Automatic operation control system for work machine

Abstract

To provide an automatic operation control system for a work machine capable of producing such a plan allowing operation without any trouble as a whole even when continuously using task applications.SOLUTION: An automatic operation control system for a work machine is provided with: a sequence order selection unit setting a sequence of the order for executing a plurality of task applications for actuating an actuator; a parameter set unit setting parameters to be inputted to the task applications; a total planning unit set creating an execution plan for each of the task applications based on the order for executing the task applications and the parameters; and a common information output unit outputting at least a part of contents of the execution plan each time the execution plan is created for each of the task applications.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an automatic driving control system for a work machine that automatically drives a work machine. [Background technology]

[0002] In an automatic driving system for a construction machine, an automatic driving construction machine (hereinafter, task command type construction machine) has been proposed, which plans the operation of the vehicle body for each work purpose (hereinafter, task) in advance and then operates the actuator of the vehicle body according to the plan. For example, Patent Document 1 relates to automatic driving control of the loading operation of an excavator. Patent Documents 2 and 3 also disclose techniques for automatic driving control of a task in a construction machine that executes a specific task. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-33826 A [Patent Document 2] Patent Publication No. 2021-73401 [Patent Document 3] JP 2019-60109 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology of Patent Document 1, when loading a dump truck, an operator inputs the dumping position, and the turning and dumping operations are automatically planned, and the vehicle body operates according to the plan.

[0005] However, in an automatic operation control system for a work machine that plans such tasks in advance and executes operations according to the plan, when tasks are planned and executed continuously, the content of the N+1th task may depend on the result of the execution of the Nth task.For simplicity, below, the calculation unit in the system that performs the above planning and execution will be collectively referred to as the task app.

[0006] For example, immediately before the calculation of the loading operation task application in Patent Document 1, there is always an operation of storing soil in a bucket (hereinafter referred to as an excavation task). When such an excavation task is automated, the vehicle body posture (e.g., boom angle, arm angle, bucket angle) at the end of the excavation task application needs to match the vehicle body posture at the start of the loading operation task application plan. If the postures are different, a series of plans cannot be made, or even if a plan is made, the planned operations will be discontinuous and there will be no way to realize it. The same is true for Patent Documents 2 and 3.

[0007] The present invention has been made in consideration of the above, and has an object to provide a control system for a construction machine that is a "task command type construction machine" that is a type of construction machine designed to automatically execute a "task app" that plans vehicle body motion for each task and executes motion in accordance with the plan, and that enables the generation of plans that will allow the machine to operate without any overall malfunctions, even when task apps are used continuously. [Means for solving the problem]

[0008] In order to solve the above problems, the automatic driving control system for a work machine according to the present invention includes an order selection unit that sets the order in which multiple task apps are executed when multiple task apps are executed to operate an actuator, a parameter setting unit that sets parameters to be input to the task apps, an overall planning unit that generates an execution plan for each of the multiple task apps based on the order and parameters in which the task apps are executed, and a shared information output unit that outputs at least a portion of the contents of the execution plan each time an execution plan is generated for each of the multiple task apps. Effect of the Invention

