System and method for controlling a work machine that loads materials onto a transport vehicle
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- KOMATSU LTD
- Filing Date
- 2019-09-18
- Publication Date
- 2026-07-09
AI Technical Summary
Existing techniques for loading materials onto a conveyor vehicle using a work machine, such as a hydraulic excavator, lack efficient coordination between the work machine and the conveyor vehicle, leading to suboptimal loading operations.
A control system for a work machine that includes a processor to determine the target rotation angle of a rotating body based on the position of a conveyor vehicle reference point and the current position of the work machine's blade tip, allowing precise alignment and automatic loading.
Enables efficient and automated loading of materials onto the conveyor vehicle by accurately positioning the work machine, enhancing coordination between the work machine and the conveyor vehicle.
Abstract
Description
TECHNICAL AREA
[0001] The present invention relates to a technique for controlling a working machine that loads materials onto a transport vehicle. STATE OF THE ART
[0002] There are jobs where a machine, such as a hydraulic excavator, is used to excavate materials like soil and load them onto a transport vehicle, such as a dump truck. The transport vehicle is loaded with the materials at a predetermined loading position. It then travels to a predetermined unloading position and dumps the material. Afterward, the transport vehicle returns to the loading position, and the materials are reloaded onto it by the machine.
[0003] A conventional technique for performing the aforementioned loading operations using an automated control system is known. For example, patent document 1 shows that the digging position and the unloading position are previously learned by a control system of the machine. The control system directs the machine to dig at the digging position, to rotate from the digging position to the unloading position, and to unload materials at the unloading position. CITATION LIST PATENT STATEMENT
[0004] Patent document 1: Japanese published patent no. 2000-192514 SUMMARY OF THE INVENTION Technical Problem
[0005] According to the above technique, the loading operation can be carried out by the machine with automatic controls. However, the loading operation is not performed solely by the machine, but also in cooperation with the transport vehicle. Therefore, it is important to carry out the work with proper coordination between the machine and the transport vehicle to ensure efficient loading.
[0006] One object of the present invention is to carry out a loading operation onto the transport vehicle by the working machine with automatic control and to adequately coordinate the working machine and the transport vehicle. SOLUTION TO THE PROBLEM
[0007] A system according to a first aspect is a system for controlling a working machine. The working machine comprises a work tool, a rotating body to which the work tool is attached, and a support body that rotatably supports the rotating body, and loads materials onto a conveying vehicle. The system includes a first processor that controls the working machine. The first processor acquires data specifying the position of a predetermined reference point located on the conveying vehicle. The first processor acquires data specifying the position of the rotating body's center of rotation. The first processor acquires data specifying the position of the cutting tip of the work tool. The first processor determines a target rotation angle of the rotating body from a straight line connecting the position of the rotating body's center of rotation and the position of the reference point on the conveying vehicle, and the current position of the cutting tip of the work tool.The first processor controls the rotating body to rotate according to the target rotation angle.
[0008] A method according to a second aspect is a method performed by one or more processors to control a working machine that loads materials onto a conveying vehicle. The working machine includes a working tool, a rotating body to which the working tool is attached, and a support body that rotatably supports the rotating body. The method according to a present aspect includes the following processes. A first process is to acquire data specifying the position of a predetermined reference point contained within the conveying vehicle. A second process is to acquire data specifying the position of a center of rotation of the rotating body. A third process is to acquire data specifying the position of a cutting tip of the working tool.A fourth process involves determining a target rotation angle of the rotating body from a straight line connecting the position of the rotating body's center of rotation and the position of the conveying vehicle's reference point, and the current position of the cutting tip of the working tool. A fifth process involves controlling the rotating body to rotate according to the target rotation angle. ADVANTAGEOUS EFFECTS OF THE INVENTION
[0009] According to the present invention, the target rotation angle of the rotating body is determined from the straight line connecting the position of the rotating body's center of rotation and the position of the reference point of the conveying vehicle, and the current position of the cutting tip of the working tool. The working machine is controlled so that the rotating body rotates according to the target rotation angle. Therefore, it is possible to move the working tool into a position where the materials can be easily loaded onto the conveying vehicle. Consequently, it is possible to carry out the loading operations onto the conveying vehicle using the automatic control system and to coordinate the working machine and the conveying vehicle effectively. List of characters Fig. Figure 1 is a top view showing an example of a construction site where a work machine and a transport vehicle are used. Fig. Figure 2 is a side view of the machine. Fig. Figure 3 is a block diagram representing a configuration of the working machine. Fig. Figure 4 is a side view of the conveyor vehicle. Fig. Figure 5 is a block diagram representing a configuration of the conveyor vehicle. Fig. Figure 6 is a flowchart that depicts a process of automatic control of the working machine. Fig. Figure 7 is a flowchart that depicts a process of automatic control of the working machine. Fig. Figure 8 is a flowchart that illustrates a process of automatic control of the conveyor vehicle. Fig. Figure 9 is a flowchart that illustrates a process of automatic control of the conveyor vehicle. Fig. Figure 10 is a top view that schematically depicts the conditions of the construction site in an automatic control mode. Fig. Figure 11 is a top view that schematically depicts the conditions of the construction site in automatic control mode. Fig. Figure 12 is a top view that schematically depicts the conditions of the construction site in automatic control mode. Fig. Figure 13 is a top view that schematically depicts the conditions of the construction site in automatic control mode. Fig. Figure 14 is a top view showing an example of an acceptable stopping area. Fig. Figure 15 is a top view showing the adjustment of a rotation angle of a loading platform of the transport vehicle. Fig. Figure 16 is a top view showing an example of a current topography and excavation route. Fig. Figure 17 is a side view, which provides an example of a cross-section through the current topography and the excavation route. Fig. Figure 18 is a top view that schematically depicts the conditions of the construction site in automatic control mode. DESCRIPTION OF THE EXECUTION FORMS
[0010] A control system for a working machine and a conveying vehicle according to one embodiment will now be described with reference to the drawings. Fig. Figure 1 is a top view showing an example of a construction site where a work machine is located. 1 and a transport vehicle 2 according to the embodiment. The working machine 1 and the transport vehicle 2 are positioned at the construction site. The work machine 1 and the transport vehicle 2 They carry out the work collaboratively under automated control.
