first speed threshold, it is determined that the work machine is advancing toward the digging object, and it is determined that the distance is equal to or less than a distance threshold, a deceleration command for reducing the travel speed of the work machine is output.

Description

Technical Field

[0001] This invention relates to a control system for a work machinery, the work machinery itself, a remote operating system for the work machinery, and a control method for the work machinery. Background Technology

[0002] In the technical field of construction machinery, a remote operating system for a wheel loader, as disclosed in Patent Document 1, is known. In Patent Document 1, the wheel loader includes a camera and an antenna. The onboard controller of the wheel loader receives remote signals from a non-onboard controller via the antenna. The non-onboard controller receives images captured by the camera and displays them on a monitor.

[0003] Patent Document 1: European Patent Application Publication No. 3926107 Summary of the Invention

[0004] The working machinery operates based on control signals from the operator's control device. When excavating an object, the operator moves the working machinery towards the object in a digging posture. The object is then excavated by the working machinery cutting into it. If the working machinery travels at too high a speed when cutting into the object, the load on the machinery is excessive, which may lead to its deterioration.

[0005] The purpose of this invention is to suppress the deterioration of working machinery.

[0006] According to the present invention, a control system for a working machine equipped with a controller is provided. The controller identifies the distance from the working machine to the object to be excavated, determines whether the working machine is traveling at a speed greater than or equal to a first speed threshold, and determines whether the working machine is moving toward the object to be excavated. If it is determined that the working machine is traveling at a speed greater than or equal to the first speed threshold, that the working machine is moving toward the object to be excavated, and that the distance is less than or equal to a distance threshold, the controller outputs a deceleration command to reduce the traveling speed of the working machine.

[0007] According to the present invention, the deterioration of working machinery can be suppressed. Attached Figure Description

[0008] Figure 1 This is a diagram illustrating the remote operating system of the work machinery used in the implementation of the method.

[0009] Figure 2 This is a structural diagram showing the working machinery and operating device of the implementation method.

[0010] Figure 3 This is a hardware structure diagram of the vehicle controller used in the implementation method.

[0011] Figure 4 This is a diagram used to illustrate the operation of the working machinery in the implementation method.

[0012] Figure 5 This is a functional block diagram representing the control system of the operating machinery in the implementation method.

[0013] Figure 6 This is a diagram illustrating the method for identifying mining objects in an implementation scheme.

[0014] Figure 7 This is a diagram illustrating a method for identifying excavated objects that takes into account the hinge angle in an implementation embodiment.

[0015] Figure 8 This is a diagram illustrating a method for identifying excavated objects that takes into account the hinge angle in an implementation embodiment.

[0016] Figure 9 This is a diagram illustrating the detection area of ​​the external sensor used to explain the implementation method.

[0017] Figure 10 This is a diagram illustrating the detection area of ​​the external sensor used to explain the implementation method.

[0018] Figure 11 This is a flowchart illustrating the control method of the operating machinery in the implementation method.

[0019] Figure 12 It is a timing diagram showing the control method of the operating machinery in the implementation method. Detailed Implementation

[0020] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings, but the present invention is not limited to these embodiments. The structural elements of the embodiments described below can be appropriately combined. In addition, there are cases where some structural elements are not used.

[0021] Remote operating system

[0022] Figure 1 This diagram illustrates the remote operating system 200 of the work machinery 1 according to the embodiment. The remote operating system 200 is used to remotely operate the work machinery 1 present in the work site 201. At least a portion of the remote operating system 200 is disposed in a remote control room 202 located outside the work machinery 1. The remote operating system 200 includes an operating device 7, a display device 8, and a remote controller 9.

[0023] The operating device 7 is located in a remote control room 202 outside the work machinery 1. The operating device 7 is operated by the operator in the remote control room 202. The operator can operate the operating device 7 while seated in the operator's seat 10. Alternatively, the operator can also operate a portable operating device 700. The operating device 700 can also be operated from outside the remote control room 202.

[0024] Display device 8 is located in a remote control room 202 outside the work machinery 1. Examples of display devices 8 include flat panel displays such as liquid crystal displays or organic electroluminescent displays (EL displays). Display device 8 displays at least an image of the work site 201. Display device 8 can also output sound from the work site 201.

[0025] The operator checks the image of the work site 201 displayed on the display device 8 while operating the operating device 7. The work machinery 1 is remotely operated through the operating device 7.

[0026] The remote controller 9 is located in a remote control room 202 outside the operating machinery 1. The remote controller 9 communicates with the operating machinery 1 via a communication system 203. Examples of communication systems 203 include the Internet, a Local Area Network (LAN), a mobile phone communication network, and a satellite communication network.

[0027] Operating machinery

[0028] In this implementation, the operating machine 1 is a wheeled loader. For example... Figure 1 As shown, the work machinery 1 includes a body 2, an articulation mechanism 3, a cab 4, wheels 5, a work machine 6, external sensors 25, and a camera 29. The work machinery 1 moves within the work site 201 using its wheels 5. The work machinery 1 performs tasks within the work site 201 using its work machine 6. Examples of tasks that the work machinery 1 can perform include excavation, loading, transportation, and snow removal.

[0029] The vehicle body 2 supports the work machine 6. The vehicle body 2 includes a front frame 2F and a rear frame 2R. The front frame 2F is positioned forward of the rear frame 2R. The front frame 2F and the rear frame 2R are connected by a hinge mechanism 3. The hinge mechanism 3 includes a hinge cylinder 11. The hinge cylinder 11 is a hydraulic cylinder. The hinge cylinder 11 connects the front frame 2F and the rear frame 2R. The rear frame 2R is connected to the front frame 2F via the hinge mechanism 3, which includes the hinge cylinder 11. By extending or retracting the hinge cylinder 11, the front frame 2F can bend relative to the rear frame 2R in the left-right direction. By bending the front frame 2F relative to the rear frame 2R, the travel direction of the work machine 1 can be adjusted. The cab 4 is located on top of the rear frame 2R.

[0030] Wheels 5 support the vehicle body 2. Wheels 5 include a front wheel 5F mounted on the front frame 2F and a rear wheel 5R mounted on the rear frame 2R. The front wheel 5F rotates around the rotation axis CXf. The rear wheel 5R rotates around the rotation axis CXr. When the working machine 1 travels in a straight line, the rotation axis CXf of the front wheel 5F is parallel to the rotation axis CXr of the rear wheel 5R. Through the rotation of the wheels 5, the working machine 1 travels on the ground at the work site 201.

[0031] The work machine 6 is supported on the vehicle body 2. The work machine 6 is mounted at the front end of the front frame 2F. At least a portion of the work machine 6 is positioned forward of the front frame 2F. The work machine 6 has a boom 12, a bucket 13, a double boom crank 14, and a bucket linkage 15.

[0032] The base of the boom 12 is rotatably connected to the front frame 2F. The boom 12 rotates relative to the front frame 2F about the rotation axis AXa. A bracket 16 is fixed in the middle of the boom 12.

[0033] Bucket 13 is a working component for digging the object 300. Bucket 13 is used to hold the excavated material. Bucket 13 has a cutting edge front end 13A, an opening 13B, and a bottom surface 13C. The excavated material enters the bucket 13 from the outside through the opening 13B, or is discharged from the bucket 13 from the inside to the outside through the opening 13B. The cutting edge front end 13A is located at the lower end of the opening 13B. The bottom surface 13C is arranged to extend rearward from the cutting edge front end 13A.

[0034] The base of the bucket 13 is rotatably connected to the front end of the boom 12. The bucket 13 rotates relative to the boom 12 about the rotation axis AXb. The bucket 13 is positioned forward of the front wheel 5F. A bracket 17 is fixed to a portion of the bucket 13.

