CONTROL SYSTEM OF A WORK MACHINE, WORK MACHINE AND METHOD FOR CONTROLLING A WORK MACHINE

Abstract

A control system for a working machine is disclosed, wherein the control system includes: a design data storage unit that stores multiple design surfaces defined as the excavation object of the working machine; an extension surface generation unit that generates an extension surface in both a slope top direction and a slope bottom direction, which is obtained by extending a target design surface that specifies a target shape of a slope of the excavation object determined from the multiple design surfaces;and a working equipment control unit which, when the extension area is generated in both the slope top direction and the slope bottom direction, controls the working equipment provided in the working machine on the basis of the extension area in the slope top direction and the target construction area, without using the extension area in the slope bottom direction.

Description

Area

[0001] The present disclosure relates to a control system of a work machine, the work machine, and a control method of the work machine. background

[0002] In a technical field related to a work machine, a technique for excavating an excavated object based on a target construction surface is known. As a technique for excavating the excavated object based on the target construction surface, a machine guidance technique in which a guidance image indicating a relative position between the target construction surface and a bucket of a work equipment is presented to an operator of the work machine, and a machine control technique in which assist control of an operator's operation is performed so that the bucket of the work equipment moves along the target construction surface are known. Patent Literature 1 discloses an example of the machine control technique. Citation listPatent literature

[0003] Patent literature 1: WO 2015 / 129930 A SummaryTechnical problem

[0004] A target construction surface can be defined by multiple design surfaces with different gradients. For example, when a slope, a slope top, and a slope bottom are formed in an excavation object, a target construction surface can be defined by a first design surface specifying a target shape of the slope, a second design surface connected to an uppermost portion of the first design surface, and a third design surface connected to a lowermost portion of the first design surface. The gradient of the first design surface and the gradient of the second design surface are different from each other. The slope top is defined at a boundary between the first design surface and the second design surface. The gradient of the first design surface and the gradient of the third design surface are different from each other.The slope bottom is defined at a boundary between the first and third design surfaces. If a bucket is controlled to move continuously along the second design surface and the first design surface to form the slope top, and the bucket crosses the boundary between the second design surface and the first design surface, there is a possibility that the bucket may not be able to fully follow the second design surface and the first design surface, for example, due to a control delay. As a result, there is a possibility that the slope top will not be designed in the desired shape.Therefore, a technique is known in which an extension surface having the same gradient as the gradient of the first design surface is created in a slope-top direction of the first design surface, and the work equipment is controlled so that the bucket continuously moves along both the extension surface and the first design surface. A process in which the work equipment is controlled so that the bucket continuously moves along both the extension surface and the first design surface and a process in which the work equipment is controlled so that the bucket moves along the second design surface are performed separately, thereby constructing the slope top in a desired shape.However, if the extension surface is formed not only in the slope top direction of the first design surface but also in the slope bottom direction of the first design surface, and if the work equipment is controlled so that the bucket continuously moves along both the first design surface and the extension surface, there is a possibility that the bucket excavates the third design surface and the excavation object is not constructed in the desired shape.

[0005] An object of the present disclosure is to bring an excavated object into a desired shape. Solution to the problem

[0006] To realize one aspect of the present invention, there is provided a control system for a work machine, the control system comprising: a design data storage unit that stores a plurality of design surfaces set as an excavation object of the work machine; an extension surface generation unit that generates, in both a slope top direction and a slope bottom direction, an extension surface obtained by expanding a target design surface indicating a target shape of a slope of the excavation object determined from the plurality of design surfaces;and a work equipment control unit that, when the extension surface is generated in both the slope top direction and the slope bottom direction, controls the work equipment provided in the work machine based on the extension surface in the slope top direction and the target construction surface without using the extension surface in the slope bottom direction.; Advantageous effects of the invention

[0007] According to the present disclosure, an excavated object is constructed in a desired shape. Brief Description of the Drawings Fig. 1 is a perspective view illustrating a work machine according to an embodiment. Fig. 2 is a schematic diagram of the working machine according to the embodiment. Fig. 3 is a diagram illustrating a cab of the work machine according to the embodiment. Fig. 4 is a block diagram illustrating a control system of the working machine according to the embodiment. Fig. 5 is a diagram illustrating a target construction surface and an extension surface. Fig. Figure 6 is a diagram illustrating the target construction area and the extension area. Fig. 7 is a flowchart illustrating a control method of the work machine according to the embodiment. Fig. 8 is a diagram illustrating an example of a display screen displayed on a display device according to the embodiment. Fig. 9 is a diagram illustrating a process of a work equipment control unit according to this embodiment. Fig. 10 is a block diagram illustrating a computer system according to this embodiment. Description of the embodiments

[0008] Embodiments according to the present disclosure will be described below with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined with each other as appropriate. Furthermore, some components may not be used. [Working machine]

[0009] Fig. 1 is a perspective view illustrating a work machine 1 according to an embodiment. Fig. 2 is a schematic diagram of the working machine 1 according to the embodiment. Fig. 3 is a schematic diagram of a cab 2 of the work machine 1 according to this embodiment.

[0010] The work machine 1 is operated at a work site. In the present embodiment, the work machine 1 is an excavator. In the following description, the work machine 1 is appropriately referred to as excavator 1.