[0011] In the present embodiment, the working machine 1 a hydraulic excavator. The conveyor vehicle 2 It's a dump truck. The work machine1 The transport vehicle is positioned next to a predetermined digging position L1 on the construction site. 2 The machine travels back and forth between a predetermined loading position L2 and a predetermined unloading position L3 on the construction site. 1 The vehicle automatically excavates the trench position L1 and loads materials such as soil and the like onto the transport vehicle as the object to be excavated. 2 , which is stopped at loading position L2. The transport vehicle loaded with materials 2 The transport vehicle travels to the unloading position L3 and unloads the materials there. Another work machine 3, e.g., a bulldozer, is positioned at the tipping position L3 and distributes the materials unloaded there. 2 , which has unloaded the materials, drives to loading position L2, and the work machine 1 loads the materials back onto the transport vehicle 2, which is located at loading position L2. The materials from excavation position L1 are transported to unloading position L3 by repeating the preceding process.
[0012] Fig. 2 is a side view of the working machine 1 As in Fig. 2 shown, contains the working machine 1 a vehicle body 11 and a working device 12. The vehicle body 11 contains a rotating body. 13 and a supporting body 14 The solid of revolution 13 is rotatable on the support body 14 attached to the rotating body 13 Cabin 15 is arranged. However, cabin 15 can also be omitted. The support body 14 It contains 16 caterpillar track belts. The 16 caterpillar track belts are driven by the driving force of a motor 24 described later, thereby powering the working machine. 1 drives.
[0013] The working device 12 is attached to the front part of the vehicle superstructure 11. The working device 12 comprises a boom 17, a stick 18, and a bucket 19. The boom 17 is attached to the rotating body. 13 The boom 18 is movably attached to the arm 17. The bucket 19 is movably attached to the arm 18. The working device 12 includes a boom cylinder 21, a boom cylinder 22, and a bucket cylinder 23. The boom cylinder 21, the boom cylinder 22, and the bucket cylinder 23 are hydraulic cylinders and are driven by hydraulic fluid supplied by a hydraulic pump 25, which will be described later. The boom cylinder 21 actuates the boom 17. The boom cylinder 22 actuates the boom 18. The bucket cylinder 23 actuates the bucket 19.
[0014] Fig. 3 is a block diagram showing a configuration of a control system of the working machine. 1represents. As in Fig. 3 shown, contains the working machine 1 a motor 24, a hydraulic pump 25, a power transmission device 26 and a control unit 27.
[0015] Motor 24 is controlled by command signals from the control unit 27. The hydraulic pump 25 is driven by motor 24 to pump hydraulic fluid. The hydraulic fluid pumped by hydraulic pump 25 is supplied to the boom cylinder 21, the stick cylinder 22, and the bucket cylinder 23.
[0016] The work machine 1 It contains a rotary motor 28. The rotary motor 28 is a hydraulic motor and is driven by hydraulic fluid from the hydraulic pump 25. The rotary motor 28 drives the rotating body. 13 The hydraulic pump 25 is a variable displacement pump. Although in Fig. Figure 3, which shows a hydraulic pump 25, can contain a variety of hydraulic pumps. A pump control device 29 is connected to the hydraulic pump 25. The pump control device 29 controls the tilt angle of the hydraulic pump 25. The pump control device 29 contains, for example, an electromagnetic valve and is controlled by command signals from the controller 27. The controller 27 controls the displacement of the hydraulic pump 25 by controlling the pump control device 29.
[0017] The hydraulic pump 25, the cylinders 21 to 23, and the rotary motor 28 are connected to each other via a hydraulic circuit through a control valve 31. The control valve 31 is controlled by command signals from the controller 27. The control valve 31 regulates the flow rate of the hydraulic fluid that is supplied by the hydraulic pump 25 to the cylinders 21 to 23 and the rotary motor 28. The controller 27 controls the operation of the working tool 12 by controlling the control valve 31. The controller 27 also controls the rotation of the rotary body. 13 by controlling the control valve 31.
[0018] The power transmission device 26 transmits the drive force of the motor 24 to the support body. 14The power transmission device 26 can be, for example, a torque converter or a gearbox with a plurality of gears. Alternatively, the power transmission device 26 can be another type of gearbox, such as a hydrostatic transmission (HST) or a hydraulic-mechanical transmission (HMT).
[0019] The control unit 27 is programmed to operate the work machine. 1 to control based on the acquired data. The control device 27 causes the working machine to 1 to drive by using the motor 24, the support body 14 and controls the power transmission device 26. The control unit 27 initiates the operation of the working device 12 by controlling the motor 24, the hydraulic pump 25 and the control valve 31.
[0020] The controller 27 contains a first processor. 271 , such as a CPU or a GPU, and 272 MB of memory. The first processor 271leads to a process for the automatic control of the working machine 1 through. Memory 272 stores data and programs for the automatic control of the machine. 1 . Memory 272, for example, contains a volatile memory and a non-volatile memory.
[0021] The work machine 1 The device includes load sensors 32a to 32c. These sensors detect a load applied to the working tool 12 and output load data indicating the load. In this embodiment, the load sensors 32a to 32c are hydraulic pressure sensors and each detects the hydraulic pressure of cylinders 21 to 23. The load data indicates the hydraulic pressures of cylinders 21 to 23. The controller 27 is connected to the load sensors 32a to 32c via a wired or wireless communication connection. The controller 27 receives the load data from the load sensors 32a to 32c.