[0009] According to the present invention, it is possible to generate a plan that allows operation without any problems overall, even when task applications are used continuously. Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0010] [Figure 1] 1 is a side view of a hydraulic excavator, which is an example of a work machine 1 equipped with a control system according to a first embodiment. [Diagram 2] FIG. 4 is a functional block diagram showing an example of functions of a task application. [Diagram 3] FIG. 2 is a functional block diagram showing the configuration of a control system for controlling the operation of the work machine. [Figure 4] 4 is a flowchart showing a process executed by the control system according to the first embodiment. [Diagram 5] 1 is a table showing an example of types of shared information and parameter values ​​handled by the control system. [Figure 6] FIG. 11 is a functional block diagram showing the configuration of a control system according to a second embodiment. [Figure 7] 10 is a flowchart showing a process executed by the control system according to the second embodiment. [Figure 8] FIG. 11 is a functional block diagram showing the configuration of a control system according to a third embodiment. [Figure 9] 11 is a flowchart showing a process executed by a control system according to a third embodiment. [Figure 10] FIG. 11 is a functional block diagram showing the configuration of a control system according to a fourth embodiment. [Figure 11] FIG. 13 is a functional block diagram showing functions of a task application used by the control system according to the fourth embodiment. [Figure 12] 10 is a flowchart showing a process executed by the control system according to the fourth embodiment. [Figure 13] FIG. 13 is a block diagram showing a functional configuration of an excavation application used by the control system according to the fifth embodiment. [Figure 14] 11 is a flowchart showing a process executed using an excavation application. [Figure 15] FIG. 13 is a diagram showing a specific example of data types to be input to an excavation process and an excavation application. [Figure 16] FIG. 13 is a side view of a hydraulic excavator, which is an example of a work machine 1 equipped with a control system according to a sixth embodiment. [Figure 17] FIG. 13 is a block diagram showing the functional configuration of a pick-and-place application used by the control system according to the sixth embodiment. [Figure 18] 11 is a flowchart showing a process performed using a pick and place app. [Figure 19] FIG. 13 is a block diagram showing the functional configuration of a surface molding application used by the control system according to the seventh embodiment. [Figure 20] 11 is a flowchart showing a process executed using a surface shaping application. [Figure 21] FIG. 13 is a block diagram showing a functional configuration of a clay-hitting application used by the control system according to the seventh embodiment. [Figure 22] 11 is a flowchart showing a process executed by using a clay feather application. [Diagram 23] FIG. 23 is a side view of a hydraulic excavator, which is an example of a work machine 1 equipped with a control system according to an eighth embodiment. [Figure 24] FIG. 23 is a block diagram showing a functional configuration of a bucket change application used by the control system according to the eighth embodiment. [Diagram 25] 11 is a flowchart showing a process executed using a bucket change application. [Figure 26] A list of example task apps that can be used by the control system, parameter values ​​to be input to each task app, and actions to be realized by the app. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiment will be described with reference to the drawings.

[0012] [Example 1] FIG. 1 is a perspective view of a hydraulic excavator, which is an example of a work machine 1 equipped with a control system according to a first embodiment of the present invention. The hydraulic excavator 1 includes a lower traveling body 1C, an upper rotating body 1B rotatably mounted on the lower traveling body 1C via a rotating device 3, and a work machine 1A attached to the upper rotating body 1B. The work machine 1A includes a boom 7 rotatably attached to the upper rotating body 1B, an arm 8 rotatably attached to the boom 7, a bucket 9 rotatably attached to the arm 8, a bucket link 11 rotatably attached to the bucket 9 and the arm 8, a boom cylinder 4 connected to the boom 7 and the upper rotating body 1B and capable of arbitrarily changing the rotation angle between the boom 7 and the upper rotating body 1B, an arm cylinder 5 connected to the boom 7 and the arm 8 and capable of arbitrarily changing the rotation angle between the boom 7 and the arm 8, and a bucket cylinder 6 connected to the arm 8 and the bucket link 11 and capable of arbitrarily changing the rotation angle of the bucket 9. The lower traveling structure 1C is driven by a traveling motor 2 to move the vehicle body to any position. The turning device 3 is composed of a turning motor that arbitrarily changes the turning angle between the lower traveling structure 1C and the upper rotating structure 1B. A controller 10 that performs various controls of the hydraulic excavator 1 is installed on the upper rotating structure 1B.

[0013] The controller 10 is configured as a computer having, for example, a CPU and a processor. The CPU executes various task applications and programs stored in the memory to perform various functions described below. Note that, although the controller 10 is disposed on the upper rotating body 1B in this embodiment, the controller 10 may be provided with a communication function and controlled wirelessly from a remote location without being disposed on the hydraulic excavator 1, as long as it is possible to issue operation instructions to the actuators.

