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, the control system comprising: a construction data storage unit that stores multiple design surfaces defined as a construction object of the working machine; a selection unit that selects at least two design surfaces from the multiple design surfaces to be offset in directions perpendicular to the design surfaces; and an offset control unit that processes the selected design surfaces and offsets the processed design surfaces in the perpendicular directions.

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 constructing a construction object based on a target construction surface is known. As a technique for constructing the construction object based on the target construction surface, a machine guidance technique is known in which a guidance image indicating a relative position between the target construction surface and a bucket of a work machine 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. Patent Literature 1 discloses an example of the machine guidance technique. Citation listPatent literature

[0003] Patent Literature 1: JP 2014-074318 A Abstract Technical problem

[0004] A target design surface can be defined by multiple design surfaces with different gradients. In addition, there is a case where it is desired to create a new target design surface by offsetting each of the multiple design surfaces in a direction perpendicular to the design surface (normal direction). If the multiple design surfaces are offset simultaneously in the perpendicular directions, the design surfaces may overlap or be separated from each other, and the target design surface cannot be properly generated. However, there is no simple method for changing the shape of the target design surface to eliminate the overlap or spacing between the countless design surfaces. In addition, if the target design surface is formed of many design surfaces, offsetting all the target design surfaces in the perpendicular directions results in a large computational burden.

[0005] An object of the present disclosure is to slightly offset each of a plurality of design surfaces in a perpendicular direction. 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 construction data storage unit that stores a plurality of design surfaces set as a construction object of the work machine; a selection unit that selects, from the plurality of design surfaces, at least two design surfaces to be offset in directions perpendicular to the design surfaces; and a displacement control unit that edits the selected design surfaces and offsets the edited design surfaces in the perpendicular directions. Advantageous effects of the invention

[0007] According to the present disclosure, it is possible to easily create a new target design surface which is formed by offsetting a plurality of design surfaces in perpendicular directions. 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 schematically illustrating a target construction surface. Fig. 6 is a diagram illustrating a problem according to the embodiment. Fig. 7 is a flowchart illustrating a control method of the work machine according to the embodiment. Fig. 8 is a perspective view schematically illustrating a design surface selected by a selecting unit according to the embodiment. Fig. 9 is a perspective view schematically illustrating a design surface before being displaced by a displacement control unit according to the embodiment and a design surface after being displaced by the displacement control unit. Fig. 10 is a side view schematically illustrating the design surface before being displaced by a displacement control unit according to the embodiment and the design surface after being displaced by the displacement control unit. Fig. 11 is a side view schematically illustrating a design surface after it has been machined and offset. Fig. Figure 12 is a plan view schematically illustrating the design surface after it has been machined and offset. Fig. 13 is a diagram schematically illustrating an example of a machining method when two design surfaces overlap. Fig. Figure 14 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 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 work equipment 5 is supported by the vibrating body 4. The work equipment 5 performs work. In the embodiment, the work performed by the work equipment 5 includes excavation work for excavating a construction 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 device 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 control device 12 includes a construction data storage unit 15, a vehicle body data storage unit 16, an operation data acquisition unit 17, an input data acquisition unit 18, 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 selection unit 23, a displacement control unit 24, a display control unit 25, a travel control unit 26, a swing control unit 27, and a work equipment control unit 28.

[0035] The construction data storage unit 15 stores a plurality of design surfaces defined at the work site. The plurality of design surfaces are defined as the construction 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 construction surface, which specifies a target shape of the construction object, is defined by the plurality of design surfaces. The excavator 1 excavates the construction object based on the target construction surface.

[0036] 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.

[0037] The operation data acquisition unit 17 acquires operation data generated by the operation of the operating device 7.

[0038] The input data acquisition unit 18 acquires input data generated by the operation of the input device 8B.

[0039] 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.

[0040] 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 with respect to the Xg axis.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] The selection unit 23 selects at least two design surfaces to be displaced in the directions perpendicular to the design surfaces from the plurality of design surfaces stored in the construction data storage unit 15. The design surface to be displaced is designated by an operator. The operator operates the input device 8B to designate the design surface to be displaced. The input data from the input device 8B is acquired by the input data acquisition unit 18. Based on the input data acquired by the input data acquisition unit 18, the selection unit 23 selects at least two design surfaces to be displaced in the directions perpendicular to the design surfaces from the plurality of design surfaces stored in the construction data storage unit 15.