[0022] The work machine 1It includes a first position sensor 33, working machine sensors 34a to 34c and a rotation angle sensor 39. The first position sensor 33 detects a position of the working machine. 1 and outputs position data that indicates the position of the working machine 1 The first position sensor 33 contains a GNSS receiver (GNSS = Global Navigation Satellite System) and an inertial measurement unit (IMU). The GNSS receiver is, for example, a receiver for a global positioning system (GPS). The position data includes information about the position of the machine. 1 The data includes information output by the GNSS receiver and data output by the IMU indicating the position of the vehicle body 11. The position of the vehicle body 11 includes, for example, an angle (pitch angle) relative to the horizontal in the longitudinal direction of the machine. 1 and an angle (roll angle) with respect to the horizontal in the transverse direction of the working machine1 .
[0023] The implement sensors 34a to 34c detect the position of the implement 12 and output position data indicating the position of the implement 12. For example, the implement sensors 34a to 34c are stroke sensors that detect the stroke amounts of the cylinders 21 to 23. The position data of the implement 12 includes the stroke amounts of the cylinders 21 to 23. Alternatively, the implement sensors 34a to 34c can also be other sensors, such as sensors that detect the respective rotation angles of the boom 17, the stick 18, and the bucket 19. The rotation angle sensor 39 detects the rotation angle of the rotating body. 13 in relation to the supporting body 14 and outputs rotation angle data that specifies the rotation angle.
[0024] The control unit 27 is connected to the first position sensor 33, the implement sensors 34a to 34c, and the rotary angle sensor 39 via wired or wireless communication. The control unit 27 receives the position data from the implement. 1 The position data of the working tool 12 and the rotation angle data from the first position sensor 33, the working tool sensors 34a to 34c, and the rotation angle sensor 39. The controller 27 calculates a cutting edge tip position of the bucket 19 from the position data, the position data, and the rotation angle data. The position data of the working machine 1 For example, they specify the global coordinates of the first position sensor 33. The controller 27 calculates the global coordinates of the cutting tip position of the bucket 19 from the global coordinates of the first position sensor 33 based on the position data of the working tool 12 and the rotation angle data.
[0025] The work machine 1It contains a topography sensor 35. The topography sensor 35 measures the topography in the vicinity of the working machine. 1 and outputs topography data indicating the topography measured by the topography sensor 35. In the present embodiment, the topography sensor 35 is mounted on a side part of the rotating body. 13 The topography sensor 35 measures the topography that extends to the side of the rotating body. 13 The topography sensor 35, for example, is a LIDAR device (LIDAR = Laser Imaging Detection and Ranging). The LIDAR device measures the distances to a multitude of measurement points on the topography by shining a laser beam and measuring its reflected light. The topography data shows the positions of the measurement points in relation to the machine being worked. 1 to.
[0026] The work machine 1It contains a first camera 36 and a plurality of second cameras 37. The first camera 36 is separated from the rotating body. 13 directed forwards and is attached to the rotating body 13 The first camera, 36, is mounted facing the front of the rotating body. 13 The first camera, number 36, is a stereo camera. The first camera, number 36, outputs initial image data indicating the recorded moving images.
[0027] The multitude of second cameras 37 is from the rotating body 13 directed to the left, right and rear, and is attached to the rotating body 13The second cameras 37 output second image data indicating the recorded moving images. The second cameras 37 can be single-lens cameras. Alternatively, the second cameras 37, like the first camera 36, can be stereo cameras. The controller 27 is connected to the first camera 36 and the second cameras 37 via wired or wireless communication. The controller 27 receives the first image data from the first camera 36. The controller 27 receives the second image data from the second cameras 37.
[0028] The work machine 1 includes a first communication device 38. The first communication device 38 performs data communication with a device outside the working machine. 1 through. The first communication device 38 communicates with a remote computer device 4 outside the working machine. 1The remote computer device 4 can be located at the construction site. Alternatively, the remote computer device 4 can be located in an administrative center remote from the construction site. The remote computer device 4 includes a display 401 and an input device 402.
[0029] Display 401 shows images relating to the work machine 1 The display 401 shows images corresponding to the signals received by the controller 27 via the first communication device 38. The input device 402 is operated by an operator. The input device 402 may, for example, include a touchscreen or hardware buttons. The remote computer device 4 transmits signals to the controller 27 via the first communication device 38, indicating the commands entered by the input device 402. The first communication device 38 also performs data communication with the conveying vehicle.2 through.
[0030] Fig. Figure 4 is a side view of the conveyor vehicle. 2 As in Fig. As shown in 4, the conveyor vehicle contains 2 a vehicle body 51, a driving body 52 and a loading area 53 The vehicle body 51 is in relation to the driving body 52 rotatably supported. The chassis 52 It contains crawler tracks 54. The crawler tracks 54 are driven by the driving force of a motor 55 described later, which propels the conveyor vehicle. 2 drives. The loading area 53 is supported by the vehicle body 51. Accordingly, the loading area 53 together with the vehicle body 51 in relation to the vehicle body 52 Rotating support. The loading platform 53 It is designed to move between an unloading position and a conveying position. Fig. 4 is the loading area 53represented by solid lines indicating the position of the loading area 53 Indicate in the conveying position. A loading platform 53', indicated by a chain of double-dashed lines, shows the position of the loading platform. 53 in the unloading position. In the conveying position, the loading platform is 53 Arranged approximately horizontally. In the unloading position, the loading platform 53 inclined relative to the conveying position.
[0031] Fig. Figure 5 is a block diagram showing a configuration of a control system for the conveying vehicle. 2 represents the conveyor vehicle 2 It includes a motor 55, a hydraulic pump 56, a power transmission device 57, a lifting cylinder 58, a rotary motor 59, a control unit 61, and a control valve 62. The control unit 61 includes a second processor. 611 , such as a CPU or a GPU, and 612 GB of memory. The second processor 611leads to a process for the automatic control of the conveyor vehicle 2 through. Memory 612 stores data and programs for the automatic control of the conveyor vehicle. 2 . Memory module 612, for example, contains volatile memory and non-volatile memory.
[0032] The motor 55, the hydraulic pump 56, the power transmission device 57, the control unit 61 and the control valve 62 have the same configuration as the motor 24, the hydraulic pump 25, the power transmission device 26, the control unit 27 and the control valve 31 of the working machine. 1 Therefore, detailed explanations are omitted.