[0035] The middle part of the boom crank 14 is rotatably connected to the support 16 of the boom 12. The boom crank 14 rotates about the rotation axis AXc relative to the support 16 of the boom 12. The lower end of the boom crank 14 is rotatably connected to the base end of the bucket connecting rod 15.

[0036] The front end of the bucket link 15 is rotatably connected to the bracket 17 of the bucket 13. The bucket link 15 rotates about the rotation axis AXd relative to the bracket 17 of the bucket 13. The boom crank 14 is connected to the bucket 13 via the bucket link 15.

[0037] The boom 12 is actuated by the boom cylinder 18. The boom cylinder 18 is a hydraulic cylinder. The base end of the boom cylinder 18 is connected to the front frame 2F. The front end of the boom cylinder 18 is connected to the boom 12. The boom 12 rotates relative to the boom cylinder 18 about the rotation axis AXe.

[0038] The bucket 13 is actuated by the bucket cylinder 19. The bucket cylinder 19 is a hydraulic cylinder. The base of the bucket cylinder 19 is connected to the front frame 2F. The front end of the bucket cylinder 19 is connected to the upper end of the boom crank 14. The boom crank 14 rotates relative to the bucket cylinder 19 about the rotation axis AXf.

[0039] Rotating shafts AXa, AXb, AXc, AXd, AXe, and AXf are parallel to the rotating shaft CXf of the front wheel 5F. When the working machine 1 travels in a straight line, the rotating shaft AXa of the working machine 6 is parallel to the rotating shaft CXr of the rear wheel 5R.

[0040] An external sensor 25 is used to detect objects around the operating machinery 1. The external sensor 25 detects at least objects in front of the operating machinery 1. As an example of the external sensor 25, a three-dimensional sensor is shown. As an example of a three-dimensional sensor, a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light is shown. Alternatively, the three-dimensional sensor can be a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves, or it can be a stereo camera. The external sensor can also be a monocular camera. Objects can also be identified from images captured by a monocular camera using VSLAM (Visual Simultaneous Localization and Mapping) technology. Objects can also be identified (AI-recognized) from images captured by a monocular camera using artificial intelligence (AI) technology. In this embodiment, the external sensor 25 is disposed on the rear frame 2R. The external sensor 25 is disposed on the upper part of the cab 4. Furthermore, the external sensor 25 can be disposed inside the cab 4 or on the front frame 2F.

[0041] The camera device 29 is used to photograph the work site 201. The camera device 29 photographs at least the work site 201 in front of the operating machine 1. The camera device 29 photographs at least a portion of the operating machine 6. In this embodiment, the camera device 29 is disposed inside the cab 4.

[0042] Structure of operating machinery and control devices

[0043] Figure 2 This is a structural diagram showing the working machine 1 and the operating device 7 of the embodiment. For example... Figure 2 As shown, the working machine 1 includes an engine 20, a power take-off (PTO) device 21, a power transmission device 22, a braking device 23, a steering pump 24A, a steering control valve 37, an articulation cylinder 11, a working machine pump 24B, a boom control valve 38, a bucket control valve 39, a boom cylinder 18, a bucket cylinder 19, an external sensor 25, a vehicle speed sensor 26, a working machine attitude sensor 28, an articulation angle sensor 27, a camera device 29, and an on-board controller 30.

[0044] Engine 20 is the drive source for work machinery 1. Engine 20 is supported on vehicle body 2. Power take-off unit 21 is used to distribute the driving force of engine 20 to power transmission unit 22, steering pump 24A and work machinery pump 24B.

[0045] The power transmission device 22 is used to transmit the driving force of the engine 20 to the wheels 5. The power transmission device 22 is also used to control the direction of travel of the working machine 1. The direction of travel of the working machine 1 includes forward and reverse directions. The power transmission device 22 is used to switch between forward and reverse directions of the working machine 1. The power transmission device 22 can be a transmission with multiple gears or a transmission with a torque converter. The power transmission device 22 can be a hydrostatic continuously variable transmission (HST) composed of a hydraulic pump and a hydraulic motor, or a hydraulic / mechanical continuously variable transmission (HMT) composed of an HST and a planetary gear mechanism.

[0046] Braking device 23 is used to reduce the travel speed of the working machine 1. Braking device 23 is used to brake the working machine 1. Braking device 23 is a service brake. Braking device 23 has brake rotors respectively installed on the front wheel 5F and the rear wheel 5R, and brake pads that can press against the brake rotors. Braking device 23 can adjust the deceleration force (braking force). The stronger the force that presses the brake pads against the brake rotor, the stronger the deceleration force.

[0047] The steering pump 24A is a hydraulic pump operated by the driving force generated by the engine 20. The hydraulic oil discharged from the steering pump 24A is supplied to the articulated cylinder 11 via the steering control valve 37. The steering control valve 37 is used to control the flow rate and direction of the hydraulic oil supplied from the steering pump 24A to the articulated cylinder 11.

[0048] The work platform pump 24B is a hydraulic pump operated by the driving force generated by the engine 20. Hydraulic oil discharged from the work platform pump 24B is supplied to the boom cylinder 18 via the boom control valve 38. Hydraulic oil discharged from the work platform pump 24B is supplied to the bucket cylinder 19 via the bucket control valve 39. The boom control valve 38 controls the flow rate and direction of the hydraulic oil supplied from the work platform pump 24B to the boom cylinder 18. The bucket control valve 39 controls the flow rate and direction of the hydraulic oil supplied from the work platform pump 24B to the bucket cylinder 19. The work platform 6 is operated by the hydraulic oil from the work platform pump 24B.

[0049] External sensor 25 detects at least one object in front of the operating machinery 1. The detection data from external sensor 25 is sent to the on-board controller 30.

[0050] The vehicle speed sensor 26 is used to detect the travel speed of the working machinery 1. As an example of the vehicle speed sensor 26, a magnetic sensor is shown that detects the rotational speed of the drive shaft connected to the wheel 5. The detection data of the vehicle speed sensor 26 is sent to the on-board controller 30.

[0051] The machine attitude sensor 28 is used to detect the attitude of the machine 6. The attitude of the machine 6 includes the angle of the machine 6. The machine attitude sensor 28 includes a boom angle sensor 28A for detecting the attitude of the boom 12 and a bucket angle sensor 28B for detecting the attitude of the bucket 13. The detection data of the machine attitude sensor 28 is sent to the vehicle controller 30.

[0052] The posture of the boom 12 includes the angle of the boom 12. A boom angle sensor 28A is used to detect the boom angle, which represents the angle of the boom 12. The boom angle refers to the angle of the boom 12 relative to the vehicle body 2 in a local coordinate system. In an embodiment, the boom angle is the angle formed by the line connecting the rotation axes AXa and AXb and the line connecting the rotation axes CXf and CXr when the working machine 1 is traveling in a straight line. As an example of the boom angle sensor 28A, an angle sensor disposed at the connection between the front frame 2F and the boom 12 is shown.

[0053] The attitude of the bucket 13 includes the angle of the bucket 13. A bucket angle sensor 28B is used to detect the bucket angle, which represents the angle of the bucket 13. The bucket angle refers to the angle of the bucket 13 relative to the boom 12 in a local coordinate system. In an embodiment, the bucket angle is the angle formed by the line connecting the rotation axis AXb and the cutting edge 13A and the line connecting the rotation axis AXa and the rotation axis AXb. As an example of the bucket angle sensor 28B, an angle sensor disposed at the connection between the boom 12 and the boom crank 14 is shown. In an embodiment, the bucket angle sensor 28B detects the boom crank angle, which represents the angle of the boom crank 14 relative to the boom 12 in a local coordinate system. The boom crank angle is the angle formed by the line connecting the rotation axis AXc and the rotation axis AXf and the line connecting the rotation axis AXa and the rotation axis AXb. The bucket angle and the boom crank angle correspond one-to-one. The bucket angle sensor 28B detects the boom crank angle. The bucket angle is calculated based on the detection data of the boom crank angle and the boom angle.