[0011] The excavator 1 includes a traveling body 3, a swing body 4, a working equipment 5, a hydraulic cylinder 6, an actuating device 7, an in-vehicle monitor 8, a position sensor 9, an inclination sensor 10, an attitude sensor 11, and a control device 12.

[0012] As in Fig. As illustrated in Figure 2, a three-dimensional coordinate system (Xg, Yg, Zg) is defined at the work site. A three-dimensional vehicle body coordinate system (Xm, Ym, Zm) is defined in the oscillating body 4.

[0013] The site coordinate system is formed by an Xg-axis extending north and south from a site reference point Og defined at the work site, a Yg-axis extending east and west from the site reference point Og, and a Zg-axis extending vertically from the site reference point Og.

[0014] The vehicle body coordinate system is configured by an Xm axis extending from a representative point Om defined in the vibrating body 4 in the front-back direction of the vibrating body 4, a Ym axis extending from the representative point Om in the left-right direction of the vibrating body 4, and a Zm axis extending from the representative point Om in the up-down direction of the vibrating body 4. With respect to the representative point Om of the vibrating body 4, the +Xm direction is the front of the vibrating body 4, the -Xm direction is the back of the vibrating body 4, the +Ym direction is the left side of the vibrating body 4, the -Ym direction is the right side of the vibrating body 4, the +Zm direction is the top of the vibrating body 4, and the -Zm direction is the bottom of the vibrating body 4.

[0015] The traveling body 3 travels while supporting the oscillating body 4. The traveling body 3 includes a pair of crawler belts 3A. The traveling body 3 performs a traveling movement through the rotation of the crawler belts 3A. The traveling movement of the traveling body 3 includes a forward movement and a backward movement. The excavator 1 can move within the work site with the help of the traveling body 3.

[0016] The oscillating body 4 is supported by the traveling body 3. The oscillating body 4 is arranged above the traveling body 3. The oscillating body 4 performs an oscillating motion around an oscillating axis RX while supported by the traveling body 3. The oscillating axis RX is parallel to the Zm axis. The oscillating motion of the oscillating body 4 includes a left oscillating motion and a right oscillating motion. The cabin 2 is provided in the oscillating body 4.

[0017] The working equipment 5 (also referred to as a working tool) is supported by the vibrating body 4. The working equipment 5 performs work. In the embodiment, the work performed by the working equipment 5 includes excavation work for excavating an excavated object and loading work for loading an excavated object onto a loading object.

[0018] The working equipment 5 includes a boom 5A, an arm 5B, and a bucket 5C. The proximal end portion of the boom 5A is rotatably connected to a front portion of the swing body 4. The proximal end portion of the arm 5B is rotatably connected to the distal end portion of the boom 5A. The proximal end portion of the bucket 5C is rotatably connected to the distal end portion of the arm 5B.

[0019] The hydraulic cylinder 6 drives the work equipment 5. The hydraulic cylinder 6 includes a boom cylinder 6A, an arm cylinder 6B, and a bucket cylinder 6C. The boom cylinder 6A drives the boom 5A to raise and lower. The arm cylinder 6B drives the arm 5B to excavate and tilt. The bucket cylinder 6C drives the bucket 5C to excavate and tilt. The proximal end portion of the boom cylinder 6A is connected to the swing body 4. The distal end portion of the boom cylinder 6A is connected to the boom 5A. The proximal end portion of the arm cylinder 6B is connected to the boom 5A. The distal end portion of the boom cylinder 6B is connected to the arm 5B. The proximal end portion of the bucket cylinder 6C is connected to the arm 5B. The distal end portion of the bucket cylinder 6C is connected to the bucket 5C.

[0020] As in Fig. As illustrated in Figure 3, the actuating device 7 is arranged in the cabin 2. The actuating device 7 is actuated to set at least one of the traveling body 3, the oscillating body 4, and the working equipment 5 in motion. The actuating device 7 is actuated by an operator in the cabin 2. The operator can actuate the actuating device 7 while sitting on a driver's seat 14 arranged in the cabin 2.

[0021] The operating device 7 includes a left working lever 7A and a right working lever 7B, which are operated to move the oscillating body 4 and the working equipment 5, a left travel lever 7C and a right travel lever 7D, which are operated to move the travel body 3, and a left foot pedal 7E and a right foot pedal 7F.

[0022] When the left operating lever 7A is operated in the forward-backward direction, the arm 5B performs the tilting movement or the excavating movement. When the left operating lever 7A is operated in the left-right direction, the swing body 4 performs the left swinging movement or the right swinging movement. When the right operating lever 7B is operated in the left-right direction, the bucket 5C performs the excavating movement or the tilting movement. When the right operating lever 7B is operated in the forward-backward direction, the boom 5A performs the lowering movement or the lifting movement. Note that the swing body 4 can perform the left swing movement or the right swing movement when the left work lever 7A is operated in the forward-backward direction, and the arm 5B can perform the tilting movement or the excavating movement when the left work lever 7A is operated in the left-right direction.

[0023] When the left travel lever 7C is operated in the forward-backward direction, the crawler belt 3A on the left side of the traveling body 3 performs forward or backward movement. When the right travel lever 7D is operated in the forward-backward direction, the crawler belt 3A on the right side of the traveling body 3 performs forward or backward movement.