[0033] The lifting cylinder 58 is a hydraulic cylinder. The rotary motor 59 is a hydraulic motor. The hydraulic fluid supplied by the hydraulic pump 56 is fed to the lifting cylinder 58 and the rotary motor 59. The lifting cylinder 58 and the rotary motor 59 are driven by the hydraulic fluid from the hydraulic pump 56. The lifting cylinder 58 raises and lowers the loading platform. 53 This changes the position of the loading platform. 53 The vehicle body switches between the conveying position and the unloading position. The rotary motor 59 causes the vehicle body 51 to rotate relative to the chassis. 52 The control unit 61 controls the lifting cylinder 58 via the control valve 62 and thus controls the operation of the loading platform. 53 . Furthermore, the control device 61 controls the rotary motor 59 via the control valve 62 and thus the rotation of the vehicle body 51.
[0034] The conveyor vehicle 2It includes a second position sensor 63, a loading platform sensor 64, and a rotation angle sensor 65. The second position sensor 63 contains a GNSS receiver and an IMU in the same way as the first position sensor 33 of the working machine. 1 The second position sensor 63 outputs position data. This position data includes information about the position of the conveying vehicle. 2 specify, and data that indicate a position of the vehicle body 51.
[0035] The loading platform sensor 64 detects the position of the loading platform 53 and outputs loading platform data that shows the position of the loading platform 53 Specify. The loading platform sensor 64 is, for example, a lift sensor that detects the lift stroke of the lift cylinder 58. The loading platform data contains the lift stroke of the lift cylinder 58. Alternatively, the loading platform sensor 64 can be a different type of sensor, e.g., a sensor that detects the tilt angle of the loading platform. 53The rotation angle sensor 65 detects the rotation angle of the vehicle body 51 in relation to the driving body. 52 and outputs rotation angle data that specifies the rotation angle.
[0036] The control unit 61 is connected to the second position sensor 63, the loading platform sensor 64, and the rotation angle sensor 65 via wired or wireless communication. The control unit 61 receives the position data, the loading platform data, and the rotation angle data from the second position sensor 63, the loading platform sensor 64, and the rotation angle sensor 65, respectively.
[0037] The conveyor vehicle 2 It contains a second communication device 66. The control unit 61 of the conveying vehicle. 2 The second communication device 66 establishes data communication with the control unit 27 of the working machine. 1 through. The control unit 61 of the conveyor vehicle 2 transmits the position data of the transport vehicle 2, the loading area data and the rotation angle data via the second communication device 66. The control 27 of the working machine 1 receives the position data of the transport vehicle 2 , the loading area data and the rotation angle data via the first communication device 38. The control 27 of the working machine 1 stores vehicle dimension data, which includes the arrangement and dimensions of the vehicle body 51 of the conveying vehicle 2 and the loading area 53 Specify. The control unit 27 calculates from the position data of the conveying vehicle. 2 , the loading area data, the rotation angle data and the vehicle dimension data determine the position of the loading area 53 .
[0038] Next, a procedure for an automatic control mode is described, which is controlled by the control unit 27 of the working machine. 1 and the control unit 61 of the conveyor vehicle 2is executed. In automatic control mode, the control unit 61 of the conveying vehicle controls 2 the transport vehicle 2 so that the conveyor vehicle 2 automatically moves back and forth between loading position L2 and the predetermined unloading position L3. The control unit 27 of the work machine. 1 controls the work machine 1 so that the working machine 1 automatically performs the digging and loading work described above. Fig. 6 and Fig. 7 are flowcharts illustrating the process of the automatic control mode, which is controlled by the control unit 27 of the working machine. 1 is executed. Fig. 8 and Fig. 9 are flowcharts illustrating the process of the automatic control mode, which is controlled by the control unit 61 of the conveyor vehicle. 2 is executed.
[0039] After receiving a start command to initiate the automatic control mode, the control unit 27 of the working machine executes 1 the in Fig. The process of automatic control mode is shown in section 6. As in Fig. As shown in Figure 10, the start command to initiate the automatic control mode is issued by the aforementioned remote computer device 4, for example, due to the operator's operation of the input device 402 of the remote computer device 4. The controller 27 receives the start command via the first communication device 38. The controller 61 of the conveying vehicle 2 It also receives the start command to initiate automatic control mode. After receiving the start command to initiate automatic control mode, the control unit 61 of the conveyor vehicle executes 2 the in Fig. 8 depicted process of automatic control mode.
[0040] In step S101, the control system of the working machine detects 27. 1 the position of the working machine 1 , as in Fig. Figure 6 is shown. The control unit 27 records the position data of the machine. 1 The control unit 27 receives the position data of the working tool 12 and the rotation angle data from the first position sensor 33, the working tool sensors 34a to 34c, and the rotation angle sensor 39. The control unit 27 calculates the cutting edge position of the bucket 19 from the position data, the working tool data, and the rotation angle data. The control unit 27 continuously acquires and updates the position of the working tool. 1 during automatic control mode.
[0041] In step S102, the controller 27 determines a target stop position P1 in the loading position L2 of the conveying vehicle. 2 based on the position of the working machine 1In particular, the control system records 27 data points that determine the direction of the loading position L2 in relation to the working machine. 1 The control unit 27 detects the position of the machine. 1 and the loading position L2 by calculating the direction of the loading position L2 in relation to the working machine 1 Furthermore, the control system records 27 data points that determine the target offset distance of the conveying vehicle. 2 in relation to the working machine 1 The target offset distance is stored, for example, in memory 272, and the controller 27 reads the target offset distance from memory 272. The controller 27 determines the target stop position P1 of the conveyor vehicle. 2 based on the direction of the loading position L2, the target offset distance and the position of the working machine 1 For example, the control unit 27 determines the target stop position P1 of the conveying vehicle. 2a position that is determined by the position of the working machine 1 to the direction of the loading position L2 by the target offset distance.