[0014] 2 is a functional block diagram showing an example of functions of a task application 200 mounted on the controller 10. The task application 200 has an input unit to which parameters (shown in FIG. 5) for executing the task application 200 are input, a planning unit 202 that generates an application-specific motion plan according to the input parameters, and a storage unit 203 that stores position data, etc., which are the operation results of the actuators, from the generated motion plan. The actuator position data is displacement information of the boom cylinder 4, the arm cylinder 5, and the bucket cylinder 6.

[0015] 3 is a functional block diagram showing an example of the configuration of a control system 300 that controls the operation of a work machine, implemented in the controller 10. The control system 300 has a parameter setting unit 301, a sequence selection unit 302, an overall planning unit 303, a shared information output unit 304, and a task application storage unit 305. In addition, the shared information output unit 304 is connected to a shared information display device 306 that is installed externally via a network.

[0016] The parameter setting unit 301 sets parameter values ​​to be input to each task appli. The parameter values ​​are stored as variables corresponding to the input variables (parameters) input to the input unit 201 of the task appli. The order selection unit 302 searches the task appli storage unit 305 for task apps capable of executing the work to be performed by the work machine, and sets the order of execution. The overall planning unit 303 executes the planning unit 202 of each task appli using the task order selected by the order selection unit 302 and the variables set by the parameter setting unit 301. The shared information output unit 304 extracts the final value of the position data, which is the operation result of the actuator, from the storage unit 203 in which the results calculated by the planning unit 202 are stored, and displays the information on an external shared information display device 306. The shared information display device 306 is, for example, a monitor installed in an operator's room or the like so that the operator of the work machine can visually confirm and grasp the information.

[0017] FIG. 4 is a flowchart showing a process executed by the control system according to the first embodiment. First, the order selection unit 302 selects a task order (step S401). If the task selected by the order selection unit 302 is the first one, the process waits for the parameter setting unit 301 to set the parameters (steps S402 and S403). If the selected task is the second or later, the shared information output unit 304 refers to the storage unit 203 of the previous task, extracts the final data of the actuator position from the time series data, and displays the posture data on the shared information display device 306 (step S407). If a parameter value is input to the parameter setting unit 301, the overall planning unit 303 inputs the parameter value set by the parameter setting unit 301 to the input unit 201 of the corresponding task application (step S404). The overall planning unit 303 executes the planning unit 202 of each task application to generate an operation plan (step S405). The plan calculated by the planning unit 202 is stored in the storage unit 203 (step S406).

[0018] The parameter values ​​and the order may be selected and set in the parameter setting unit 301 and the order selection unit 302 by a system or by a person via an HMI (Human Machine Interface).

[0019] The types of parameters input to each task application are appropriately selected depending on the type of operation of the work machine realized by that task application and the information required for that operation, and examples include those shown in FIG.

[0020] According to the present embodiment described above, when setting successive tasks, when inputting the second or subsequent task, information at the time of completion of the previous task can be used, so that smooth vehicle operation can be maintained between execution of the task application.

[0021] [Example 2] Next, a control system according to a second embodiment will be described with reference to Fig. 6 and Fig. 7. The control system 300 according to the second embodiment is different from the first embodiment in that the shared information output unit 304 outputs the operation plan calculated by the overall planning unit 303 to the next information transmission unit 601, not to the shared information output unit 304. Note that, in the following, the same reference numerals are used for the configurations and processes already described, and the description thereof will be omitted. The same applies to the third and subsequent embodiments.

[0022] The next information transmission unit 601 is a functional unit realized by a CPU (not shown) mounted on the control system 300 like the other functional units, and has a function of setting information output from the shared information output unit 304 to the parameter setting unit 301. Specifically, for example, it is assumed that the order of tasks to be executed is set by the order selection unit 302 as in FIG. 6, such as task A, task A', and task B. Then, the parameter setting unit 301 first sets a predetermined parameter value in the input unit 201 of the task application that executes task A. Then, in the overall planning unit 303, the planning unit 202 of the task application is executed to calculate a result of executing task A (e.g., position information of an actuator) and store it in the storage unit 203. The shared information output unit 304 transmits the result stored in the storage unit 203 to the next information transmission unit 601. Then, the next information transmission unit 601 inputs this output result (e.g., position information of an actuator) to the input unit 201 of the task application that executes task A' that is executed next to task A. Similarly, the execution result of task A' (eg, actuator position information) is input to the input unit 201 of the task application for executing task B.