[0024] The left foot pedal 7E is operated in conjunction with the left drive lever 7C. The right foot pedal 7F is operated in conjunction with the right drive lever 7D. The traveling body 3 can move forward or backward by operating the left foot pedal 7E and the right foot pedal 7F.

[0025] The in-vehicle monitor 8 is arranged in the cab 2. The in-vehicle monitor 8 is arranged at the right front side of the driver's seat 14. The in-vehicle monitor 8 includes a display device 8A, an input device 8B, and an alarm device 8C.

[0026] The display device 8A displays prescribed display data. A flat panel display such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD) is exemplified as the display device 8A.

[0027] The input device 8B generates input data by being operated by the operator. Examples of the input device 8B include a key switch, a computer keyboard, and a touch panel.

[0028] The alarm device 8C issues a prescribed alarm. In this embodiment, the alarm device 8C is a sound output device that issues an alarm sound. Note that the alarm device 8C may be a light-emitting device that emits an alarm light.

[0029] The position sensor 9 detects the position of the vibrating body 4 in the location coordinate system. The position sensor 9 detects the position of the vibrating body 4 in the location coordinate system using a global navigation satellite system (GNSS). The global navigation satellite system includes a global positioning system (GPS). The global navigation satellite system contains a position defined by coordinate data such as latitude, longitude, and altitude. The position sensor 9 includes a GNSS receiver that receives GNSS radio waves from a GNSS satellite. The position sensor 9 is arranged in the vibrating body 4. In the embodiment, the position sensor 9 is arranged in a counterweight of the vibrating body 4.

[0030] The position sensor 9 includes a first position sensor 9A and a second position sensor 9B. The first position sensor 9A and the second position sensor 9B are arranged at different positions in the vibrating body 4. In the embodiment, the first position sensor 9A and the second position sensor 9B are arranged at intervals in the left-right direction in the vibrating body 4. The first position sensor 9A detects a first measured position indicating a position where the first position sensor 9A is arranged. The second position sensor 9B detects a second measured position indicating a position where the second position sensor 9B is arranged.

[0031] The inclination sensor 10 detects the acceleration and angular velocity of the vibrating body 4. The inclination sensor 10 includes an inertial measurement unit (IMU). The inclination sensor 10 is arranged in the vibrating body 4. In the present embodiment, the inclination sensor 10 is installed below the cabin 2.

[0032] The posture sensor 11 detects the posture of the work equipment 5. The posture of the work equipment 5 includes an angle of the work equipment 5. The posture sensor 11 includes a first posture sensor 11A that detects an angle of the boom 5A relative to the swing body 4, a second posture sensor 11B that detects an angle of the arm 5B relative to the boom 5A, and a third posture sensor 11C that detects an angle of the bucket 5C relative to the arm 5B. The posture sensor 11 may be a stroke sensor that detects the stroke of the hydraulic cylinder 6 or a potentiometer that detects the angle of the work equipment 5. [Tax system]

[0033] Fig. 4 is a block diagram illustrating a control system 30 of the work machine 1 according to the embodiment. The excavator 1 includes the control system 30. The control system 30 includes the in-vehicle monitor 8, the position sensor 9, the tilt sensor 10, the posture sensor 11, and the control device 12. The control device 12 controls the excavator 1. The control device 12 includes a computer system.

[0034] The in-vehicle monitor 8 includes a control device 40. The control device 40 includes a design data storage unit 15, an input data acquisition unit 18, an extension area generation unit 23, and a display control unit 25.

[0035] The control device 12 includes a vehicle body data storage unit 16, an operation data acquisition unit 17, a sensor data acquisition unit 19, a position / azimuth calculation unit 20, a tilt angle calculation unit 21, a work equipment position calculation unit 22, a slope bottom determination unit 24, a travel control unit 26, a swing control unit 27, and a work equipment control unit 28.

[0036] The design data storage unit 15 stores a plurality of design surfaces defined at the work site. The plurality of design surfaces are defined as an excavation object of the excavator 1 at the work site. The design surface is created by a computer system located outside the excavator 1. The design surface is created in an external facility of the excavator 1, such as a design room. The design surface is a surface defined in the site coordinate system. A target design surface indicating a target shape of the excavation object is defined by the plurality of design surfaces. The excavator 1 excavates the excavation object based on the target design surface.

[0037] The vehicle body data storage unit 16 stores vehicle body data of the excavator 1. The vehicle body data of the excavator 1 includes the dimensions of the work equipment 5. The dimensions of the work equipment 5 include a length of the boom 5A, a length of the arm 5B, and a length of the bucket 5C. In addition, the vehicle body data of the excavator 1 includes the dimensions of the traveling body 3 and the dimensions of the swing body 4.

[0038] The operation data acquisition unit 17 acquires operation data generated by the operation of the operating device 7.

[0039] The input data acquisition unit 18 acquires input data generated by the operation of the input device 8B.

[0040] The sensor data acquisition unit 19 acquires the detection data of the position sensor 9, the detection data of the inclination sensor 10, and the detection data of the posture sensor 11.