[0045] The offset control unit 24 processes at least two design surfaces selected by the selection unit 23 and then offsets the processed design surfaces in the vertical directions.

[0046] The display control unit 25 controls the display device 8A of the vehicle monitor 8. The display control unit 25 causes the display device 8A to display predetermined display data. The display control unit 25 can cause the display device 8A to display each of the design areas before they are moved and the design areas after they are moved.

[0047] 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.

[0048] 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.

[0049] 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 design surfaces processed and offset by the offset control unit 24. The work equipment control unit 28 controls the work equipment 5 based on the operation data of the operating device 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 design surfaces.For example, the work equipment control unit 28 performs support control of the work equipment 5 so that the cutting edge of the bucket 5C calculated by the work equipment position calculation unit 22 follows the design surfaces offset by the offset control unit 24. [Design surface offset]

[0050] Fig. 5 is a diagram schematically illustrating a target construction area 50 (may also be referred to as a target construction area). As shown in Fig. 5, the target construction surface 50, which indicates a target shape of a construction object, is defined by a plurality of design surfaces 51, 52, and 53. Each of the plurality of design surfaces 51, 52, and 53 is a plane. The design surface 52 is adjacent to the design surface 51. The design surface 53 is adjacent to at least one of the design surfaces 51 and the design surface 52. In the Fig. In the example illustrated in Figure 5, the design surface 53 borders the design surface 52. The target construction surface 50 is defined by several design surfaces 51, 52, and 53, each having different gradients.

[0051] As in Fig. 5, there is a case where it is desired to create a new target design surface by offsetting each of the plurality of design surfaces 51, 52, and 53 in a direction perpendicular to each of the design surfaces 51, 52, and 53 (normal direction). That is, there is a case where it is desired to offset the design surface 51 in a direction perpendicular to the design surface 51 (normal direction), offset the design surface 52 in a direction perpendicular to the design surface 52 (normal direction), and offset the design surface 53 in a direction perpendicular to the design surface 53 (normal direction).

[0052] Fig. 6 is a diagram illustrating a problem according to the embodiment. As shown in Fig. As illustrated in Figure 6, a design surface 510 is generated when the design surface 51 is offset by an offset amount D in the direction perpendicular to the design surface 51 while maintaining the size and shape of the design surface 51. When the design surface 52 is offset by the offset amount D in the direction perpendicular to the design surface 52 while maintaining the size and shape of the design surface 52, a design surface 520 is generated. When the design surface 53 is offset by the offset amount D in the direction perpendicular to the design surface 53 while maintaining the size and shape of the design surface 53, a design surface 530 is generated.When the plurality of design surfaces 51, 52, and 53 are simultaneously shifted in the perpendicular directions while maintaining the sizes and shapes of the plurality of design surfaces 51, 52, and 53, there is a possibility that the design surface 510 and the design surface 520 overlap each other after the shift, or the design surface 520 and the design surface 530 are separated from each other after the shift, as shown in FIG. Fig. 6. If the design surfaces 510, 520, and 530 overlap or are separated after being offset, there is a possibility that the target design surface 50 will not be properly generated. To eliminate the overlap or separation of the design surfaces 510, 520, and 530, it is conceivable to enlarge or reduce each of the design surfaces 510, 520, and 530 by some measure. However, each of the design surfaces 510, 520, and 530 is a polygonal surface formed by multiple triangles, and it is not possible to eliminate the overlap or separation by simply enlarging or reducing the surfaces.In addition, when the shape of the design surface is partially changed to eliminate the intersection or separation, it is necessary to calculate a setup of a triangle that realizes the shape after the change, and a complicated design surface shape may cause a large amount of calculation.

[0053] Therefore, the offset control unit 24 edits the design surfaces 51, 52, and 53 and then moves the design surfaces 51, 52, and 53 in the perpendicular directions. The editing of each of the design surfaces 51, 52, and 53 by the offset control unit 24 includes changing each of the design surfaces 510, 520, and 530, after being offset, into a quadrangular shape based on the vertices of each of the design surfaces 51, 52, and 53 before being offset. [Tax procedure]

[0054] Fig. 7 is a flowchart illustrating a control method of the excavator 1 according to the embodiment. The construction data storage unit 15 stores a plurality of design surfaces. The display control unit 25 causes the display device 8A to display the plurality of design surfaces stored in the construction data storage unit 15 (step S1).