[0054] Furthermore, the boom angle and bucket angle are angles on the operating plane of the work machine 6, which is orthogonal to the rotation axis AXa. The lines connecting the rotation axes AXa and AXb, the lines connecting the rotation axes AXc and AXf, the lines connecting the rotation axis AXb and the front end 13A of the blade, and the lines connecting the rotation axes CXf and CXr when the work machine 1 is traveling in a straight line are all lines on the operating plane of the work machine 6.

[0055] The articulation angle sensor 27 is used to detect the articulation angle of the vehicle body 2. The front frame 2F bends relative to the rear frame 2R in the left-right direction. The articulation angle refers to the bending angle between the front frame 2F and the rear frame 2R. When the working machine 1 is in a straight-line state, the articulation angle is 0°. That is, when the rotation axis CXf of the front wheel 5F is parallel to the rotation axis CXr of the rear wheel 5R, the articulation angle is 0°. As an example of the articulation angle sensor 27, a potentiometer disposed in the articulation mechanism is shown. In addition, the articulation angle sensor 27 can also be a stroke sensor used to detect the stroke length of the articulation cylinder 11.

[0056] The imaging device 29 is used to photograph the work site 201. The imaging device 29 photographs at least a portion of the work machine 6. The image data captured by the imaging device 29 is transmitted to the remote controller 9 via the on-board controller 30 and the communication system 203. The remote controller 9 causes the display device 8 to display the image data captured by the imaging device 29.

[0057] The operating device 7 is operated by an operator. Through the operator's operation, the operating device 7 generates operating signals to activate the working machine 1. The operating signals generated in the operating device 7 are transmitted to the on-board controller 30 via the remote controller 9 and the communication system 203. Based on the operating signals transmitted from the remote controller 9, the on-board controller 30 outputs control commands to activate the working machine 1. The operating device 7 includes a travel system operating device 7A and a working machine operating device 7B.

[0058] The travel system operating device 7A is operated by an operator to activate at least one of the engine 20, power transmission device 22, and braking device 23. The travel system operating device 7A generates operating signals for activating at least one of the engine 20, power transmission device 22, and braking device 23. The travel system operating device 7A includes an accelerator pedal 71, a brake pedal 72, a steering wheel 73, and a forward / reverse selector lever 74.

[0059] The accelerator pedal 71 is operated to increase the travel speed of the working machine 1. The brake pedal 72 is operated to decrease the travel speed of the working machine 1. The steering wheel 73 is operated to adjust the travel direction of the working machine 1. The forward / reverse switch 74 is operated to switch the travel direction of the working machine 1.

[0060] The machine operating device 7B is operated by the operator to move the machine 6. The machine operating device 7B generates operating signals for moving the machine 6. The machine operating device 7B includes a boom lever 75 and a bucket lever 76.

[0061] The boom 75 is operated to raise or lower the boom 12. The bucket stick 76 is operated to retract or tip the bucket 13. Raising the boom 12 refers to rotating the boom 12 around the rotation axis AXa, causing the front end of the boom 12 to leave the ground. Lowering the boom 12 refers to rotating the boom 12 around the rotation axis AXa, causing the front end of the boom 12 to approach the ground. Retracting the bucket 13 refers to rotating the bucket 13 around the rotation axis AXb, causing the opening 13B of the bucket 13 to face upwards and the front end 13A of the cutting edge to leave the ground. Tipping the bucket 13 refers to rotating the bucket 13 around the rotation axis AXb, causing the opening 13B of the bucket 13 to face downwards and the front end 13A of the cutting edge to approach the ground.

[0062] Vehicle controller

[0063] Figure 3This is a hardware structure diagram illustrating the implementation of the vehicle controller 30. The vehicle controller 30 includes a computer system. The vehicle controller 30 has a processor 31 such as a CPU (Central Processing Unit), a main memory 32 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a memory 33, an input / output interface 34 including input / output circuitry, and a communication interface 35 including communication circuitry. The functions of the vehicle controller 30 are stored as a computer program in the memory 33. The processor 31 reads the computer program from the memory 33 and loads it into the main memory 32, and executes the processing according to the computer program. In addition, the computer program can also be transmitted to the vehicle controller 30 via a network.

[0064] The remote controller 9 also includes a computer system. Similar to the vehicle controller 30, the remote controller 9 has a processor, main memory, storage, input / output interfaces, and communication interfaces.

[0065] Operation of operating machinery

[0066] Figure 4 This diagram illustrates the operation of the working machine 1 in the implementation method. At the work site 201, the working machine 1 excavates the object 300. As an example of the object 300, a pile of material placed on the ground at the work site 201 is shown. The pile of material refers to a hill formed of sand and soil. When excavating the object 300, the operator moves the working machine 1 towards the object 300 with the working machine 6 in a digging posture. The working machine 1 moves towards the object 300 while the working machine 6 is in a digging posture. After the bucket 13 of the working machine 6 cuts into the object 300, the bucket 13 retracts, thereby excavating the object 300.

[0067] The digging posture of the work machine 6 refers to the posture in which the bucket 13 can dig the object 300. The digging posture of the work machine 6 refers to the posture in which the front end 13A of the bucket 13 inserts into the lower end of the object 300 by moving the work machine 1 towards the object 300. The digging posture of the work machine 6 includes the posture in which the front end 13A of the bucket 13 approaches or contacts the ground of the work site 201.

[0068] The work machine 6 includes: a boom 12, which is rotatable about a rotation axis AXa and connected to the front frame 2F of the work machine 1; and a bucket 13, which is rotatable about a rotation axis AXb and connected to the boom 12. When the line connecting the rotation axis CXf of the front wheel 5F and the rotation axis CXr of the rear wheel 5R when the work machine 1 is traveling in a straight-line state is defined as a predetermined line RL, the rotation axis AXa is positioned above the predetermined line RL. Above is the direction away from the ground on which the work machine 1 travels. The digging posture of the work machine 6 includes: the rotation axis AXb is positioned closer to the ground than the predetermined line RL, and the angle between the bottom surface 13C of the bucket 13 and the ground on which the work machine 1 travels is less than or equal to a predetermined first angle threshold As. The first angle threshold As is, for example, 5°. That is, the digging posture of the work machine 6 includes: at least a portion of the bucket 13 is close to or in contact with the ground, and the bottom surface 13C of the bucket 13 is approximately parallel to the ground. When the ground on which the working machine 1 travels is substantially parallel to the horizontal plane, that is, when the specified line RL is parallel to the horizontal plane, the digging posture of the working machine 6 includes: the rotating shaft AXb is positioned below the specified line RL, and the angle between the bottom surface 13C of the bucket 13 and the specified line RL is less than or equal to a first angle threshold As. The bottom surface 13C of the bucket 13 can be tilted forward and downward, or it can be tilted forward and upward. When the angle between the bottom surface 13C of the bucket 13 and the ground is set to a negative value when it is tilted forward and downward, and the angle between the bottom surface 13C of the bucket 13 and the ground is set to a positive value when it is tilted forward and upward, the first angle threshold As can also be -5°≤As≤+3°.

[0069] The digging posture of the work machine 6 may also include: the front end 13A of the bucket 13 blade is close to or in contact with the ground. The distance between the ground and the front end 13A of the bucket 13 blade that satisfies the digging posture of the work machine 6 may also be less than 10cm.

[0070] control system

[0071] Figure 5 This is a functional block diagram illustrating the control system 100 of the work machine 1 according to the embodiment. The control system 100 includes an operating device 7, a remote controller 9, an on-board controller 30, an external sensor 25, a vehicle speed sensor 26, a work machine posture sensor 28, an articulation angle sensor 27, and a camera 29.