[0041] The position / azimuth calculation unit 20 calculates a position and an azimuth angle of the vibrating body 4 in the position coordinate system based on the detection data of the position sensor 9. As described above, the position sensor 9 includes the GNSS receiver that receives GNSS radio waves. The position / azimuth calculation unit 20 calculates the position and azimuth angle of the vibrating body 4 based on the GNSS radio waves. The azimuth angle of the vibrating body 4 is, for example, an azimuth angle of the vibrating body 4 relative to the Xg axis.

[0042] The position / azimuth calculation unit 20 calculates the position of the vibrating body 4 based on at least one of the first measured position detected by the first position sensor 9A and the second measured position detected by the second position sensor 9B. The position / azimuth calculation unit 20 calculates the azimuth angle of the vibrating body 4 based on a relative position between the first measured position detected by the first position sensor 9A and the second measured position detected by the second position sensor 9B.

[0043] The tilt angle calculation unit 21 calculates a tilt angle of the vibrating body 4 based on the detection data of the tilt sensor 10. The tilt angle of the vibrating body 4 includes a roll angle and a pitch angle of the vibrating body 4. The roll angle refers to a tilt angle of the vibrating body 4 in a tilt direction about the Xg axis. The tilt angle refers to a tilt angle of the vibrating body 4 in a tilt direction about the Yg axis. The tilt angle calculation unit 21 calculates the roll angle and the tilt angle of the vibrating body 4 based on the detection data of the tilt sensor 10.

[0044] The work equipment position calculation unit 22 calculates a position of the work equipment 5 based on the position of the work machine 1 calculated by the position / azimuth calculation unit 20. In the embodiment, the work equipment position calculation unit 22 calculates the position of the work equipment 5 in the location coordinate system based on the vehicle body data of the excavator 1 stored in the vehicle body data storage unit 16, the position and azimuth angle of the swing body 4 calculated by the position / azimuth calculation unit 20, the inclination angle of the swing body 4 calculated by the inclination angle calculation unit 21, and the detection data of the posture sensor 11. The position of the work equipment 5 includes the position of the bucket 5C. The position of the bucket 5C includes the position of a cutting edge at a distal end portion of the bucket 5C.

[0045] The extension surface generation unit 23 generates an extension surface in both the slope top direction and the slope bottom direction, which is obtained by expanding a target construction surface indicating a target shape of a slope of an excavation object determined from a plurality of design surfaces.

[0046] The slope bottom determination unit 24 determines whether there is a slope bottom at a boundary between the target construction surface and an adjacent design surface connected to the target construction surface among a plurality of design surfaces based on a relative position between the adjacent design surface and the extension surface.

[0047] The display control unit 25 controls the display device 8A of the in-vehicle monitor 8. The display control unit 25 causes the display device 8A to display predetermined display data.

[0048] The travel control unit 26 controls the traveling body 3 based on the operation data of the operating device 7 acquired by the operation data acquisition unit 17.

[0049] The vibration control unit 27 controls the vibrating body 4 based on the operation data of the actuator 7 acquired by the operation data acquisition unit 17.

[0050] The work equipment control unit 28 controls the work equipment 5. Controlling the work equipment 5 includes controlling the hydraulic cylinder 6. The work equipment control unit 28 controls the work equipment 5 based on the operation data of the actuator 7 acquired by the operation data acquisition unit 17. Furthermore, the work equipment control unit 28 performs assist control of an operator's operation so that the bucket 5C of the work equipment 5 moves along the target construction surface. The work equipment control unit 28 performs assist control of the work equipment 5 so that the cutting edge 5D of the bucket 5C calculated by the work equipment position calculation unit 22 follows the target construction surface designated by the operator. [Target construction area and extension area]

[0051] Fig. 5 and Fig. 6 each show a diagram illustrating a target construction surface 150 and an extension surface 13. As in the Fig. 5 and Fig. As illustrated in Figure 6, when forming a slope 50, a slope top 51, and a slope bottom 52 in an excavation object, the target construction surface 150 is defined by a first design surface 15B indicating the target shape of the slope 50, a second design surface 15A connected to the uppermost portion of the first design surface 15B, and a third design surface 15C connected to the lowermost portion of the first design surface 15B. Each of the first design surface 15B, the second design surface 15A, and the third design surface 15C is a plane. The gradient of the first design surface 15B and the gradient of the second design surface 15A are different from each other. The slope top 51 is defined at a boundary between the first design surface 15B and the second design surface 15A. The gradient of the first design surface 15B and the gradient of the third design surface 15C are different from each other.The slope bottom edge 52 is defined at a boundary between the first design surface 15B and the third design surface 15C.

[0052] When the bucket 5C is controlled to continuously move along both the second design surface 15A and the first design surface 15B to form the slope top 51 with the bucket 5C, and when the bucket 5C crosses the boundary between the second design surface 15A and the first design surface 15B, for example, due to a control delay, there is a possibility that the bucket 5C cannot fully follow the second design surface 15A and the first design surface 15B. As a result, there is a possibility that the slope top 51 is not designed in the desired shape.