[0042] In step S103, the control unit 27 determines a permissible stopping range A1 of the conveying vehicle. 2 As in Fig. As shown in 10, the permissible stopping area A1 is an area extending in the direction of the loading position L2 with respect to the working machine. 1 is positioned and includes the target stop position P1. The control unit 27 determines the permissible stop range A1 from the position of the working machine. 1 The permissible stopping range A1 will be described later.
[0043] In step S104, the control unit 27 communicates with the conveyor vehicle. 2 The control unit 27 transmits the target stop position P1 to the conveyor vehicle. 2 In step S201, the control unit 61 of the conveyor vehicle communicates. 2 with the work machine1 , as in Fig. Figure 8. The control unit 61 of the conveyor vehicle receives the data. 2 the control unit 27 of the working machine 1 Transmitted target stop position P1 via the second communication device 66.
[0044] In step S202, the control unit 61 detects the position of the conveyor vehicle. 2 The control unit 27 records the position data of the transport vehicle. 2 The load platform data and the rotation angle data from the second position sensor 63, the load platform sensor 64, and the rotation angle sensor 65, respectively. The controller 61 continuously detects and updates the position of the transport vehicle. 2 during automatic control mode.
[0045] In step S203, the control system records 61 area data points. These area data points contain information specifying the topography of the work area. The area data also includes information defining the no-entry zones A2 and A3 of the area. Fig. 11 illustrated transport vehicle 2 indicate.
[0046] In step S204, the controller 61 determines a target route R1. The target route R1 is a route from the current position of the transport vehicle. 2 to the target stop position P1. The control unit 61 determines the target route R1 from the aforementioned area data and the position data of the transport vehicle. 2 and the target stop position P1. The controller 61 determines the target route R1 to avoid the no-entry zones A2 and A3. For example, the controller 61 determines the target route R1 to avoid the no-entry zones A2 and A3 and the travel distance of the conveyor vehicle. 2 to minimize. Control unit 61 can determine the target route R1 taking into account a different factor than the no-entry zones A2 and A3.
[0047] In step S205, the control unit 61 causes the conveying vehicle to 2sets the conveyor vehicle in motion. Control unit 61 controls the conveyor vehicle. 2 so that the conveyor vehicle 2 moved along the target route R1 to the target stop position P1.
[0048] In the Fig. In step 9 S206 shown, the control unit 61 determines whether the conveying vehicle 2 is positioned in the restricted entry zone A2 or A3. The control unit 61 determines the position of the transport vehicle based on the aforementioned current position. 2 , which are determined by the position data of the transport vehicle 2 is displayed, and the entry restriction areas A2 and A3, which are indicated by the area data, whether the transport vehicle 2 is located in the restricted entry zone A2 or A3.
[0049] If the conveyor vehicle 2 If the machine is positioned in the restricted entry area A2 or A3, the control unit 61 sends a message to the work machine in step S214. 1A stop command to halt the automatic control system. In step S215, the control system 61 stops the operation of the conveyor vehicle. 2 Control unit 61, for example, causes the conveyor vehicle to stop. 2 Alternatively, control unit 61 can cause the conveying vehicle to 2 returns to unloading position L3.
[0050] As in Fig. As shown in 7, the control unit 27 of the working machine stops. 1 after receiving the stop command to stop the automatic control from the conveyor vehicle 2 In step S105 the work of the working machine 1 in step S111. For example, control unit 61 causes the machine to stop. 1 .
[0051] As in Fig. As shown in Figure 9, the controller 61 determines in step S207 whether a deviation distance D1 is greater than a predetermined threshold value Th1. As shown in Fig. As shown in 12, the deviation distance D1 is a distance by which the conveying vehicle 2 deviates from the target route R1. The control unit 61 calculates the deviation distance D1 from the aforementioned current position of the transport vehicle. 2 , which are determined by the position data of the transport vehicle 2 and the target route R1 is specified. The predetermined threshold value Th1 is stored, for example, in memory 612. If the deviation distance D1 is greater than the predetermined threshold value Th1, the controller 61, similar to what was mentioned above, sends the stop command to the machine in step S214 to halt the automatic control. 1 . In step S215, the controller 61 stops working.
[0052] In step S208, the control unit 61 determines whether the conveying vehicle 2 The target stop position P1 has been reached. The control unit 61 determines the current position of the conveying vehicle based on the aforementioned current position. 2, which are determined by the position data of the transport vehicle 2 is specified, and the target stop position P1, whether the conveying vehicle 2 The target stop position P1 has been reached. For example, the control unit 27 determines that the conveyor vehicle 2 The target stop position P1 has been reached when the position of a component in the conveyor vehicle is determined. 2 The reference point P2 contained within coincides with, or substantially coincides with, the target stop position P1. The reference point P2 of the conveying vehicle 2 is, for example, a pivot point of the loading platform. 53 The control unit 61 stores data that establishes a positional relationship between the second position sensor 63 on the conveyor vehicle. 2 and the pivot point of the loading platform 53 Specify. Control unit 61 calculates the position of the loading platform's pivot point. 53 from the position of the second position sensor 63, which is detected by the second position sensor 63.
[0053] The reference point P2 of the transport vehicle 2 However, the transport vehicle can also be in a different position. 2 It could be, for example, the reference point P2 of the transport vehicle. 2 a center point in the longitudinal and lateral direction of the transport vehicle 2 be. As in Fig. As shown in Figure 13, the control unit 61 causes the conveyor vehicle to stop. 2 in step S209, when the conveyor vehicle 2 has reached the target stop position P1.
[0054] As in Fig. As shown in 7, the control system 27 of the working machine determines 1 in step S106, whether the conveyor vehicle 2 stopped. For example, control unit 27 determines based on the data from the conveyor vehicle. 2 received position data of the transport vehicle 2 , whether the transport vehicle 2has stopped. Alternatively, the control system can use image recognition technology to determine, based on the first image data output by the first camera 36 and / or the second image data output by the second cameras 37, whether the conveyor vehicle has stopped. 2 has stopped. When the conveyor vehicle 2 If the procedure has stopped, it continues with step S107.