[0072] The vehicle controller 30 includes a sensor data acquisition unit 101, an operation signal acquisition unit 102, an object recognition unit 103, an attitude determination unit 104, a walking determination unit 105, a walking control unit 106, a work machine control unit 107, and a transmission unit 108.

[0073] The sensor data acquisition unit 101 is used to acquire detection data from external sensors 25, vehicle speed sensor 26, machine posture sensor 28, and articulation angle sensor 27. The detection data from machine posture sensor 28 includes detection data from boom angle sensor 28A, which indicates the boom angle, and detection data from bucket angle sensor 28B, which indicates the bucket angle.

[0074] The operation signal acquisition unit 102 is used to acquire operation signals from the operating device 7. The operation signals from the operating device 7 include: an operation signal from the accelerator pedal 71, which is operated to increase the travel speed of the working machine 1; an operation signal from the brake pedal 72, which is operated to decrease the travel speed of the working machine 1; an operation signal from the steering wheel 73, which is operated to adjust the travel direction of the working machine 1; and an operation signal from the forward / reverse switch lever 74, which is operated to switch the travel direction of the working machine 1. Additionally, the operation signals from the operating device 7 include: an operation signal from the boom lever 75, which is operated to move the boom 12; and an operation signal from the bucket stick 76, which is operated to move the bucket 13.

[0075] The object recognition unit 103 is used to identify the excavation object 300 from objects present around the working machine 1 while the working machine 1 is moving forward. The object recognition unit 103 identifies the excavation object 300 in front of the working machine 1 based on detection data from the external sensor 25. Based on the detection data from the external sensor 25, the object recognition unit 103 identifies objects whose height relative to the ground on which the working machine 1 travels is a predetermined height threshold Hs or higher as excavation objects 300. Additionally, the object recognition unit 103 is used to determine the distance from the working machine 1 to the excavation object 300.

[0076] Figure 6 This diagram illustrates the method for identifying the excavated object 300 in the implementation embodiment. The external sensor 25 is a three-dimensional sensor, thus capable of detecting the object's height relative to the ground. The height threshold Hs is a predefined value. Figure 6As shown, the object recognition unit 103, based on the detection data from the external sensor 25, identifies objects whose height relative to the ground on which the working machinery 1 travels is a height threshold Hs or higher as excavation objects 300. The object recognition unit 103 identifies objects 400 whose height relative to the ground is less than the height threshold Hs as non-excavation objects. Objects 400 whose height relative to the ground is less than the height threshold Hs can be identified as low-height stockpiles of material, or as protrusions on the ground or small clumps of sand. The height threshold Hs can be the height from the ground to a predetermined line RL, or it can be a height lower than the predetermined line RL. The height threshold Hs can be the height from the ground to the center of the bucket 13 in the height direction when the bottom surface 13C of the bucket 13 is in contact with the ground. The height threshold Hs can also be the height from the ground to the bottom surface 13C of the bucket 13 when the bottom surface 13C of the bucket 13 is away from the ground, or it can be the height from the ground to the center of the bucket 13 in the height direction.

[0077] Additionally, the object recognition unit 103 recognizes the distance from the working machine 1 to the excavation object 300. The distance from the working machine 1 to the excavation object 300 is the distance in the direction of travel of the working machine 1. When the object recognition unit 103 recognizes an object existing in front of the working machine 1 as the excavation object 300, it recognizes the distance from the working machine 1 to the excavation object 300. The external sensor 25 is a three-dimensional sensor, therefore it can detect the distance from the working machine 1 to the excavation object 300. The distance from the working machine 1 to the excavation object 300 can be the distance from the reference point of the external sensor 25 to a predetermined detection point Ps on the surface of the excavation object 300. When the detection data of the external sensor 25 includes three-dimensional point cloud data of the surface of the excavation object 300, the predetermined detection point Ps on the excavation object 300 is at least one point in the three-dimensional point cloud data. At least one of the detection points Ps is defined as having the same height as a height threshold Hs. The distance from the working machine 1 to the excavation object 300 can also be the distance from the reference point of the external sensor 25 to the detection point Ps, which is defined to be at the same height as the height threshold Hs.

[0078] Furthermore, the object recognition unit 103 determines whether the distance from the working machine 1 to the excavated object 300 is below a predetermined distance threshold Ls. The distance threshold Ls can be, for example, a value equal to the total length of the working machine 1. The total length of the working machine 1 refers to the distance in the longitudinal direction between the front end 13A of the bucket 13's cutting edge and the rear end of the rear frame 2R. The distance threshold Ls can also be a value equal to the wheelbase of the working machine 1. The wheelbase of the working machine 1 refers to the distance between the rotation axle CXf of the front wheel 5F and the rotation axle CXr of the rear wheel 5R.

[0079] The attitude determination unit 104 is used to determine whether the working machine 6 is in a digging attitude for digging the object 300. The attitude determination unit 104 determines whether the working machine 6 is in a digging attitude based on the detection data from the working machine attitude sensor 28. As described above, the digging attitude of the working machine 6 includes: the angle between the bottom surface 13C of the bucket 13 and the ground on which the working machine 1 travels is less than or equal to a predetermined first angle threshold As. The digging attitude of the working machine 6 may include: the rotating shaft AXb being positioned below a predetermined line RL. The digging attitude of the working machine 6 may include: the front end 13A of the bucket 13 contacting the ground. The digging attitude of the working machine 6 may also include: the front end 13A of the bucket 13 leaving the ground. The distance between the ground and the front end 13A of the bucket 13 is, for example, only 10 cm or less.

[0080] The travel determination unit 105 is used to determine whether the working machine 1 is traveling at a travel speed that is higher than or equal to a predetermined first speed threshold Fs1. Additionally, the travel determination unit 105 is used to determine whether the working machine 1 is moving towards the excavation target 300.

[0081] The travel determination unit 105 can determine whether the travel speed of the working machine 1 is above a first speed threshold Fs1 based on the detection data of the vehicle speed sensor 26. The first speed threshold Fs1 is, for example, 10 km / h. The highest travel speed when the upper limit of the speed gear in the transmission with torque converter is set to third or fourth gear can be defined as the first speed threshold Sh1.

[0082] The vehicle speed sensor 26 can detect not only the travel speed of the working machine 1, but also the rotation direction of the wheels 5. The travel determination unit 105 can determine whether the working machine 1 is moving forward based on the detection data from the vehicle speed sensor 26. The travel determination unit 105 can also determine whether the working machine 1 is moving towards the excavation target 300 based on the detection data from the external sensor 25 and the vehicle speed sensor 26. Furthermore, the travel determination unit 105 can also determine whether the working machine 1 is moving forward based on the operation signal of the forward / reverse switching lever 74.

[0083] In the following description, the action of the working machine 1 moving at a walking speed of more than a first speed threshold Fs1 and moving towards the excavation object 300 is referred to as excavation walking. That is, in the embodiment, the walking determination unit 105 is used to determine whether the working machine 1 is performing excavation walking at a walking speed of more than a first speed threshold Fs1 and moving towards the excavation object 300.

[0084] The travel control unit 106 controls the travel of the work machine 1 based on the operation signals from the travel system operating device 7A. The travel control unit 106 adjusts the travel speed of the work machine 1, or adjusts the travel direction of the work machine 1, or switches between forward and backward movement of the work machine 1 based on the operation signals from the travel system operating device 7A.

[0085] Furthermore, the travel control unit 106 outputs control commands to cause the engine 20 and the braking device 23 to operate according to predetermined conditions, regardless of the operation signals from the travel system operating device 7A. Even when the accelerator pedal 71 is operated, the travel control unit 106 can still output control commands to cause the engine 20 to operate according to predetermined conditions, regardless of the operation signals from the accelerator pedal 71. Even when the brake pedal 72 is not operated, the travel control unit 106 can still output control commands to cause the braking device 23 to operate according to predetermined conditions.