[0053] Therefore, the extension surface generation unit 23 generates the extension surface 13 with the same gradient as the gradient of the design surface. As shown in Fig. 5, the extension surface generation unit 23 generates the extension surface 13 in both an excavation start direction and an excavation end direction of the second design surface 15A when the support control of an operator's operation is performed so that the cutting edge 5D of the bucket 5C moves along the second design surface 15A. Specifically, as shown in Fig. 5, a start-side extension surface 13A is created in the excavation start direction of the second design surface 15A, and an end-side extension surface 13B is created in the excavation end direction of the second design surface 15A. The gradient of the start-side extension surface 13A, the gradient of the second design surface 15A, and the gradient of the end-side extension surface 13B are the same. The start-side extension surface 13A is configured to be connected to an end portion of the second design surface 15A on the excavation start side. The start-side extension surface 13A is configured to be extended in the excavation start direction from the excavation start-side end portion of the second design surface 15A. The end-side extension surface 13B is configured to be connected to an excavation-side end portion of the second design surface 15A.The end extension surface 13B is designed to extend from the excavation-side end portion of the second design surface 15A in the excavation end direction. Assistance control of the work equipment 5 is performed so that the cutting edge 5D of the bucket 5C continuously moves along the start-side extension surface 13A, the second design surface 15A, and the end extension surface 13B. This forms a top surface of the excavated object, which forms part of the slope top 51.

[0054] A process for forming the upper surface of the excavated object is performed separately from a process for forming the slope 50 of the excavated object. For example, after the upper surface of the excavated object is formed, the process of forming the slope 50 of the excavated object is started. Note that the slope 50 of the excavated object may be formed before the upper surface of the excavated object is formed.

[0055] As in Fig. 6, the extension surface generation unit 23 generates the extension surface 13 in both the slope top direction and the slope bottom direction of the first extension surface 15B when the operator's support control is performed so that the cutting edge 5D of the bucket 5C moves along the first design surface 15B. When the slope 50 is formed, the slope top side is the excavation start side, and the slope bottom side is the excavation end side. As shown in particular in Fig. As illustrated in FIG. 6, a slope-top-side extension surface 13C is formed in the slope-top direction of the first design surface 15B, and a slope-bottom-side extension surface 13D is formed in the slope-bottom direction of the first design surface 15B. The gradient of the upper slope-top-side extension surface 13C, the gradient of the first design surface 15B, and the gradient of the slope-bottom-side extension surface 13D are the same. The slope-top-side extension surface 13C is configured to be connected to the upper slope-top-side end portion of the first design surface 15B. The slope-top-side extension surface 13C is configured to be extended from the slope-top-side end portion of the first design surface 15B in the slope-top direction.The slope bottom edge side extension surface 13D is configured to be connected to the slope bottom edge side end portion of the first design surface 15B. The slope bottom edge side extension surface 13D is configured to be extended from the slope bottom edge side end portion of the first design surface 15B in the slope bottom direction. The assist control of the work equipment 5 is performed so that the cutting edge 5D of the bucket 5C continuously moves along the slope bottom edge side extension surface 13C and the first design surface 15B. By forming the upper surface of the excavation object and an upper portion of the slope 50, the upper portion of the slope 51 is formed.

[0056] The process of controlling the work equipment 5 so that the bucket 5C continuously moves along the start-side extension surface 13A, the second design surface 15A, and the end-side extension surface 13B, and the process of controlling the work equipment 5 so that the bucket 5C continuously moves along the slope-top-side extension surface 13C and the first design surface 15B are performed separately, thereby constructing the slope top 51 in a desired shape.

[0057] When forming the slope 50, the support control of the work equipment 5 is performed so that the cutting edge 5D of the bucket 5C continuously moves along the slope top-side extension surface 13C, the first design surface 15B, and the slope bottom-side extension surface 13D, whereby the slope 50 can be properly formed. However, when the slope bottom-side extension surface 13D is generated and the work equipment 5 is controlled so that the bucket 5C continuously moves along both the first design surface 15B and the slope bottom-side extension surface 13D, there is a possibility that the bucket 5C excavates the third design surface 15C, and the excavation object is not constructed in the desired shape.

[0058] Therefore, in the embodiment, when the extension surface generation unit 23 generates the extension surface 13 obtained by expanding the first design surface 15B, that is, the target design surface 150 indicating the target shape of the slope 50 of the excavation object, in both the slope top direction and the slope bottom direction, the work equipment control unit 28 performs support control of the work equipment 5 based on the slope top side extension surface 13C, that is, the extension surface 13 in the slope top direction, and the first design surface 15B, without using the slope bottom side extension surface 13D, that is, the extension surface 13 in the slope bottom direction.That is, when both the slope top side extension surface 13C and the slope bottom side extension surface 13D are generated by the extension surface generation unit 23, the work equipment control unit 28 invalidates the slope bottom side extension surface 13D and performs assist control of the work equipment 5 so that the cutting edge 5D of the bucket 5C moves only along the slope top side extension surface 13C and the first design surface 15B. [Tax procedure]

[0059] Fig. Fig. 7 is a flowchart illustrating a control method of the excavator 1 according to the embodiment. The design data storage unit 15 stores a plurality of design surfaces. An operator of the excavator 1 operates the input device 8B and determines the target design surface 150, which indicates the target shape of the slope 50 of the excavation object, from among the plurality of design surfaces.

[0060] Fig. 8 is a diagram illustrating an example of a display screen displayed on the display device 8A according to the embodiment. The design data storage unit 15 stores at least the first design surface 15B, the second design surface 15A, and the third design surface 15C. The operator operates the input device 8B and designates the first design surface 15B, which indicates the target shape of the slope 50, as the target design surface 150 from the first design surface 15B, the second design surface 15A, and the third design surface 15C.