[0055] In step S107, the control unit 27 determines whether the conveying vehicle 2 is positioned within the permissible stop range A1. As described above, the permissible stop range A1 is the range that includes the target stop position P1, and the controller 27 determines the permissible stop range A1 from the position of the working machine. 1 . Fig. Figure 14 is a view that illustrates an example of the permissible stopping area A1. The controller 27 determines the permissible stopping area A1 based on the digging position L1 and the distance from the working machine.1 .
[0056] In particular, as in Fig. Figure 14 shows the permissible stopping area A1, the area in which a distance from a center of rotation C1 of the rotating body is maintained. 13 The permissible stopping range A1 is the range in which a distance from the center of rotation C1 of the rotating body is equal to or less than a first distance threshold value Td1. 13 The first distance threshold, Td1, is, for example, the maximum distance that the cutting tip of the bucket 19 can reach. The second distance threshold, Td2, is the minimum distance that the cutting tip of the bucket 19 can reach. The controller 27 stores data that establishes a positional relationship between the first position sensor 33 and the center of rotation C1 of the rotating body. 13 in the work machine 1 Specify. Control 27 calculates the position of the center of rotation C1 of the rotating body. 13from the position of the first position sensor 33 detected by the first position sensor 33.
[0057] The permissible stopping range A1 is the range in which an absolute value of the angle formed by a direction X1 of the loading position L2 in relation to the working machine 1 and a vector is formed that connects any position in the permissible stopping area A1 and the center of rotation C1, which is equal to or less than an angle threshold Ta1. The support body 14 the working machine 1 is arranged facing direction X1. The angle threshold Ta1, for example, is a value within a range in which the topography sensor 35 can adequately measure the topography of the excavation position L1 during loading. Fig. 14 is the direction X1 of the loading position L2 in relation to the working machine 1 zero degrees and counterclockwise rotation is a positive value.
[0058] If the reference point P2 of the conveying vehicle 2 When the vehicle is positioned in the permissible stopping area A1, the control unit 27 determines that the conveying vehicle 2 is positioned within the permissible stop area A1. For example, the control unit 27 determines that a Fig. 14 shown positions 2 1 of the conveyor vehicle 2 is positioned within the permissible stop area A1. The control unit 27 determines that a position 2 2 and position 2_3 of the in Fig. 14 illustrated transport vehicle 2 are not positioned within the permissible stop area A1.
[0059] If in step S107, the conveyor vehicle 2 If the vehicle is not positioned within the permissible stop area A1, the process continues with step S112. In step S112, the controller 27 transmits a repeat command to the conveyor vehicle. 2 As in Fig. As shown in Figure 9, the process returns to step S205 when the control 61 of the conveyor vehicle is activated. 2 receives the repeat command in step S210, and the conveyor vehicle 2 moves back into the target stop position P1.
[0060] If the conveyor vehicle 2 When the vehicle is positioned in the permissible stop area A1 in step S107, the control unit 61 of the conveyor vehicle 2 in step S211 the rotation angle of the loading platform 53 one, while the conveyor vehicle 2 The stopped position remains. Control unit 61 determines the rotation angle of the loading platform. 53 in relation to the vehicle body 52 based on the position of the working machine 1 and the position of the transport vehicle 2 In particular, control unit 61 determines how in Fig. 15 shows the rotation angle of the loading platform 53 in relation to the vehicle body 52 so that the loading area 53facing a straight line X2, which has a center of rotation C2 of the loading platform 53 and the center of rotation C1 of the working machine 1 connects, and causes the loading platform to rotate. 53 In other words, control 61 determines the rotation angle of the loading platform. 53 in relation to the vehicle body 52 , so that the longitudinal direction of the loading area 53 coincides with the direction of the straight line X2, which defines the center of rotation C2 of the loading platform 53 and the center of rotation C1 of the working machine 1 connects, and causes the loading platform to rotate. 53 Consequently, the rear end of the loading platform 53 in relation to the working machine 1 in the direction from the center of rotation C2 of the loading platform 53 to the center of rotation C1 of the working machine 1 arranged there.
[0061] After the loading platform's rotation angle has been adjusted 53 of the conveyor vehicle2 The control system 27 of the work machine begins 1 in step S108 with the digging of materials and the loading of the materials onto the transport vehicle 2 Here, the controller 27 acquires topographic data, which specifies the current topography T1 of the digging position L1, measured by the topography sensor 35. The controller 27 determines the current position of the working machine from this data. 1 and the topographic data define an excavation path PA1. The excavation path PA1 is a target trajectory of the cutting tip position of the spoon 19. Fig. Figure 16 is a top view showing an example of the current topography T1 and the excavation route PA1. Fig. Figure 17 is a side view showing an example of a cross-section of the current topography T1 and the excavation path PA1. The control system 27 determines the excavation path PA1 such that the quantity of material to be excavated by the working tool 12, such as volume or weight, corresponds to a target value.
[0062] As in Fig. As shown in Figure 17, the control unit 27 determines the excavation path PA1 such that the volume between the surface of the current topography T1 and the excavation path PA1 (the hatched section in Figure 17) is determined by the control unit 27. Fig. 17) corresponds to the target value. The target value is determined, for example, based on the capacity of the spoon 19. The excavation path PA1 contains an excavation start point S1 and an excavation end point E1. The excavation start point S1 and the excavation end point E1 are intersections of the surface of the topography T1 and the excavation path PA1.
[0063] Control 27 determines a target rotation angle at the time of downward rotation. As in Fig. As shown in Figure 16, the control unit 27 determines the target rotation angle at the time of downward rotation from a current cutting tip position of the bucket 19 and a straight line X3, which defines the center of rotation C1 of the working machine. 1 and connects a digging starting point S1. The control unit 27 determines as the target rotation angle θ1 at the time of downward rotation an angle that is defined by the straight line X2, which represents the current cutting edge tip position of the bucket 19 and the center of rotation C1 of the working machine. 1 connects, and the straight line X3, which connects the center of rotation C1 of the working machine 1 and connects the excavation starting point S1.