[0086] In the following description, a control command that is output from the travel control unit 106 to the braking device 23 to decelerate (brake) the working machine 1 based on the operation signal from the brake pedal 72 is called a manual deceleration command. A control command that is output from the travel control unit 106 to the braking device 23 to decelerate the working machine 1 without being affected by the operation signal from the brake pedal 72 is called an automatic deceleration command. In addition, the state in which the braking device 23 operates based on the automatic deceleration command is called automatic braking.

[0087] Furthermore, the automatic deceleration command may include control commands for reducing the output of engine 20. That is, the automatic deceleration command may include an automatic engine braking command that reduces the output of engine 20 to slow down the working machinery 1. Automatic braking may include automatic engine braking based on the automatic deceleration command to reduce the output of engine 20.

[0088] In the implementation, when the walking control unit 106 determines that the working machine 6 is in a digging posture, the working machine 1 is in digging movement, and the distance from the working machine 1 to the digging object is less than the distance threshold Ls, it outputs an automatic deceleration command to reduce the walking speed of the working machine 1.

[0089] After the travel control unit 106 reduces the travel speed of the working machine 1 to below a predetermined second speed threshold Fs2 via an automatic deceleration command, it stops outputting the automatic deceleration command. The second speed threshold Fs2 is a value less than the first speed threshold Fs1. The second speed threshold Fs2 is, for example, 8 km / h. The second speed threshold Sh2 is defined as the same value as the travel speed of the working machine 1 when performing digging operations. The highest travel speed when the upper limit of the speed gear in the transmission with torque converter is set to second gear can be defined as the second speed threshold Sh2.

[0090] When the working machine 1 is traveling at a speed above a first speed threshold Fs1, an automatic deceleration command is output. The traveling speed of the working machine 1 will then decrease to below the first speed threshold Fs1, and shortly thereafter to below a second speed threshold Fs2. After the traveling speed of the working machine 1 decreases below the second speed threshold Fs2, the travel control unit 106 stops outputting the automatic deceleration command. By stopping the output of the automatic deceleration command, the working machine 1 will travel based on operation signals from the accelerator pedal 71 and the brake pedal 72. With the traveling speed of the working machine 1 suppressed to below the second speed threshold Fs2, the bucket 13 of the working machine 6 cuts into the excavation object 300.

[0091] In the implementation, when the walking control unit 106 determines that the working machine 6 is in a digging posture and the working machine 1 is in digging movement, it outputs an automatic deceleration command when the distance from the working machine 1 to the digging object reaches the distance threshold Ls.

[0092] The travel control unit 106 can adjust the automatic deceleration command value based on the travel speed of the working machine 1 when the working machine 1 is traveling at a speed higher than the first speed threshold Fs1. A larger automatic deceleration command value results in a stronger deceleration force (braking force) based on the braking device 23, while a smaller value results in a weaker force. In this embodiment, a larger automatic deceleration command value results in a stronger force pressing the brake pads against the brake rotor, and a smaller value results in a weaker force. The travel control unit 106 can also output an automatic deceleration command so that the higher the travel speed of the working machine 1, the stronger the deceleration force. By adjusting the automatic deceleration command value to increase the travel speed of the working machine 1 and thus increase the deceleration force, the travel speed of the working machine 1 can be reduced to below the second speed threshold Fs2 within a short period.

[0093] Furthermore, the travel control unit 106 can adjust the automatic deceleration command value based on the distance from the working machine 1 to the excavated object 300 after it starts outputting the automatic deceleration command. The travel control unit 106 can also output the automatic deceleration command after it starts outputting the automatic deceleration command, such that the shorter the distance from the working machine 1 to the excavated object 300, the stronger the deceleration force (braking force). That is, the travel control unit 106 can also gradually increase the deceleration force as the distance from the working machine 1 to the excavated object 300 decreases after it starts outputting the automatic deceleration command.

[0094] The machine control unit 107 controls the machine 6 based on operation signals from the machine operating device 7B. The machine control unit 107 also controls the boom control valve 38 based on operation signals from the boom lever 75. By controlling the boom control valve 38, the boom cylinder 18 extends and retracts, thereby causing the boom 12 to rise and fall. The machine control unit 107 also controls the bucket control valve 39 based on operation signals from the bucket stick 76. By controlling the bucket control valve 39, the bucket cylinder 19 extends and retracts, thereby causing the bucket 13 to retract and tip.

[0095] The transmitting unit 108 is used to transmit image data captured by the imaging device 29 to the remote controller 9. The transmitting unit 108 can also transmit detection data from the machine attitude sensor 28 to the remote controller 9.

[0096] Considerations regarding hinge angle

[0097] Figure 7 and Figure 8 These figures illustrate a method for identifying an excavated object 300 considering the articulation angle, as described in the embodiment. The body 2 of the working machine 1 can bend via the articulation mechanism 3. The front frame 2F can bend in the left-right direction relative to the rear frame 2R. Figure 7 and Figure 8 As shown, the working machine 1 may move towards the excavation object 300 with the body 2 in a bent state.

[0098] like Figure 7As shown, when the vehicle body 21 is turning, the external sensor 25 mounted on the rear frame 2R has difficulty detecting the excavation object 300 present in front of the bucket 13. When the external sensor 25 mounted on the rear frame 2R detects the excavation object 300 present in front of the bucket 13, the vehicle body 2 must not turn. That is, when the external sensor 25 mounted on the rear frame 2R detects the excavation object 300 present in front of the bucket 13, the working machine 1 must travel in a straight line. Therefore, the travel determination unit 105 can also determine whether the hinge angle of the vehicle body 2 is below a predetermined second angle threshold Bs. That is, the travel determination unit 105 can also determine that the working machine 1 is performing excavation travel when the hinge angle of the vehicle body 2 is below the second angle threshold Bs, and the working machine 1 is moving towards the excavation object 300 at a travel speed above the first speed threshold Fs1. The travel control unit 106 can also output a deceleration command to reduce the travel speed of the work machine 1 when it determines that the work machine 6 is in a digging posture, that the work machine 1 is traveling at a travel speed greater than or equal to a first speed threshold Fs1, that the work machine 1 is moving towards the object to be dug 300, that the distance from the work machine 1 to the object to be dug 300 is less than or equal to a distance threshold Ls, and that the hinge angle of the vehicle body 2 is less than or equal to a second angle threshold Bs. When the hinge angle when the front frame 2F turns left relative to the rear frame 2R is set to a negative value, and the hinge angle when the front frame 2F turns right relative to the rear frame 2R is set to a positive value, the second angle threshold Bs can also be -1°≤Bs<+1°. By including the fact that the work machine 1 is in a straight-line state in the determination conditions for whether the work machine 1 is digging, the detection point Ps of the object to be dug is positioned in front of the external sensor 25. This can suppress false detections of the object to be dug by the external sensor 25.

[0099] like Figure 8 As shown, the travel determination unit 105 can also determine whether the working machine 1 is moving towards the excavation object 300 based on the detection data of the articulation angle sensor 27. Figure 8In the example shown, the work machine 1 moves towards the object to be excavated 300 with its body 2 turned. The work machine 1 approaches the object to be excavated 300 while turning. The work machine 1 moves towards the object to be excavated 300 along the turning trajectory line Tr. The trajectory line Tr is an imaginary line extending towards the object to be excavated 300, passing through the center of the body 2 and the center of the bucket 13 in the width direction. The radius of the trajectory line Tr (the turning radius of the work machine 1) is defined based on the articulation angle. The radius of the trajectory line Tr corresponds one-to-one with the articulation angle. Even if the detection point Ps of the object to be excavated 300 is not positioned in front of the external sensor 25 during the movement of the work machine 1, the detection data from the articulation angle sensor 27 will determine whether the work machine 1 is moving towards the object to be excavated 300. Therefore, the travel control unit 106 can output an automatic deceleration command at the appropriate time.