[0023] Fig. 7 is a flowchart showing the process executed by the control system according to the second embodiment. The process executed by the control system according to the second embodiment shown in Fig. 7 is different from that of the first embodiment in the process when the order of the task selected in step S402 is not the first. When the order of the selected task is the second or later, the next information transmission unit 601 receives the output result output from the shared information output unit 304 and stored in the storage unit 203 of the task application calculated one step before, and sets it in the parameter setting unit 301 as the parameter value to be input to the input unit 201 of the next task application (step S701). The process thereafter is the same as that of the first embodiment.

[0024] According to the present embodiment described above, parameter values ​​are automatically set in the input unit 201 of the task application to be executed next by the next information transmission unit 601. This makes it possible to eliminate the need to manually input parameter values ​​in the parameter setting unit 301 every time the execution order changes, thereby saving time and effort required for processing.

[0025] [Example 3] Next, a control system according to a third embodiment will be described with reference to Fig. 8 and Fig. 9. The control system 300 according to the third embodiment has a configuration in which an input information conversion unit 801 is further added to the control system 300 according to the second embodiment shown in Fig. 6.

[0026] The input information conversion unit 801 is a functional unit that is realized by a CPU (not shown) mounted in the control system 300 like the other functional units, and has a function of converting the parameter values ​​output from the next information transmission unit 601 into appropriate variables set in the task application to be executed next. This is because, as information output as a result of the planned execution of a task application, for example, in the case of parameter values ​​to be input to the next task application, it may be simpler to use the three-dimensional coordinates of the arm tip, but it may be better to store the joint angles of the versatile boom, arm, and bucket as shared information.

[0027] Fig. 9 is a flowchart showing a process executed by the control system 300 according to the embodiment 3. In the flowchart shown in Fig. 9, instead of step S701 in the flowchart in the embodiment 3 shown in Fig. 7, the information output from the next information transmission unit is converted into appropriate information by the input information conversion unit 801, and the information is stored in the parameter setting unit (step S901).

[0028] According to the embodiment described above, the type of information required by input unit 201 of the task application can be separated from the posture information to be shared, and input variables to the task application can be set arbitrarily.

[0029] [Example 4] Next, a control system 300 according to a fourth embodiment will be described with reference to Figs. 10-12. The control system 300 according to the fourth embodiment shown in Fig. 10 has a configuration in which an overall execution unit 1001 is further added to the control system 300 according to the first embodiment shown in Fig. 3. Moreover, the task application 200 used in this embodiment has a functional configuration in which an execution unit 1101 is further added to the task application 200 according to the first embodiment shown in Fig. 2, as shown in Fig. 11.

[0030] The overall execution unit 1001 is a functional unit that is realized by a CPU (not shown) mounted in the control system 300, like the other functional units, and has a function of actually executing a task by executing the execution unit 1101 of the task application according to the plan created by the overall planning unit 303, as already explained. Also, the execution unit 1101 of the task application 200 actually executes the plan set by the planning unit 202, which is stored in the storage unit 203, and operates the actuators.

[0031] 12 is a flowchart showing the process executed by the overall execution unit 1001 in this embodiment. When the overall planning unit 303 completes the derivation of the motion plan, the overall execution unit 1001 is called (step S1201). The overall execution unit 1001 executes the execution unit 1101 of each task application according to the order of the task applications set by the order selection unit 302 (step S1202). Finally, the overall execution unit 1001 determines whether the task executed in step S1202 is the last or not, and if it is the last task, ends the flow (step S1203). At this time, the task application execution unit 1101 controls the actuator according to the time-series actuator motion plan stored in the storage unit 203.