[0061] The input data acquisition unit 18 acquires the input data from the input device 8B. The input data acquisition unit 18 determines the first design surface 15B as the target construction surface 150 indicating the target shape of the slope 50 from the first design surface 15B, the second design surface 15A, and the third design surface 15C based on the input data from the input device 8B (step S1).

[0062] The extension surface generation unit 23 generates the extension surface 13 based on the first design surface 15B determined as the target construction surface 150. The extension surface generation unit 23 generates the extension surface 13 obtained by expanding the first design surface 15B in both the slope top direction and the slope bottom direction. As shown in Fig. 6, the extension surface generation unit 23 generates the slope top side extension surface 13C and the slope bottom side extension surface 13D (step S2).

[0063] The slope bottom edge determining unit 24 determines, based on a relative position between the adjacent design surface and the extension surface 13, whether there is a slope bottom edge at a boundary between the first design surface 15B and an adjacent design surface connected to the first design surface 15B, which is the target construction surface 150 (step S3).

[0064] The slope bottom edge determination unit 24 determines whether the adjacent design surface exists at a location higher than the extension surface 13 at the same point in the horizontal direction. If it is determined that the adjacent design surface exists at the location higher than the extension surface 13 at the same point in the horizontal direction, the slope bottom edge determination unit 24 determines that the slope bottom edge exists at the boundary between the first design surface 15B and the adjacent design surface.

[0065] In the embodiment, the adjacent design surface connected to the first design surface 15B includes the second design surface 15A connected to the uppermost portion of the first design surface 15B, and the third design surface 15C connected to the lowermost portion of the first design surface 15B. In the horizontal direction, the position of the second design surface 15A coincides with the position of at least a part of the slope-top-side extension surface 13C. In the horizontal direction, the position of the third design surface 15C coincides with the position of at least a part of the slope-bottom-side extension surface 13D. The slope-bottom-side determination unit 24 determines whether the second design surface 15A exists at a higher position than the slope-top-side extension surface 13C at the same point in the horizontal direction.The slope bottom edge determining unit 24 determines whether the third design surface 15C exists at a higher position than the upper edge of the slope bottom edge side extension surface 13D at the same point in the horizontal direction.

[0066] As in the Fig. 6 and Fig. As illustrated in Figure 8, the second design surface 15A is located at a position lower than the slope top-side extension surface 13C at the same point in the horizontal direction. The third design surface 15C is located at a position higher than the slope bottom-side extension surface 13D at the same point in the horizontal direction. Therefore, the slope bottom determination unit 24 determines that there is no slope bottom at the boundary between the first design surface 15B and the second design surface 15A. The slope bottom determination unit 24 determines that there is a slope bottom at the boundary between the first design surface 15B and the third design surface 15C.

[0067] When it is determined in step S3 that the slope bottom exists at the boundary between the first design surface 15B and the third design surface 15C (step S3: Yes), the work equipment control unit 28 controls the work equipment 5 based on the slope top side extension surface 13C, which is the extension surface 13 in the slope top direction, the first design surface 15B, which is the target construction surface, and the third design surface 15C, which is the adjacent design surface determined to have the slope bottom, without using the slope bottom side extension surface 13D, which is the extension surface 13 in the slope bottom direction.That is, the work equipment control unit 28 invalidates the slope bottom side extension surface 13D and performs assist control of the work equipment 5 so that the cutting edge 5D of the bucket 5C follows each of the slope top side extension surface 13C, the first design surface 15B, and the third design surface 15C (step S4).

[0068] If it is determined in step S3 that there is no slope bottom at the boundary between the first design surface 15B and the third design surface 15C (step S3: No), the work equipment control unit 28 controls the work equipment 5 based on the slope top side extension surface 13C and the first design surface 15B using the slope bottom side extension surface 13D. That is, the work equipment control unit 28 validates the slope bottom side extension surface 13D and performs support control of the work equipment 5 so that the cutting edge 5D of the bucket 5C follows each of the slope top side extension surface 13C, the first design surface 15B, and the slope top side extension surface 13C (step S5).

[0069] Fig. Fig. 9 is a diagram illustrating a process of the work equipment control unit 28 according to the embodiment. As shown in [before correction] of Fig. As illustrated in FIG. 9, when the slope-bottom-side extension surface 13D is validated and when the slope 50 is formed, support control of the work equipment 5 is performed so that the cutting edge 5D of the bucket 5C follows a target design surface RT including the slope-top-side extension surface 13C, the first design surface 15B, and the slope-bottom-side extension surface 13D. At this time, there is a possibility that the bucket 5C excavates the third design surface 15C, and the excavated object is not produced in the desired shape.

[0070] In the embodiment, the work equipment control unit 28, as shown in [after correction] of Fig. 9, invalidates the slope bottom-side extension surface 13D and performs support control of the work equipment 5 so that the cutting edge 5D of the bucket 5C follows the target construction surface RT after the correction, including the slope top-side extension surface 13C, the first design surface 15B, and the third design surface 15C. As a result, the excavation object is constructed in the desired shape. [computer system]

[0071] Fig. 10 is a block diagram illustrating a computer system 1000 according to the embodiment. The above-described control device 12 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a central processing unit (CPU), a main memory 1002 including non-volatile memory such as read-only memory (ROM) and volatile memory such as random access memory (RAM), a memory 1003, and an interface 1004 including an input / output circuit. The above-described function of the control device 12 is stored in the memory 1003 as a computer program. The processor 1001 reads the computer program from the memory 1003, loads the computer program into the main memory 1002, and executes the above-described processing according to the program. Note that the computer program may be distributed to the computer system 1000 over a network.