[0100] Detection area of ​​external sensor

[0101] Figure 9 and Figure 10 These are diagrams illustrating the detection areas of the external sensor 25 used to explain the implementation method. Figure 9 As shown, the detection area of ​​the external sensor 25 can be set only on the detection line Sr that coincides with the trajectory line Tr of the vehicle body 2. In other words, only one detection point Ps on the surface of the excavation object 300 needs to be specified in the vehicle width direction. Since there are fewer detection points Ps, the computational load when identifying the excavation object 300 can be reduced.

[0102] like Figure 10 As shown, the detection area of ​​the external sensor 25 can also be set on each of the multiple detection lines Sr that are parallel to the trajectory line Tr of the vehicle body 2 in the vehicle width direction and intersect with the bucket 13. In other words, multiple detection points Ps on the surface of the excavated object 300 can also be defined in the vehicle width direction. The dimension of the detection area with multiple detection points Ps in the vehicle width direction can be less than or equal to the width of the bucket 13. By increasing the number of detection points Ps in the vehicle width direction, the object recognition unit 103 can identify the shortest distance from the working machine 1 to the excavated object 300. In other words, the object recognition unit 103 can identify the closest point Pn of the excavated object 300 relative to the working machine 1.

[0103] Control methods for operating machinery

[0104] Figure 11This is a flowchart illustrating the control method of the work machine 1 according to the embodiment. The operation signal acquisition unit 102 acquires operation signals from the operation device 7. The travel control unit 106 controls the travel of the work machine 1 based on the operation signals from the travel system operation device 7A. The work machine control unit 107 controls the work machine 6 based on the operation signals from the work machine operation device 7B. The sensor data acquisition unit 101 acquires detection data from the external sensor 25, the vehicle speed sensor 26, the work machine posture sensor 28, and the articulation angle sensor 27 (step S1).

[0105] The attitude determination unit 104 determines whether the machine 6 is in a digging posture based on the detection data of the machine attitude sensor 28 (step S2).

[0106] When it is determined in step S2 that the machine 6 is in the digging posture (step S2: yes), the walking determination unit 105 determines whether the machine 1 is walking at a walking speed of more than the first speed threshold Fs1 based on the detection data of the vehicle speed sensor 26 (step S3).

[0107] When it is determined in step S3 that the working machine 1 is traveling at a speed greater than or equal to the first speed threshold Fs1 (step S3: Yes), the object recognition unit 103 identifies the excavation object 300 from the objects present in front of the working machine 1 based on the detection data of the external sensor 25. If the object recognition unit 103 identifies the excavation object 300, the travel determination unit 105 determines whether the working machine 1 is moving towards the excavation object 300 based on the detection data of the external sensor 25 and the detection data of the vehicle speed sensor 26 (step S4).

[0108] When it is determined in step S4 that the working machine 1 is moving towards the excavation object 300 (step S4: yes), the object recognition unit 103 determines, based on the detection data of the external sensor 25, whether the distance from the working machine 1 to the excavation object 300 is below the distance threshold Ls (step S5).

[0109] When it is determined in step S5 that the distance from the working machine 1 to the excavation object 300 is below the distance threshold Ls (step S5: Yes), the travel control unit 106 outputs an automatic deceleration command to the braking device 23 to reduce the travel speed of the working machine 1 (step S6).

[0110] After outputting the automatic deceleration command, the travel control unit 106 determines, based on the detection data of the vehicle speed sensor 26, whether the travel speed of the working machine 1 has been reduced to below the second speed threshold Fs2 (step S7).

[0111] When it is determined in step S7 that the travel speed of the working machine 1 has not decreased to below the second speed threshold Fs2 (step S7: No), the travel control unit 106 continues to output an automatic deceleration command.

[0112] When it is determined in step S7 that the travel speed of the working machine 1 has decreased to below the second speed threshold Fs2 (step S7: Yes), the travel control unit 106 stops outputting the automatic deceleration command (step S8). By stopping the output of the automatic deceleration command, the operation of the braking device 23 is released. By releasing the braking device 23 when the travel speed of the working machine 1 has decreased to the second speed threshold Fs2, the working machine 1 will continue to travel at a travel speed close to the second speed threshold Fs2. As the working machine 1 continues to travel, the bucket 13 of the working machine 6 cuts into the excavation object 300. While the working machine 1 is traveling at a travel speed close to the second speed threshold Fs2, the bucket 13 of the working machine 6 cuts into the excavation object 300.

[0113] When it is determined in step S2 that the working machine 6 is not in the digging posture (step S2: No), when it is determined in step S3 that the working machine 1 is not traveling at a speed greater than the first speed threshold Fs1 (step S3: No), when it is determined in step S4 that the working machine 1 is not moving towards the digging object 300 (step S4: No), or when it is determined in step S5 that the distance from the working machine 1 to the digging object 300 is less than the non-distance threshold Ls (step S5: No), the travel control unit 106 does not output an automatic deceleration command, but controls the working machine 1 based on the operation signal from the travel system operation device 7A.

[0114] Figure 12 This is a timing diagram illustrating the control method of the operating machine 1 in the implementation method. Figure 12 In the diagram, the horizontal axis represents time. The vertical axis represents the detection data from the machine attitude sensor 28, the travel speed of the machine 1, the distance from the machine 1 to the excavation object 300, and the command value of the automatic deceleration command output from the travel control unit 106 to the braking device 23.

[0115] Figure 12 This indicates that the working machine 1 is moving forward at a travel speed Fm starting from time t0. The working machine attitude sensor 28 outputs detection data Am indicating that the working machine 6 is in a digging posture. The travel speed Fm of the working machine 1 at time t0 is greater than or equal to the first speed threshold Fs1. In addition, since the working machine 1 is moving towards the digging object 300, the distance Lm from the working machine 1 to the digging object 300, as identified by the object recognition unit 103, gradually shortens.

[0116] At time t1, it is determined that the machine 6 is in a digging posture, the machine 1 is in a digging movement at a walking speed above the first speed threshold Fs1 toward the object to be dug 300, and the distance from the machine 1 to the object to be dug is below the distance threshold Ls.

[0117] At time t1, the travel control unit 106 outputs an automatic deceleration command with a command value Vm to reduce the travel speed of the working machine 1. The travel control unit 106 continues to output the automatic deceleration command until the travel speed Fm of the working machine 1 falls below the second speed threshold Fs2. Figure 12 In the example shown, at time t2, the walking speed Fm of the working machine 1 decreases to the second speed threshold Fs2.

[0118] At time t2, the travel control unit 106 stops outputting the automatic deceleration command. By stopping the output of the automatic deceleration command, the working machine 1 will move towards the excavation object 300 at a travel speed below the second speed threshold Fs2 and above 0 km / h. The working machine 1 moves towards the excavation object 300 at a travel speed close to the second speed threshold Fs2. As the working machine 1 moves towards the excavation object 300 at a travel speed close to the second speed threshold Fs2, the bucket 13 of the working machine 6 will cut into the excavation object 300 at a cutting speed close to the second speed threshold Fs2. When the bucket 13 cuts into the excavation object 300, the travel speed of the working machine 1 will decrease sharply. After the bucket 13 cuts into the excavation object 300, the bucket 13 will retract, thereby excavating the excavation object 300. Through the bucket 13 retracting action, the excavated material is scooped up by the bucket 13.

[0119] Effect

[0120] As explained above, in this embodiment, the control system 100 of the working machine 1 includes an on-board controller 30. The on-board controller 30 includes: an object recognition unit 103 for recognizing the distance Lm from the working machine 1 to the excavation object 300; a travel determination unit 105 for determining whether the working machine 1 is in the process of excavation travel at a travel speed Fm toward the excavation object 300 at a speed of at least a first speed threshold Fs1; and a travel control unit 106 for outputting an automatic deceleration command to reduce the travel speed Fm of the working machine 1 when it is determined that the working machine 1 is in the process of excavation travel and the distance Lm is less than or equal to the distance threshold Ls.