[0032] According to the present embodiment described above, the plans made in the first to third embodiments can be actually executed.

[0033] [Example 5] Next, a control system 300 according to a fifth embodiment of the present invention will be described with reference to FIGS. The system configuration of the control system 300 according to the fifth embodiment is similar to that of the fourth embodiment shown in Fig. 10. The control system according to the fifth embodiment uses, as a task application, an excavation application that controls an operation of excavating the ground using a bucket of a hydraulic excavator.

[0034] Fig. 13 is an example of a functional block diagram of the excavation application, and Fig. 14 is a flowchart showing the process executed by the control system 300 in this embodiment. First, if the start position is different from the position (called the current position) calculated based on the actuator position acquired from the next information transmission unit 601, an operation to move to the initial position between the current position and the start position is generated first (step S1401). This process is executed in the same way in the following embodiments.

[0035] Next, if there is any information required for performing the excavation operation other than the information automatically input from the next information transmission unit 601, it is input from the input unit 201 (step S1402). The continuously called excavation application executes the planner 202 and derives an excavation trajectory based on the input information (step S1403). Then, it derives an operation plan of the actuator that realizes the derived excavation trajectory and stores it in the storage unit 203 (steps S1404, S1405). Finally, based on the topography of the excavation range and the excavation trajectory obtained from the next information transmission unit 601, it predicts the topography of the excavation range after the application execution is completed, outputs it to the shared information output unit 304, and stores it in the storage unit 203 (step S1406).

[0036] For example, the final position of the actuator is calculated based on the final position of the excavation trajectory, the actuator connection position, the joint arrangement, and the geometric information of the link. The topography of one excavation range can be calculated simply by subtracting the places where the bucket of the excavation trajectory has passed from the topography data received from the next information transmission unit. Alternatively, the deformed shape can be calculated by simulating the soil's mechanical properties based on the soil type.

[0037] FIG. 15 shows an example of the type of data input to the excavation process and the excavation application. When the input data is the excavation depth and the start position / end position of excavation, the parameters input to the input unit 201 are set as three-dimensional coordinates, as shown in FIG. 15(a). When the input data is the start position of excavation and the excavation range, the three-dimensional coordinates are set as shown in FIG. 15(b). When the input data is the start position of excavation and the amount of soil to be excavated, the three-dimensional coordinates and the weight (t) of the soil are set as shown in FIG. 15(c). When the input data is the start position of excavation and the amount and type of soil to be excavated, the three-dimensional coordinates, the weight of the soil, and qualitative parameters such as whether the soil is soft or hard or the type of soil, and quantitative parameters such as the average diameter of soil particles are set as shown in FIG. 15(d).

[0038] According to the present embodiment described above, when the excavation application is used continuously, the topography and the like of the excavation range are automatically input from the second time onwards when the excavation application is used.

[0039] [Example 6] Sixth Embodiment Next, a control system according to a sixth embodiment of the present invention will be described with reference to FIGS. The configuration of the control system 300 according to the sixth embodiment is similar to that of the fourth and fifth embodiments. The sixth embodiment differs from the sixth embodiment in that the work machine to be controlled is an excavator having a configuration in which a gripping device (fork) 12 and a gripping device cylinder 13 are provided instead of the bucket 9 and bucket cylinder 6 of the excavator shown in FIG. 1, as shown in FIG. 16. The task app used is a pick-and-place app. The pick-and-place app is an app that controls the operation of pinching an object with forks and moving it to a desired position.

[0040] Fig. 17 is an example of a block diagram showing the functional configuration of a pick and place application, and Fig. 18 is a flowchart showing the processing executed by the application. In the pick and place application, at least one piece of data including the movement completion position and posture among the start position, the movement completion position and posture, and the gripping position is input to the input unit 201 (step S1801 in Fig. 18).