[0072] According to the embodiment described above, the computer program or the computer system 1000 can execute: storing a plurality of design surfaces set as an excavation object of the excavator 1; generating, in both the slope top direction and the slope bottom direction, the extension surface 13 obtained by expanding the first design surface 15B, which is a target construction surface indicating a target shape of the slope 50 of an excavation object determined from the plurality of design surfaces; and controlling, when the extension surface 13 is generated in both the slope top direction and the slope bottom direction, the work equipment 5 provided in the excavator 1 based on the slope top side extension surface 13C, that is,the extension surface 13 in the slope top direction, and the first design surface 15B, without using the slope bottom side extension surface 13D, ie the extension surface 13 in the slope bottom direction. [Effects]

[0073] As described above, the control system 30 of the excavator 1 according to the embodiment includes: the design data storage unit 15 that stores a plurality of design surfaces set as an excavation object of the excavator 1; the extension surface generation unit 23 that generates, in both the slope top direction and the slope bottom direction, the extension surface 13 obtained by expanding the first design surface 15B, which is a target design surface indicating a target shape of the slope 50 of an excavation object determined from the plurality of design surfaces;and the work equipment control unit 28 that, when the extension surface 13 is generated in both the slope top direction and the slope bottom direction, controls the work equipment 5 provided in the excavator 1 based on the slope top side extension surface 13C, which is the extension surface 13 in the slope top direction, and the first design surface 15B, without using the slope bottom side extension surface 13D, which is the extension surface 13 in the slope bottom direction.

[0074] In the embodiment, when the slope 50 is formed, when the slope top side extension surface 13C and the slope bottom side extension surface 13D are generated for the first design surface 15B, that is, the target construction surface of the slope 50, if the support control of the work equipment 5 is performed so that the bucket 5C continuously moves along the slope top side extension surface 13C, the first design surface 15B, and the lower slope bottom side extension surface 13D, there is a possibility that the bucket 5C excavates the third design surface 15C and the excavation object is not constructed in the desired shape.In this embodiment, when both the slope-top-side extension surface 13C and the slope-bottom-side extension surface 13D are generated, the support control of the work equipment 5 is performed based on the slope-top-side extension surface 13C and the first design surface 15B, without using the slope-bottom-side extension surface 13D. The support control of the work equipment 5 is performed so that the bucket 5C continuously moves along the slope-top-side extension surface 13C, the first design surface 15B, and the third design surface 15C, thereby preventing the third design surface 15C from being excavated. Therefore, the excavation object is constructed in a desired shape. [Other embodiments]

[0075] In the above-described embodiment, when the slope bottom determination unit 24 determines that the slope bottom exists, the work equipment control unit 28 performs assist control of the work equipment 5 so that the cutting edge 5D of the bucket 5C follows the slope top-side extension surface 13C, the first design surface 15B, and the third design surface 15C. Based on the input data from the input device 8B, the work equipment control unit 28 can perform assist control of the work equipment 5 based on the slope top-side extension surface 13C, the first design surface 15B, and the third design surface 15C connected to the lowest portion of the first design surface 15B among a plurality of design surfaces, without using the lower slope bottom-side extension surface 13D. That is, the target construction surface RT [after correction] in Fig. 9 can be determined by the operator. While the operator is viewing the target construction surface RT [before correction] displayed on the display device 8A in Fig. 9, the operator can set the target construction surface RT including the slope top side extension surface 13C, the first design surface 15B and the third design surface 15C as the target construction surface RT [after correction] in Fig. 9. For example, the operator may determine the target construction surface RT so that the work equipment 5 is assisted to be controlled using the third design surface 15C instead of the slope bottom side extension surface 13D.

[0076] In the embodiment described above, each of the design data storage unit 15, the vehicle body data storage unit 16, the operation data acquisition unit 17, the input data acquisition unit 18, the sensor data acquisition unit 19, the position / azimuth calculation unit 20, the inclination angle calculation unit 21, the work equipment position calculation unit 22, the extension area generation unit 23, the slope bottom determination unit 24, the display control unit 25, the travel control unit 26, the swing control unit 27, and the work equipment control unit 28 can be configured by separate hardware.