[0121] According to the embodiment, during excavation operations where the bucket 13 cuts into the excavation target 300, if the travel speed of the working machine 1 is high when the bucket 13 cuts into the excavation target 300, automatic braking is activated before the bucket 13 cuts into the excavation target 300. After the travel speed of the working machine 1 is reduced by the activation of automatic braking, the bucket 13 cuts into the excavation target 300, thus reducing the load on the working machine 1. Therefore, deterioration of the working machine 1 can be suppressed. According to the embodiment, when the travel speed of the working machine 1 is suppressed to below the second speed threshold Fs2, the bucket 13 of the working machine 6 cuts into the excavation target 300, thus suppressing excessive load on the working machine 6.

[0122] After the automatic braking is activated, reducing the travel speed of the working machine 1 to below the second speed threshold Sh2, the output of the automatic deceleration command is stopped. The working machine 1 can continue traveling at a speed close to the second speed threshold Fs2 after the output of the automatic deceleration command stops. The second speed threshold Fs2 is a value greater than 0 km / h. Because the bucket 13 can cut into the excavation object 300 at a cutting speed close to the second speed threshold Fs2, it is able to excavate the excavation object 300.

[0123] When the machine 1 is operated remotely, the operator in the remote control room 202 may have difficulty truly sensing that the machine 1 is traveling at a high speed. Therefore, the operator might cause the bucket 13 to cut into the object 300 while the machine 1 is traveling at a high speed. According to the embodiment, when the machine 1 is moving towards the object 300 at a high speed exceeding a first speed threshold Fs1, automatic braking is activated before the bucket 13 cuts into the object 300. The bucket 13 of the machine 6 only cuts into the object 300 when the travel speed of the machine 1 is suppressed to below a second speed threshold Fs2. Therefore, the load on the machine 1 can be reduced.

[0124] Other implementation methods

[0125] In the above embodiment, when it is determined that the working machine 6 is in a digging posture, that the working machine 1 is traveling at a speed greater than or equal to a first speed threshold Fs1, that the working machine 1 is moving towards the object to be dug 300, and that the distance Lm is less than or equal to a distance threshold Ls, the travel control unit 106 outputs an automatic deceleration command to reduce the travel speed Fm of the working machine 1. The fact that the working machine 6 is in a digging posture may not be included in the determination of whether to output an automatic deceleration command. That is, the travel control unit 106 may also output a deceleration command to reduce the travel speed of the working machine 1 when it is determined that the working machine 1 is traveling at a speed greater than or equal to a first speed threshold Fs1, that the working machine 1 is moving towards the object to be dug 300, and that the distance Lm is less than or equal to a distance threshold Ls.

[0126] In the above embodiments, when an automatic deceleration command is output, notification data indicating that automatic braking has been initiated can also be output from the display device 8.

[0127] In the above embodiments, some or all of the functions of the vehicle controller 30 may also be provided in the remote controller 9. For example, the object recognition unit 103, the posture determination unit 104, and the walking determination unit 105 may also be provided in the remote controller 9.

[0128] In the above embodiments, the machine 1 may not be remotely operated. Alternatively, an operator may operate the machine 1 from the cab 4 of the machine 1.

[0129] In the above embodiment, the working machine 1 is a wheel loader. The working machine 1 can be any working machine equipped with a tool for excavation. For example, the working machine 1 could also be a bulldozer.

[0130] Notes

[0131] The present invention can also adopt the following structure.

[0132] Note 1

[0133] A control system for a work machinery includes a controller that identifies the distance from the work machinery to the object being excavated, determines whether the work machinery is traveling at a speed greater than or equal to a first speed threshold, and determines whether the work machinery is moving toward the object being excavated. If it is determined that the work machinery is traveling at a speed greater than or equal to the first speed threshold, that the work machinery is moving toward the object being excavated, and that the distance is less than or equal to a distance threshold, the controller outputs a deceleration command to reduce the travel speed of the work machinery.

[0134] Note 2

[0135] According to the control system of the operating machinery described in Note 1, the controller stops outputting the deceleration command after reducing the traveling speed of the operating machinery to below a second speed threshold that is smaller than the first speed threshold by outputting the deceleration command.

[0136] Note 3

[0137] According to the control system of the operating machinery described in Note 1 or 2, the controller outputs the deceleration command so that the higher the travel speed, the stronger the deceleration force.

[0138] Note 4

[0139] The control system of the operating machinery according to any one of Notes 1 to 3, wherein the controller outputs the deceleration command such that the shorter the distance, the stronger the deceleration force.

[0140] Note 5

[0141] According to any one of Notes 1 to 4, the control system of the operating machinery identifies objects whose height relative to the ground on which the operating machinery travels is above a height threshold as the excavation object based on detection data from external sensors, wherein the external sensors are used to detect objects in front of the operating machinery.

[0142] Note 6

[0143] According to the control system of the operating machinery described in Note 5, the height threshold is the height from the ground to the center of the bucket when the bottom surface of the bucket of the operating machinery is in contact with the ground on which the operating machinery travels.

[0144] Note 7

[0145] According to any one of the notes 1 to 6, the control system of the operating machinery determines whether the operating machine of the operating machinery is in a digging posture for digging the object being excavated, and outputs the deceleration command when it is determined that the operating machine is in a digging posture and the distance is below a distance threshold.

[0146] Note 8

[0147] According to the control system of the operating machinery described in Note 7, the controller determines whether the operating machine is in a digging posture based on the detection data of the operating machine posture sensor, wherein the operating machine posture sensor is used to detect the posture of the operating machine.

[0148] Note 9

[0149] According to the control system of the operating machinery described in Note 8, the digging posture includes: the angle between the bottom surface of the bucket of the operating machine and the ground on which the operating machine travels is below a first angle threshold.

[0150] Note 10

[0151] According to the control system of the operating machinery described in Note 9, the digging posture includes: the front end of the blade of the bucket contacting the ground.

[0152] Note 11

[0153] According to the control system of the operating machinery described in Note 10, the operating machinery includes: a vehicle body having a front frame and a rear frame connected to the front frame via an articulation mechanism; an operating machine mounted on the front frame; an external sensor disposed on the rear frame for detecting objects in front of the operating machinery; and an articulation angle sensor for detecting the articulation angle of the vehicle body. Based on the detection data from the external sensor, the controller identifies objects whose height relative to the ground on which the operating machinery travels is above a height threshold as the excavation object, determines whether the articulation angle of the vehicle body is below a second angle threshold, and outputs the deceleration command if the articulation angle is determined to be below the second angle threshold.

[0154] Note 12

[0155] According to any one of Notes 1 to 11, the control system of the working machinery includes: a vehicle body having a front frame and a rear frame connected to the front frame via an articulation mechanism; a working machine mounted on the front end of the front frame; an external sensor disposed on the rear frame for detecting objects in front of the working machinery; and an articulation angle sensor for detecting the articulation angle of the vehicle body. The controller, based on the detection data from the external sensor, identifies objects whose height relative to the ground for the working machinery to travel is a height threshold or higher as the excavation target, and, based on the detection data from the articulation angle sensor, determines whether the working machinery is moving towards the excavation target.

[0156] Note 13

[0157] The control system of the operating machinery according to any one of Notes 1 to 12, wherein the operating machinery has: a vehicle body; a working machine mounted on the vehicle body; and an external sensor disposed on the vehicle body for detecting objects in front of the operating machinery, wherein the detection area of ​​the external sensor is set only on a detection line that coincides with the trajectory line of the vehicle body.