[0041] Next, based on the input data and the actuator position and object / position / orientation acquired from the next information transmission unit 601, the planning unit 202 derives a motion plan for the trajectories of the tips of the boom 7 and arm 8 and the opening / closing degree of the gripping device (step S1802). On the other hand, based on the trajectory of the arm tip and the motion plan for the opening / closing degree of the gripping device calculated by the planning unit 202, motion plans for the boom cylinder 4, arm cylinder 5, and gripping device cylinder 13 are derived and stored in the storage unit 203 (steps S1803 and S1804). The planning unit 202 also calculates the final positions of the boom cylinder 4 and arm cylinder 5 from the trajectory of the arm tip, and outputs the movement completion position / orientation acquired from the input unit 201 to the shared information output unit 304 and stores it in the storage unit 203 (step S1805).

[0042] For example, the method of calculating the final position of the actuator is based on the final position of the excavation trajectory, the actuator connection position, the joint arrangement, and the geometric information of the link. Also, the actuator that drives the gripping device 12 can be in any form, such as a hydraulic motor, an electric motor, or an electric cylinder, as long as it is a combination of the gripping device 12 and the actuator that can control the degree of opening and closing.

[0043] On the other hand, in this embodiment, the completed position and orientation uses an input value, but the final position may be obtained by simulating the relationship between the gripping position, the position and orientation of the initial object, and the gripping device 12.

[0044] According to the present embodiment described above, when the pick-and-place application is used continuously, the initial position of the position and orientation of the target object is automatically input for the second and subsequent uses.

[0045] [Example 7] Seventh Embodiment Next, a control system 300 according to a seventh embodiment of the present invention will be described with reference to FIGS. The system configuration of the control system 300 according to the seventh embodiment is similar to that of the embodiments 4-6. The work machine to be controlled has the configuration shown in Fig. 1. The control system 300 according to the seventh embodiment uses a surface shaping application and a bucket-hitting application as task applications. Here, the surface shaping application is an application that executes a surface shaping operation to shape a target area into a specified surface shape (at a specified surface pressure), and the bucket-hitting application is an application that executes a bucket-hitting operation to hit a specified surface area with a bucket a specified number of times.

[0046] FIG. 19 is an example of a block diagram showing the functional configuration of the surface shaping application, and FIG. 20 is a flowchart showing the processing executed by the surface shaping application. When the surface shaping application is used, at least one or more data including the target surface among the start position and the target surface is inputted in the input unit 201 (step S2001). The planner 202 calculates the motion plan of the boom 7, the arm 8, and the bucket 9 based on the inputted data and the actuator position acquired from the next information transmitter 601 so that the arbitrary surface of the bucket 9 coincides with the target surface (step S2002). In addition, the planner 202 calculates the motion plans of the boom cylinder 4, the arm cylinder 5, and the bucket cylinder 6 based on the motion plans of the boom 7, the arm 8, and the bucket 9, and stores them in the storage unit 203 (steps S2003 and S2004).

[0047] The planning unit 202 also calculates the final positions derived from the operation plans of the boom cylinder 4, arm cylinder 5, and bucket cylinder 6, and the pressure that can be applied to the surface (hereinafter referred to as surface pressure), and outputs these to the shared information output unit 304 and also stores them in the storage unit 203 (S2005).

[0048] For example, the final position of the actuator is calculated based on the final position of the excavation trajectory, the actuator connection position, the joint arrangement, and the geometric information of the link. The surface pressure may be calculated simply by statically calculating the surface pressure for each time series based on the posture of each link and the maximum linear force of the actuator, or by dynamically calculating the surface pressure by deriving the position and speed based on the operation plan of each cylinder or link.