[0055] An operator of the excavator 1 operates the input device 8B and selects at least two design surfaces to be displaced in the vertical directions from among the plurality of design surfaces displayed on the display device 8A. The input data from the input device 8B is acquired by the input data acquisition unit 18. The selection unit 23 selects at least two design surfaces to be displaced in the vertical directions from the plurality of design surfaces stored in the construction data storage unit 15 based on the input data acquired by the input data acquisition unit 18 (step S2).

[0056] Fig. Fig. 8 is a perspective view schematically illustrating the design surfaces 51, 52, and 53 selected by the selection unit 23 according to the embodiment. In the embodiment, the selection unit 23 selects the design surface 51, the design surface 52 adjacent to the design surface 51, and the design surface 53 adjacent to at least one of the design surface 51 and the design surface 52. In the Fig. In the example illustrated in Figure 8, the design area 53 borders on the design area 52.

[0057] Design surface 51, design surface 52, and design surface 53 are each a plane. Design surface 51 contains six adjacent triangles. The six triangles that constitute design surface 51 are arranged in the same plane. Design surface 52 contains five adjacent triangles. The five triangles that constitute design surface 52 are arranged in the same plane. Design surface 53 contains four adjacent triangles. The four triangles that constitute design surface 53 are arranged in the same plane.

[0058] The outer shape of each of the design surface 51, the design surface 52, and the design surface 53 is a polygon. Each of the design surface 51, the design surface 52, and the design surface 53 has at least five vertices. That is, each of the design surface 51, the design surface 52, and the design surface 53 has a polygonal shape with five or more sides. In this embodiment, the outer shape of the design surface 51 is a heptagon. The outer shape of the design surface 52 is a hexagon. The outer shape of the design surface 53 is a hexagon. The design surface 51 and the design surface 52 are adjacent to each other such that one side of the design surface 51 coincides with one side of the design surface 52. The design surface 52 and the design surface 53 are adjacent to each other such that one side of the design surface 52 coincides with one side of the design surface 53. The design surface 51 and the design surface 52 share a side 61.The design surface 52 and the design surface 53 share a side 62. The side 61 connects two vertices of the design surface 51 and two vertices of the design surface 52. The side 62 connects two vertices of the design surface 52 and two vertices of the design surface 53.

[0059] The offset control unit 24 processes the design surfaces 51, 52, and 53 selected in step S2 and offsets the processed design surfaces 51, 52, and 53 in the vertical directions (step S3).

[0060] Fig. 9 is a perspective view schematically illustrating the design surfaces 51, 52, and 53 before being displaced by the displacement control unit 24 according to the embodiment, and the design surfaces 510, 520, and 530 after being displaced by the displacement control unit 24. Fig. 10 is a side view schematically illustrating the design surfaces 51, 52, and 53 before being displaced by the displacement control unit 24 according to the embodiment, and the design surfaces 510, 520, and 530 after being displaced by the displacement control unit 24 according to the embodiment.

[0061] The processing of the design surfaces 51, 52, and 53 by the offset control unit 24 includes forming each of the design surfaces 510, 520, and 530, after being offset, into a quadrangular shape based on the vertices of each of the design surfaces 51, 52, and 53 before being offset.

[0062] The external shape of the design surface 510 is a quadrilateral. The design surface 510 includes a first side 610, a second side 612 opposite the first side 610, a third side 613 connecting one end of the first side 610 to one end of the second side 612, and a fourth side 614 connecting the other end of the first side 610 to the other end of the second side 612. The dimension and direction of the first side 610 of the design surface 510 are equal to the dimension and direction of side 61 of the design surface 51. The first side 610 of the design surface 510 and the side 61 of the design surface 51 are parallel to each other. The first side 610 and the second side 612 are parallel to each other. The dimension of the first side 610 is equal to the dimension of the second side 612. The first side 610 and the third side 613 are orthogonal to each other. The first side 610 and the fourth side 614 are orthogonal to each other.The third side 613 and the fourth side 614 are parallel to each other. The dimension of the third side 613 of the design surface 510 and the dimension of the fourth side 614 of the design surface 510 are equal to the dimension shown in . Fig. 8. The distance L1 is a distance between the side 61 and a vertex 51F of the design surface 51 in a direction parallel to the design surface 51 and orthogonal to the side 61. The vertex 51F is a vertex that is farthest from the side 61 among the seven vertices of the design surface 51 in the direction parallel to the design surface 51 and orthogonal to the side 61.