[0158] Note 14

[0159] The control system of the operating machinery according to any one of Notes 1 to 12, wherein the operating machinery has: a body; a working machine mounted on the body and having a bucket; and an external sensor disposed on the body for detecting an object in front of the operating machinery, the detection area of ​​the external sensor being set on each of a plurality of detection lines parallel to the trajectory line of the body and intersecting the bucket.

[0160] Note 15

[0161] A working machine having a control system for the working machine as described in any one of notes 1 to 14.

[0162] Note 16

[0163] A remote operating system for a work machine includes: an operating device disposed externally on the work machine; and a control system for the work machine as described in any one of notes 1 to 14.

[0164] Note 17

[0165] A control method for a work machinery, wherein a controller performs the following actions: identifying the distance from the work machinery to the object to be excavated; determining whether the work machinery is traveling at a speed greater than or equal to a first speed threshold; determining whether the work machinery is moving toward the object to be excavated; and, if it is determined that the work machinery is traveling at a speed greater than or equal to the first speed threshold, that the work machinery is moving toward the object to be excavated, and that the distance is less than or equal to a distance threshold, outputting a deceleration command to reduce the travel speed of the work machinery.

[0166] Symbol Explanation

[0167] 1…operating machinery, 2…body, 2F…front frame, 2R…rear frame, 3…articulation mechanism, 4…cab, 5…wheel, 5F…front wheel, 5R…rear wheel, 6…operating machine, 7…operating device, 7A…travel system operating device, 7B…operating machine operating device, 8…display device, 9…remote controller, 10…operator seat, 11…articulation cylinder, 12…boom, 13…bucket, 13A…shovel cutting edge, 13B…opening, 13C…bottom surface, 14…double boom crank, 15…shovel 16…Boom link, 17…Boom support, 18…Boom cylinder, 19…Bug cylinder, 20…Engine, 21…Power take-off unit, 22…Power transmission unit, 23…Brake device, 24A…Steering pump, 24B…Working machine pump, 25…External sensor, 26…Vehicle speed sensor, 27…Articulation angle sensor, 28…Working machine attitude sensor, 28A…Boom angle sensor, 28B…Bug angle sensor, 29…Camera device, 30…On-board controller, 31…Processor, 32…Main memory, 33…Memory, 34…Input / output interface, 35…Communication interface, 37…Steering control valve, 38…Boom control valve, 39…Bucket control valve, 71…Accelerator pedal, 72…Brake pedal, 73…Steering wheel, 74…Forward / reverse switch lever, 75…Boom lever, 76…Bucket lever, 100…Control system, 101…Sensor data acquisition unit, 102…Operation signal acquisition unit, 103…Object recognition unit, 104…Attitude determination unit, 105…Travel determination unit, 106…Travel control unit, 107…Working machine control unit, 108…Sending unit, 200…Remote operating system, 201…Work site, 202…Remote control room, 203…Communication system, 300…Excavation object, 400…Object, 700…Operating device, AXa…Rotating shaft (first rotating shaft), AXb…Rotating shaft (second rotating shaft), AXc…Rotating shaft, AXd…Rotating shaft, AXe…Rotating shaft, AXf…Rotating shaft, CXf…Rotating shaft, CXr…Rotating shaft.

Claims

1. A control system for a work-related machine, characterized in that, have: Controller The controller Identify the distance from the operating machinery to the object being excavated. Determine whether the operating machinery is traveling at a speed exceeding a first speed threshold, and determine whether the operating machinery is moving towards the object being excavated. If it is determined that the working machine is traveling at a speed above a first speed threshold, that the working machine is moving towards the object being excavated, and that the distance is below a distance threshold, a deceleration command is output to reduce the traveling speed of the working machine.

2. The control system for the operating machinery according to claim 1, characterized in that, After the controller outputs the deceleration command and reduces the traveling speed of the working machine to below a second speed threshold that is smaller than the first speed threshold, it stops outputting the deceleration command.

3. The control system for the operating machinery according to claim 1, characterized in that, The controller outputs the deceleration command so that the higher the walking speed, the stronger the deceleration force.

4. The control system for the operating machinery according to claim 1, characterized in that, The controller outputs the deceleration command so that the shorter the distance, the stronger the deceleration force.

5. The control system for the operating machinery according to claim 1, characterized in that, The controller identifies objects whose height relative to the ground on which the working machinery travels is above a height threshold as the excavation object based on detection data from external sensors. The external sensors are used to detect objects in front of the working machinery.

6. The control system for the operating machinery according to claim 5, characterized in that, The height threshold is the height from the ground to the center of the bucket when the bottom surface of the bucket of the working machine is in contact with the ground on which the working machine travels.

7. The control system for the operating machinery according to claim 1, characterized in that, The controller determines whether the machine being excavated is in a digging posture for excavating the object being excavated. If it is determined that the machine is in digging posture and the distance is below the distance threshold, the deceleration command is output.

8. The control system for the operating machinery according to claim 7, characterized in that, The controller determines whether the machine is in a digging posture based on the detection data from the machine's posture sensor, which is used to detect the machine's posture.

9. The control system for the operating machinery according to claim 8, characterized in that, The digging posture includes: the angle between the bottom surface of the bucket of the working machine and the ground on which the working machine travels is below a first angle threshold.

10. The control system for the operating machinery according to claim 9, characterized in that, The digging posture includes: the front end of the bucket's cutting edge contacting the ground.

11. The control system for the operating machinery according to claim 10, characterized in that, The operating machinery has: The vehicle body has a front frame and a rear frame connected to the front frame via an articulation mechanism. The work machine is mounted on the front frame; An external sensor, configured on the rear frame, is used to detect objects in front of the working machinery; as well as An articulation angle sensor is used to detect the articulation angle of the vehicle body. Based on the detection data from the external sensors, the controller identifies objects whose height relative to the ground level for the machinery to travel is above a certain threshold as the excavation target. Determine whether the hinge angle of the vehicle body is below the second angle threshold. If the hinge angle is determined to be below the second angle threshold, the deceleration command is output.

12. The control system for the operating machinery according to claim 1, characterized in that, The operating machinery has: The vehicle body has a front frame and a rear frame connected to the front frame via an articulation mechanism. The work machine is mounted at the front end of the front frame; An external sensor, configured on the rear frame, is used to detect objects in front of the working machinery; as well as An articulation angle sensor is used to detect the articulation angle of the vehicle body. Based on the detection data from the external sensors, the controller identifies objects whose height relative to the ground level for the machinery to travel is above a certain threshold as the excavation target. Based on the detection data from the articulation angle sensor, it is determined whether the working machinery is moving towards the excavation target.

13. The control system for the operating machinery according to claim 1, characterized in that, The operating machinery has: Body; The work machine, which is mounted on the vehicle body; and External sensors, configured on the vehicle body, are used to detect objects in front of the operating machinery. The detection area of ​​the external sensor is set only on the detection line that coincides with the trajectory line of the vehicle body.

14. The control system for the operating machinery according to claim 1, characterized in that, The operating machinery has: Body; A work machine, mounted on the vehicle body, and having a bucket; and External sensors, configured on the vehicle body, are used to detect objects in front of the operating machinery. The detection area of ​​the external sensor is set on each of a plurality of detection lines that are parallel to the trajectory line of the vehicle body and intersect the bucket.

15. A type of operating machinery, characterized in that, The machine has a control system as described in claim 1.

16. A remote operating system for a work machinery, characterized in that, have: Operating device, which is disposed outside the working machinery; and The control system of the operating machinery as described in claim 1.

17. A control method for a work machine, characterized in that, The controller performs the following actions: Identify the distance from the operating machinery to the object being excavated; Determine whether the operating machinery is traveling at a speed exceeding a first speed threshold; Determine whether the operating machinery is moving towards the object being excavated; If it is determined that the working machine is traveling at a speed above a first speed threshold, that the working machine is moving towards the object being excavated, and that the distance is below a distance threshold, a deceleration command is output to reduce the traveling speed of the working machine.

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