[0049] In this embodiment, the blade application is executed after the surface shaping application is executed as described above. FIG. 21 is an example of a functional configuration diagram of the blade application, and FIG. 22 is a flowchart showing the process executed by the blade application. When the blade application is used, data on the target surface and the rolling pressure of the surface are inputted in the input unit 201 among the start position, the target surface, and the rolling pressure of the surface (step S2201). Based on the input rolling pressure and data and the surface pressure acquired from the next information transmission unit 601, the number of blades is derived from a predetermined map showing the relationship between the current surface pressure, the number of blades, and the surface pressure after the blade (step S2202). This map stores information such as, for example, that the bucket needs to be hit three times to increase the surface pressure from 10 Pa to 20 Pa. This information may be obtained by simulation or empirical rule. Based on the obtained number of blades and the position, the operation plan of the boom 7, the arm 8, and the bucket 9 is calculated (steps S2203 and S2204). Furthermore, the planning unit 202 calculates the motion plans of the boom cylinder 4, arm cylinder 5, and bucket cylinder 6 based on the motion plans of the boom 7, arm 8, and bucket 9, and stores them in the storage unit 203 (step S2205).

[0050] In addition, the planning unit 202 outputs the final positions derived from the operation plan of the boom cylinder 4, arm cylinder 5, and bucket cylinder 6, and the rolling force input in the input unit to the shared information output unit 304 and stores them in the storage unit 203 (step S2206).

[0051] For example, the method of calculating the final position of the actuator is based on the final position of the excavation trajectory, the connecting position of the actuator, the joint arrangement, and the geometric information of the link. Also, the surface pressure to be output to the shared information output unit 304 may be derived based on the above-mentioned predetermined map.

[0052] According to the present embodiment described above, when the surface shaping application and the clay feathering application are used successively, the surface pressure after the execution of the surface shaping application is completed is automatically input.

[0053] [Example 8] Finally, a control system 300 according to an eighth embodiment of the present invention will be described with reference to FIGS. The control system 300 according to the eighth embodiment has the same system configuration as that of the fourth to seventh embodiments. In the control system 300 according to the present embodiment, a bucket change application is used as a task application to be executed. As shown in Fig. 23, a hydraulic excavator having a configuration in which a bucket exchange device 14 capable of exchanging the bucket 9 and an attachment / detachment actuator 15 are provided between the bucket 9 and the arm 8 in the excavator shown in Fig. 1 is used as a work machine to be controlled.

[0054] FIG. 24 is an example of a block diagram showing a functional configuration of the bucket exchange application, and FIG. 25 is a flowchart showing the process executed by the bucket exchange application. When the bucket exchange application is used, a start position and changed bucket information are input to the input unit 201 (step S2501). The planner 202 calculates motion plans for the boom 7, arm 8, bucket 9, and actuator 15 for attachment and detachment based on a predetermined attachment motion trajectory linked to the input changed bucket information and a predetermined removal motion trajectory linked to the bucket type acquired from the next information transmitter 601 (step S2502). The planner 202 also calculates motion plans for the boom cylinder 4, arm cylinder 5, and bucket cylinder 6 based on the motion plans for the boom 7, arm 8, and bucket 9, and stores these in the storage unit 203 together with the motion plan for the actuator 15 for attachment and detachment (steps S2503 and S2504).

[0055] Furthermore, the planner 202 outputs the change bucket information inputted by the input unit 201 to the shared information output unit 304 and stores it in the storage unit 203 (step S2505).

[0056] For example, the method of calculating the final position of the actuator is based on the final position of the excavation trajectory, the actuator connection position, the joint arrangement, and the geometric information of the link. Also, the changed bucket information may be any information that determines the attachment operation trajectory and the removal operation trajectory, and may be a hardware specific number or type.

[0057] In the embodiment described above, when the bucket exchange operation is frequently performed, the bucket information before exchange is automatically input.

[0058] The above describes several embodiments using specific task applications. However, in the present invention, in addition to the task applications described above, a task application such as that shown in FIG. 26 can also be adopted.

[0059] According to the embodiment of the present invention described above, the following advantageous effects are achieved. (1) A work machine control system that automatically controls an actuator that drives the work machine, the system including: an order selection unit that sets an order in which multiple task apps are to be executed when multiple task apps are executed to operate the actuator; a parameter setting unit that sets parameters to be input to the task apps; an overall planning unit that generates an execution plan for each of the multiple task apps based on the order and parameters in which the task apps are executed; and a shared information output unit that outputs at least a portion of the contents of the execution plan each time an execution plan is generated for each of the multiple task apps.