[0063] The outer shape of the design surface 530 is a quadrilateral. The design surface 530 includes a fifth side 620, a sixth side 632 opposite the fifth side 620, a seventh side 633 connecting one end of the fifth side 620 to one end of the sixth side 632, and an eighth side 634 connecting the other end of the fifth side 620 to the other end of the sixth side 632. The dimension and direction of the fifth side 620 of the design surface 530 are equal to the dimension and direction of side 62 of the design surface 53. The fifth side 620 of the design surface 530 and side 62 of the design surface 53 are parallel to each other. The fifth side 620 and the sixth side 632 are parallel to each other. The dimension of the fifth side 620 is equal to the dimension of the sixth side 632. The fifth side 620 and the seventh side 633 are orthogonal to each other. The fifth side 620 and the eighth side 634 are orthogonal to each other.The seventh side 633 and the eighth side 634 are parallel to each other. The dimension of the seventh side 633 of the design surface 530 and the dimension of the eighth side 634 of the design surface 530 are equal to the dimension shown in . Fig. 8. The distance L2 is a distance between the side 62 and a vertex 53F of the design surface 53 in a direction parallel to the design surface 53 and orthogonal to the side 62. The vertex 53F is a vertex that is farthest from the side 62 among the six vertices of the design surface 53 in the direction parallel to the design surface 53 and orthogonal to the side 62.

[0064] The outer shape of the design surface 520 is a quadrilateral. The design surface 520 includes the first side 610, the fifth side 620 opposite the first side 610, a ninth side 623 connecting one end of the first side 610 to one end of the fifth side 620, and a tenth side 624 connecting the other end of the first side 610 and the other end of the fifth side 620.

[0065] The design surface 510 is a plane offset by a predetermined amount in a direction perpendicular to the design surface 51 (normal direction). The design surface 510 and the design surface 51 are parallel to each other. The design surface 520 is a plane offset by a predetermined amount in a direction perpendicular to the design surface 52 (normal direction). The design surface 520 and the design surface 52 are parallel to each other. The design surface 530 is a plane offset by a predetermined amount in a direction perpendicular to the design surface 53 (normal direction). The design surface 530 and the design surface 53 are parallel to each other. The design surface 510 and the design surface 520 share the first side 610. The design surface 520 and the design surface 530 share the fifth side 620.

[0066] If, as in Fig. 10, a normal vector perpendicular to the design surface 51 is defined as normal vector V1, a normal vector perpendicular to the design surface 52 is defined as normal vector V2, and a normal vector perpendicular to the design surface 53 is defined as normal vector V3, an offset vector from the side 61 to the first side 610 corresponds to a combined vector V12 of the normal vector V1 and the normal vector V2. The combined vector V12 is calculated from an offset amount D1 of the design surface 51, an offset amount D2 of the design surface 52, and an angle θ12 formed by the normal vector V1 and the normal vector V2, based on the following mathematical formula (1). V12=1(1−cos2θ12)⋅{(D1−D2⋅cosθ12)⋅V1+(D2−D1⋅cosθ12)⋅V2}

[0067] When an offset amount from the design surface 51 to the design surface 510 is equal to an offset amount from the design surface 52 to the design surface 520, an offset direction from the side 61 to the first side 610 with respect to the horizontal plane (a direction of the combined vector V12 with respect to the horizontal plane) corresponds to a direction of a vector sum (V1+V2) of the normal vector V1 with respect to the horizontal plane and the normal vector V2 with respect to the horizontal plane. The offset vector from the side 62 to the fifth side 620 corresponds to a combined vector V23 of the normal vector V2 and the normal vector V3. The combined vector V23 is calculated from the offset amount D2 of the design surface 52, an offset amount D3 of the design surface 53, and an angle θ23 formed by the normal vector V2 and the normal vector V3 based on the following mathematical formula (2). V23=1(1−cos2θ23)⋅{(D2−D3⋅cosθ23)⋅V2+(D3−D2⋅cosθ23)⋅V3}

[0068] When an offset amount from the design surface 52 to the design surface 520 is equal to an offset amount from the design surface 53 to the design surface 530, an offset direction from the side 62 to the fifth side 620 with respect to the horizontal plane (a direction of the combined vector V23 with respect to the horizontal plane) corresponds to a direction of a vector sum (V2+V3) of the normal vector V2 with respect to the horizontal plane and the normal vector V3 with respect to the horizontal plane.