[0064] During downward rotation, the control unit 27 causes the cutting tip position of the bucket 19 to be lowered towards the height of the excavation starting point S1, while the rotating body 13The control unit 27 rotates towards the excavation starting point S1. Then, the control unit 27 steers the working tool 12 so that the cutting tip position of the bucket 19 moves along the excavation path PA1. Accordingly, the materials are excavated by the working tool 12.
[0065] Furthermore, the control unit 27 determines a target rotation angle at the time of the hoist rotation. As in Fig. As shown in Figure 16, the control unit 27 determines the target rotation angle at the time of the lifting mechanism rotation from a current cutting tip position of the bucket 19 after the trench and the straight line X2, which is the center of rotation C1 of the working machine. 1 and the pivot center C2 of the loading platform 53 connects. The control unit 27 determines as the target rotation angle θ2 at the time of rotation of the lifting mechanism an angle that is defined by a straight line X4, which represents the current cutting edge position of the bucket 19 after digging and the center of rotation C1 of the working machine. 1connects, and the straight line X2, which connects the center of rotation C1 of the working machine 1 and the pivot center C2 of the loading platform 53 connects, is formed.
[0066] When the lifting mechanism rotates, the control unit 27 causes the cutting tip position of the bucket 19 to be raised towards an unloading position P3, while the rotating body 13 The machine is rotated towards the unloading position P3. The unloading position P3 is a position that lies on the straight line X2, which is the center of rotation C1 of the working machine. 1 and the pivot center C2 of the loading platform 53 connects, and the one above the loading platform 53 The control unit 27 controls the working device 12 so that the materials held by the bucket 19 are transferred to the loading platform. 53 They will be unloaded. The materials will then be placed on the loading platform. 53 loaded.
[0067] In the Fig. In step S109, shown in section 7, the controller 27 determines whether the loading process is complete. The controller 27 determines that the loading process is complete when the quantity of material on the loading platform has been reached. 53 The permissible quantity of loaded materials (hereinafter referred to as the "load quantity") has been reached. The load quantity can be a volume or a weight. Control unit 27 calculates the load quantity from the loading data. In particular, control unit 27 calculates the quantity of excavated materials from the loading data. Control unit 27 calculates the total value of the quantity of materials placed on the loading platform. 53 Loaded materials as loading quantity.
[0068] If the controller 27 determines in step S109 that the loading is not complete, the digging of the materials and their loading onto the transport vehicle will be interrupted. 2 This was carried out again. The digging of the materials and their loading onto the transport vehicle. 2These steps are repeated until it is determined that charging is complete. When the controller 27 determines in step S109 that charging is complete, the process proceeds to step S110. In step S110, the controller 27 transmits a retraction command to the conveyor vehicle to withdraw from the loading position L2. 2 , as in Fig. 18 shown.
[0069] As in Fig. Figure 9 shows the control system 61 of the conveyor vehicle. 2 In step S212, it is checked whether a retreat command is received. If the controller 61 receives the retreat command, the process continues with step S213. In step S213, the controller 61 controls the conveyor vehicle. 2 so that it moves from the loading position L2 to the unloading position L3.
[0070] With the control system described above according to the present embodiment, the control system 27 of the working machine determines 1 the target rotation angle θ2 of the rotating body 13from the straight line X2, which represents the position of the center of rotation C1 of the body of revolution 13 the working machine 1 and the position of the pivot center C2 of the loading platform 53 of the conveyor vehicle 2 connects, and the current cutting tip position. Furthermore, the control unit 27 controls the working machine. 1 so that the rotating body 13 The device rotates according to the target rotation angle θ2. Accordingly, it is possible to move the working device 12 into a position where the materials can be easily transferred to the conveying vehicle. 1 can be loaded even if the transport vehicle 2 is stopped in a position that differs from the position in which the conveyor vehicle is 2 the working machine 1 is facing. Consequently, it is possible to carry out the loading operations onto the transport vehicle. 2 through the working machine 1 to be carried out with automatic control and the working machine1 and the transport vehicle 2 to coordinate accordingly.
[0071] The control unit 61 of the conveyor vehicle 2 controls the rotation angle of the loading platform 53 in relation to the vehicle body 52 based on the position of the working machine 1 and the position of the transport vehicle 2 This allows for the loading of materials onto the transport vehicle. 2 through the working machine 1 It can be carried out simply.
[0072] Although one embodiment of the present invention has been described so far, the present invention is not limited to the above embodiment and various modifications can be made within the scope of the invention.
[0073] The work machine 1is not limited to a hydraulic excavator and can be another machine, such as a wheel loader, a motor grader, or similar. The configuration of the working machine 1 is not limited to the embodiment described above and can be modified. The working machine 1 It could be a vehicle powered by an electric motor. For example, the support body could be... 14 and / or the rotating body 13 The working device 12 is driven by an electric motor. Its configuration can be changed. For example, the working device 12 is not limited to the bucket 19 and can also include other loading devices, such as a grab, a fork, a lifting magnet, or similar.
[0074] The conveyor vehicle 2 It can be a different vehicle than the dump truck. The configuration of the transport vehicle 2is not limited to the embodiment described above and can be modified. For example, the conveying vehicle can 2 a vehicle powered by an electric motor. For example, the chassis could be 52 and / or the loading area 53 are powered by an electric motor. The loading area 53 of the conveyor vehicle 2 The chassis may not be rotatable. 52 of the conveyor vehicle 2 It can also have tires instead of caterpillar tracks.
[0075] The configurations of the machine in operation 1 and the transport vehicle 2 The sensors included are not limited to those of the preceding embodiment and can be modified. For example, the topography sensor 35 can be located in a different part than the side of the rotating body. 13The topography sensor 35 is not limited to the LIDAR device and can be another sensor device, such as a radar device or similar. Alternatively, the topography sensor 35 can be a camera, and the controller 27 can detect the topography by analyzing the images captured by the camera.