[0060] According to the above configuration, the final output of the task application for which the order selection and parameter setting have been completed can be used as the parameter input for the next task application, so that smooth vehicle body movement can be maintained between executions of task applications.

[0061] (2) The shared information output unit outputs the information output by the shared information output unit to a shared information display device connected via a network, which enables a worker to visually grasp the output results of the task app, making it possible to implement the system more easily and quickly.

[0062] (3) An information transmission unit is further provided that sets the output result of the shared information output unit as a parameter to be input to a next task app, which is a task app set to be executed next, each time an execution plan is generated for a plurality of task apps. This allows the parameters to be automatically input when the task app is shifted to execution, thereby reducing the labor required for the operator to input the parameters manually.

[0063] (4) When the information transmission unit sets the output result of the shared information output unit as a parameter to be input to the next task application, the information transmission unit further includes an input information conversion unit that converts the parameter type of the output result into the parameter type set in the next task application. This allows the input information of the task input unit and the input information of the shared information to be of different types, making it possible to arbitrarily set both manual input and input from the system.

[0064] (5) The information output by the shared information output unit includes at least one of the work machine's position information, operation information, vehicle body structure information, and surrounding environment information. As a result, the output result includes multiple pieces of information suitable for the work machine's tasks, making it possible to provide input information more suitable for the task app.

[0065] (6) An overall execution unit is further provided that executes the execution plans for each of the multiple task apps planned by the overall planning unit in accordance with the execution order set by the order selection unit. This makes it possible to provide a work machine control system that can realize operations in accordance with the plans.

[0066] The present invention is not limited to the above-mentioned embodiments, and various design changes can be made without departing from the spirit of the present invention described in the claims. For example, the above-mentioned embodiments have been described in detail to aid in understanding the present invention, and the present invention is not necessarily limited to those having all of the configurations described. In addition, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. In addition, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0067] 1 work machine, 200 task application, 300 control system, 301 parameter setting unit, 302 order selection unit, 303 overall planning unit, 304 shared information output unit, 306 shared information display device, 601 next information transmission unit, 801 input information conversion unit, 1001 overall execution unit

Claims

1. An automatic driving control system for a work machine that automatically controls an actuator that drives the work machine, an order selection unit that sets an order in which a plurality of task applications for operating the actuator are to be executed; a parameter setting unit that sets parameters to be input to the task application; an overall planning unit that generates an execution plan for each of the plurality of task applications based on the order in which the task applications are to be executed and the parameters; a shared information output unit that outputs at least a part of the content of an execution plan every time an execution plan is generated for each of the plurality of task applications; An automatic driving control system for a work machine.

2. 2. The automatic driving control system for a work machine according to claim 1, the shared information output unit outputs the information output by the shared information output unit to a shared information display device connected via a network. An automatic driving control system for a work machine.

3. 2. The automatic driving control system for a work machine according to claim 1, an information transmission unit that sets an output result of the shared information output unit as the parameter to be input to a next task app, which is the task app set to be executed next, every time the execution plan is generated for the plurality of task apps; An automatic driving control system for a work machine.

4. 4. The automatic operation control system for a work machine according to claim 3, an input information conversion unit that converts a parameter type of the output result from the shared information output unit into the parameter type set in the next task application when the information transmission unit sets the output result from the shared information output unit as the parameter to be input to the next task application; An automatic driving control system for a work machine.

5. 5. The automatic operation control system for a work machine according to claim 4, the information output by the shared information output unit includes at least one of position information, operation information, vehicle body structure information, and surrounding environment information of the work machine; An automatic driving control system for a work machine.

6. 2. The automatic driving control system for a work machine according to claim 1, an overall execution unit that executes the execution plans for each of the plurality of task applications, which are planned by the overall planning unit, in accordance with the execution order set by the order selection unit; An automatic driving control system for a work machine.

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