[0069] As described above, according to the embodiment, each of the plurality of design surfaces 51, 52, and 53 is machined based on a predetermined rule, with each of the plurality of design surfaces 51, 52, and 53 being slightly offset in the vertical direction. A suitable target design surface is generated by the plurality of design surfaces 510, 520, and 530.

[0070] After each of the design surfaces 51, 52, and 53 is machined into a quadrilateral and displaced in the vertical direction, the work equipment control unit 28 controls the work equipment 5 based on the design surfaces 510, 520, and 530 after they have been machined and displaced. The work equipment control unit 28 performs assist control of the work equipment 5 so that the cutting edge of the bucket 5C follows the design surfaces 510, 520, and 530. [Processing when two machined and offset design surfaces overlap]

[0071] Fig. Figure 11 is a side view schematically illustrating the design surfaces 510, 520, and 530 after they have been machined and offset. Fig. Figure 12 is a plan view schematically illustrating the design surfaces 510 and 530 after they have been machined and offset. As shown in the Fig. 11 and Fig. As illustrated in Figure 12, the design surface 510 and the design surface 530 may overlap after being edited and offset, depending on the relative angles and offset amounts of the design surfaces 510, 520, and 530. If the design surface 510 and the design surface 530 overlap after being edited and offset, the design surface 520 does not have a suitable shape, so a suitable target design surface cannot be created.

[0072] Fig. 13 is a diagram schematically illustrating an example of a processing method when two design surfaces 510 and 530 overlap. As shown in Fig. 13, the offset control unit 24 further edits the design surface 510, the design surface 520, and the design surface 530 when the design surface 510 and the design surface 530 overlap after being edited and offset. As shown in Fig. 13, the offset control unit 24, for example, edits the design surface 520 after it has been edited and offset into a triangular shape to create a blank section between the first side 610 and the fifth side 620, as shown in Fig. 12. The triangular shape is defined as the design surface 540. The offset control unit 24 reduces the side 610, that is, one side of the design surface 510 after being machined and offset, to correspond to one side of the design surface 540 on the design surface 510. The offset control unit 24 reduces the side 620, that is, one side of the design surface 530 after being machined and offset, to correspond to one side of the design surface 540 on the design surface 530. The design surface 510, the design surface 520, and the design surface 530, after being machined and offset, are further machined so that a target design surface is appropriately generated. [computer system]

[0073] Fig.14 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.

[0074] According to the embodiment described above, the computer program or the computer system 1000 can perform: storing a plurality of design surfaces set as a construction object of the excavator 1; selecting at least two design surfaces 51, 52, and 53 from the plurality of design surfaces to be displaced in the directions perpendicular to the design surfaces; and editing the selected design surfaces 51, 52, and 53 and displacing the design surfaces 51, 52, and 53 in the perpendicular directions. [Effects]

[0075] As described above, the control system 30 of the excavator 1 according to the embodiment includes the construction data storage unit 15 that stores a plurality of design surfaces set as a construction object of the excavator 1, the selection unit 23 that selects at least two design surfaces 51, 52, and 53 to be offset in the directions perpendicular to the design surfaces from the plurality of design surfaces, the offset control unit 24 that edits the selected design surfaces 51, 52, and 53 and offsets the design surfaces 51, 52, and 53 in the perpendicular directions, and the work equipment control unit 28 that controls the work equipment 5 included in the excavator 1 based on the design surfaces 510, 520, and 530 after they are edited and offset.

[0076] In the embodiment, each of the plurality of design surfaces 51, 52, and 53 is slightly offset in a perpendicular direction while limiting the computational effort. Furthermore, the design surfaces 51, 52, and 53 are processed and offset in the perpendicular directions based on a predetermined rule, thereby generating design surfaces 510, 520, and 530 that do not overlap or are not separated from each other. Since the design surfaces 510, 520, and 530 do not overlap or are not separated from each other, the target design surface is appropriately generated. [Other embodiments]

[0077] In the embodiment described above, each of the construction 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 tilt angle calculation unit 21, the work equipment position calculation unit 22, the selection unit 23, the displacement control 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.