[0076] In the above embodiment, the controller 27 calculates the load quantity based on the load data acquired by the load sensors 32a to 32c. However, the controller 27 can also calculate the load quantity based on the images of the loading area displayed by the first image data. 53 calculate.
[0077] The control unit 27 of the working machine 1is not limited to a single unit and can be divided among a multitude of controllers. The process executed by controller 27 can be distributed and carried out across this multitude of controllers. In such a case, some of the multiple controllers can be located outside the machine. 1 be arranged.
[0078] The control unit 61 of the conveyor vehicle 2 is not limited to a single unit and can be divided among a multitude of controllers. The process executed by controller 61 can be distributed and carried out across the multitude of controllers. In such a case, some of the multitude of controllers can be located outside the conveyor vehicle. 2 be arranged.
[0079] The control unit 27 of the working machine 1 and the control unit 61 of the conveyor vehicle 2They can communicate with each other via a different controller instead of communicating directly with each other. The process of the automatic control mode executed by controller 27 is not limited to that of the aforementioned embodiment and can be modified.
[0080] The process of determining the target stop position P1 can, for example, be carried out by something outside the working machine. 1 and the conveyor vehicle 2 arranged remote control or from the control 61 of the conveying vehicle 2 The process of determining the permissible stopping range A1 can be carried out by the remote control or the control 61 of the conveying vehicle. 2 to be carried out. The determination of whether the conveying vehicle 2 Located in the restricted entry zone A2 or A3, it can be controlled by the remote control or the control 27 of the working machine. 1This will be done. The determination of whether the deviation distance D1 of the conveying vehicle 2 If the distance from the target travel distance R1 is greater than the predetermined threshold, the remote control or the control 27 of the working machine can be used. 1 to be carried out. Determining the target rotation angle of the loading platform. 53 can be controlled from the remote control or the control 27 of the working machine 1 This will be carried out. The determination of the target rotation angle of the rotating body. 13 can be done via the remote control or the control 61 of the conveyor vehicle 2 be carried out.
[0081] In the above embodiment, the target stop position is determined by the working machine. 1 to the transport vehicle 2 given. In addition to the target stop position, the conveying vehicle can be given 2 (a) piece of information regarding a stopping direction of the transport vehicle 2be given. Since the spoon 19 of the working machine 1 Since the vehicle moves between the digging position L1 and the target stop position P1 during the rotation operation, it is advantageous for the front part of the conveying vehicle to 2 not within the movement range of the bucket 19. This allows the specification of the stopping direction of the conveying vehicle. 2 to the transport vehicle 2 , to the conveyor vehicle 2 to stop properly, the influence on the loading operation by the conveyor vehicle 2 reduce. This is particularly effective when the conveying vehicle 2 has a stationary loading platform that does not rotate. INDUSTRIAL APPLICABILITY
[0082] According to the present invention, it is possible to carry out the loading work onto the transport vehicle by the working machine with the automatic control and to coordinate the working machine and the transport vehicle appropriately. Reference symbol list 1 working machine 2 conveyor vehicles 13 Rotating Bodies 14 support bodies 52 vehicles 53 loading area 271 First processor 611 Second processor QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] JP 2000192514
[0004]
Claims
[1] System for controlling a working machine, comprising a working tool, a rotating body to which the working tool is attached, and a support body which rotatably supports the rotating body and loads the materials onto a transport vehicle, the system comprising: a first processor for controlling the working machine, wherein the first processor is set up to To collect data that specifies the position of a predetermined reference point contained within the transport vehicle, To capture data that specifies the position of a center of rotation of the rotating body, To capture data that indicates the position of a cutting tip of the tool, from a straight line connecting the position of the center of rotation of the rotating body and the position of the reference point of the conveying vehicle, and a current position of the cutting tip of the working tool, to determine a target rotation angle of the rotating body, and to control the rotating body to rotate according to the target rotation angle. [2] System according to claim 1, wherein the transport vehicle contains a loading platform, and the reference point is positioned in the loading area. [3] System according to claim 1, wherein the transport vehicle contains a vehicle body, and a loading platform that is rotatably supported in relation to the chassis, and wherein the first processor is set up to determine the target rotation angle of the rotating body from a straight line connecting the position of the rotating body's center of rotation and a position of a center of rotation of the loading surface, and the current position of the cutting tip of the working tool. [4] System according to claim 3, further comprising: a second processor for controlling the conveyor vehicle, wherein the second processor is configured to To collect data that indicates the position of the pivot point of the loading platform, to collect data that specify the position of the center of rotation of the rotating body, and to control a rotation angle of the loading platform in relation to the vehicle body based on a direction of the straight line connecting the center of rotation of the loading platform and the center of rotation of the vehicle body. [5] Method performed by one or more processors to control a working machine comprising a working tool, a rotating body to which the working tool is attached and a support body which rotatably supports the rotating body and loads the materials onto a conveying vehicle, the method comprising: Capturing data that specifies the position of a predetermined reference point contained within the conveying vehicle; Capturing data that specifies the position of a center of rotation of the rotating body; Capturing data that indicates the position of a cutting tip of the tool; Determining a target rotation angle of the rotating body from a straight line connecting the position of the rotating body's center of rotation and the position of the conveying vehicle's reference point, and a current position of the cutting tip of the working tool; and Controlling the rotating body to rotate according to the target rotation angle. [6] Method according to claim 5, wherein the transport vehicle contains a loading platform, and the reference point is positioned on the loading platform. [7] Method according to claim 5, wherein the transport vehicle contains a vehicle body, and a loading platform that is rotatably supported in relation to the chassis, and The target rotation angle is determined from a straight line connecting the position of the center of rotation of the rotating body and a position of a center of rotation of the loading platform, and the current position of the cutting tip of the working tool. [8] The method of claim 7, further comprising: Capturing data that specifies the position of the loading platform's pivot point; and Controlling a rotation angle of the loading platform relative to the vehicle body based on a direction of the straight line connecting the center of rotation of the loading platform and the center of rotation of the vehicle body.