[0077] In the embodiment described above, the work machine 1 is an excavator with the traveling body 3 and the oscillating body 4. The work machine 1 may not include the traveling body 3 and the oscillating body 4. The work machine 1 only needs to have one work attachment and may be, for example, a bulldozer or a wheel loader. Reference character list 1 EXCAVATOR (WORKING MACHINE) 2 CABINS 3 DRIVING BODY 3A Caterpillar Track 4 Oscillating bodies 5 WORK EQUIPMENT 5A BOOM 5B ARM 5C SHOVEL 5D CUTTING EDGE 6 hydraulic cylinders 6A BOOM CYLINDER 6B ARM CYLINDER 6C BUCKET CYLINDER 7 ACTUATOR 7A LEFT WORKING LEVER 7B RIGHT WORKING LEVER 7C LEFT DRIVE LEVER 7D RIGHT DRIVE LEVER 7E LEFT FOOT PEDAL 7F RIGHT FOOT PEDAL 8 IN-VEHICLE MONITOR 8A DISPLAY DEVICE 8B INPUT DEVICE 8C ALARM DEVICE 9 POSITION SENSOR 9A FIRST POSITION SENSOR 9B SECOND POSITION SENSOR 10 Tilt Sensor 11 POSTURE SENSOR 11A FIRST POSTURE SENSOR 11B SECOND POSTURE SENSOR 11C THIRD POSTURE SENSOR 12 CONTROL DEVICE 13 EXPANSION AREA 13A STARTING EXTENSION AREA 13B END EXTENSION AREA 13C Expansion area on the top of the slope 13D EXTENSION AREA AT THE BOTTOM OF THE SLOPE 14 DRIVER'S SEAT 15 DESIGN DATA STORAGE UNIT 15A SECOND DESIGN AREA 15B FIRST DESIGN AREA 15C THIRD DESIGN AREA 16 VEHICLE BODY DATA STORAGE UNIT 17 OPERATION DATA RECORDING UNIT 18 INPUT DATA ACQUISITION UNIT 19 SENSOR DATA ACQUISITION UNIT 20 POSITION / AZIMUTUS CALCULATION UNIT 21 INCLINATION ANGLE CALCULATION UNIT 22 WORK EQUIPMENT POSITION CALCULATION UNIT 23 EXPANSION AREA GENERATION UNIT 24 Slope bottom edge determination unit 25 DISPLAY CONTROL UNIT 26 DRIVE CONTROL UNIT 27 Vibration control unit 28 WORK EQUIPMENT CONTROL UNIT 30 CONTROL SYSTEM 50 EMBASSY 51 TOP OF THE EMBANKMENT 52 BOTTOM OF THE EMBANKMENT 150 TARGET CONSTRUCTION AREA 1000 COMPUTER SYSTEM 1001 PROCESSOR 1002 MAIN STORAGE 1003 STORAGE 1004 INTERFACE Og JOB REFERENCE POINT Om REPRESENTATIVE POINT RX SWING AXLE QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] WO 2015 / 129930 A

[0003]

Claims

[1] Control system for a work machine, the control system comprising: a design data storage unit that stores a plurality of design surfaces set as an excavation object of the work machine; an extension surface generation unit that generates, in both a slope top direction and a slope bottom direction, an extension surface obtained by expanding a target construction surface indicating a target shape of a slope of the excavation object determined from the plurality of design surfaces; and a work equipment control unit that, when the extension surface is generated in both the slope top direction and the slope bottom direction, controls work equipment provided in the work machine based on the extension surface in the slope top direction and the target construction surface without using the extension surface in the slope bottom direction. [2] The control system of a work machine according to claim 1, further comprising a slope bottom determination unit that determines, based on a relative position between the adjacent design surface and the extension surface, whether a slope bottom exists at a boundary between the target design surface and an adjacent design surface connected to the target design surface among a plurality of design surfaces, wherein the work equipment control unit, when determining that the slope bottom exists, controls the work equipment based on the target design surface and the adjacent design surface. [3] The control system of a work machine according to claim 2, wherein the slope bottom determining unit determines that the slope bottom is present when it determines that the adjacent design surface is present at a higher position than the extension surface at a same point in the horizontal direction. [4] A control system of a work machine according to claim 1, further comprising an input data acquisition unit that acquires input data from an input device, wherein the work equipment control unit, based on the input data, controls the work equipment based on the extension surface in the slope top direction, the target construction surface, and an adjacent design surface connected to a lowest portion of the target construction surface among a plurality of design surfaces without using the extension surface in the slope bottom direction. [5] A work machine comprising the work machine control system according to claim 1. [6] Control method for a work machine, the method comprising: Saving multiple design surfaces defined as the excavation object of the work machine; Creating an extension surface obtained by extending a target construction surface indicating a target shape of a slope of the excavation object determined from a plurality of the design surfaces, both in the slope top direction and in the slope bottom direction; and When the extension surface is generated in both the slope top direction and the slope bottom direction, control the work equipment provided in the work machine based on the extension surface in the slope top direction and the target construction surface without using the extension surface in the slope bottom direction. [7] A control method for a work machine according to claim 6, further comprising: Determining, based on a relative position between the adjacent design surface and the extension surface, whether a slope bottom exists at a boundary between the target design surface and an adjacent design surface connected to the target design surface among a plurality of design surfaces; and When it is determined that the slope bottom exists, control the work equipment based on the target construction surface and the adjacent design surface. [8] A control method for a work machine according to claim 7, wherein it is determined that the slope bottom exists when it is determined that the adjacent design surface exists at a higher position than the extension surface at a same point in the horizontal direction. [9] A control method for a work machine according to claim 6, further comprising: Capturing input data from an input device; and Control, based on the input data, the work equipment based on the extension surface in the slope top direction, the target construction surface, and an adjacent design surface connected to a lowest portion of the target construction surface among multiple design surfaces without using the extension surface in the slope bottom direction.

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