[0078] In the embodiment described above, the work machine 1 is an excavator that includes a traveling body 3 and a vibrating body 4. The work machine 1 does not need to include the traveling body 3 and the vibrating body 4. The work machine 1 only needs to include work equipment and can be, for example, a bulldozer or a wheel loader. List of reference symbols 1 EXCAVATOR (WORKING MACHINE) 2 CABINS 3 DRIVING BODY 3A Caterpillar Track 4 Oscillating bodies 5 WORK EQUIPMENT 5A BOOM 5B ARM 5C SHOVEL 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 14 DRIVER'S SEAT 15 CONSTRUCTION DATA STORAGE UNIT 16 VEHICLE BODY DATA STORAGE UNIT 17 ACTUATING 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 SELECTION UNIT 24 OFFSET CONTROL UNIT 25 DISPLAY CONTROL UNIT 26 DRIVE CONTROL UNIT 27 Vibration Control Unit 28 WORK EQUIPMENT CONTROL UNIT 30 CONTROL SYSTEM 50 TARGET CONSTRUCTION AREA 51 DESIGN AREA (FIRST DESIGN AREA) 51F CORNER POINT 52 DESIGN AREA (SECOND DESIGN AREA) 53 DESIGN AREA (THIRD DESIGN AREA) 53F CORNER POINT 61 PAGE 62 PAGES 510 DESIGN AREA 520 DESIGN AREA 530 DESIGN AREA 540 DESIGN AREA 610 FIRST PAGE 612 SECOND PAGE 613 THIRD PAGE 614 FOURTH PAGE 620 FIFTH PAGE 623 NINTH PAGE 624 TENTH PAGE 632 SIXTH PAGE 633 SEVENTH PAGE 634 EIGHTH PAGE 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] JP 2014-074318 A

[0003]

Claims

[1] Control system for a work machine, the control system comprising: a construction data storage unit that stores a plurality of design surfaces set as a construction object of the work machine; a selection unit that selects at least two design surfaces from the plurality of design surfaces to be offset in directions perpendicular to the design surfaces; and an offset control unit that edits the selected design surfaces and offsets the edited design surfaces in the vertical directions. [2] A control system for a work machine according to claim 1, further comprising a work equipment control unit that controls the work equipment provided in the work machine based on the machined and offset design surfaces. [3] A control system for a work machine according to claim 1, further comprising a display control unit that causes a display device to display the design surfaces. [4] The control system for a work machine according to claim 1, wherein the selecting unit selects a first design surface, a second design surface adjacent to the first design surface, and a third design surface adjacent to at least one of the first design surface and the second design surface. [5] A control system for a work machine according to claim 1, wherein processing the design surfaces includes forming each of the design surfaces after being displaced into a quadrilateral based on the vertices of each of the design surfaces before being displaced. [6] A control system for a working machine according to claim 4, wherein the third design surface is adjacent to the first design surface, and when the second design surface and the third design surface overlap each other after machining and offsetting, the offset control unit further machines the first design surface, the second design surface, and the third design surface after they are machined and offset. [7] A work machine comprising the control system for a work machine according to claim 1. [8] Control method for a work machine, the method comprising: Saving multiple design surfaces defined as the construction object of the work machine; Selecting at least two design surfaces from the plurality of design surfaces to be offset in directions perpendicular to the design surfaces; and Editing the selected design surfaces and offsetting the edited design surfaces in the vertical directions. [9] A control method for a work machine according to claim 8, further comprising controlling the work equipment provided in the work machine based on the machined and displaced design surfaces. [10] A control method for a work machine according to claim 8, further comprising causing a display device to display the design surfaces. [11] A control method for a work machine according to claim 8, wherein a first design surface, a second design surface adjacent to the first design surface, and a third design surface adjacent to at least one of the first design surface and the second design surface are selected. [12] A control method for a work machine according to claim 8, wherein processing each of the design surfaces includes forming each of the design surfaces into a quadrilateral based on the vertices of each of the design surfaces. [13] A control method for a working machine according to claim 11, wherein the third design surface is adjacent to the first design surface, and if the second design surface and the third design surface overlap each other after they have been edited and offset, further editing the first design surface, the second design surface and the third design surface after they have been edited and offset.

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