Work machine, and movement control system of work machine

Abstract

To suppress damage to leveled road surfaces.SOLUTION: A work machine comprises: a lower traveling body having crawlers; a storage unit for storing map information indicating a first area in which specified members are laid to allow movement by the crawlers; a detection unit for detecting a position of the work machine; and a control unit that is configured, based on the position detected by the detection unit and the map information, to permit movement by the lower traveling body through the first area in which the specified members are laid, and to output a warning or suppress movement to a second area when the lower traveling body moves through the second area in which the specified members are not laid.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a work machine and a movement control system for the work machine. [Background technology]

[0002] Conventionally, many commonly used work machines have a so-called crawler structure in which a belt-shaped caterpillar is wrapped around drive wheels on the left and right sides of the vehicle body, and the lower long side of the oval caterpillar touches the ground in a belt-like manner to run. Although such crawlers are suitable for running on rough ground, when running on a leveled road surface covered with asphalt or the like, there is a possibility that they may damage the road surface, such as leaving contact marks. For this reason, various techniques have been proposed to prevent damage to the road surface when running on a leveled road surface (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-203432 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been a tendency to avoid damage to road surfaces by arranging for the work machine not to run on leveled road surfaces, without providing a mechanism for preventing damage to the road surface as in Patent Document 1. For this reason, when the work machine runs on a leveled road surface, members such as iron plates may be laid down so that the work machine runs over the members. However, it is difficult for the work machine to grasp in which areas the members such as iron plates are laid down. For this reason, for example, it may be difficult for the work machine to grasp which route to take to reach a target position by passing over the members such as iron plates.

[0005] One aspect of the present invention provides a technology for preventing damage to a leveled road surface by recognizing areas where components such as steel plates are laid. [Means for solving the problem]

[0006] A work machine according to one embodiment of the present invention comprises a lower running body having crawlers, a memory unit that stores map information indicating a first area in which specified members are laid to allow movement by the crawlers, a detection unit that detects a position in which the work machine is located, and a control unit that is configured to permit movement by the lower running body through the first area in which the specified members are laid based on the position detected by the detection unit and the map information, and to output a warning or suppress movement to the second area when the lower running body moves through a second area in which the specified members are not laid. Effect of the Invention

[0007] According to one aspect of the present invention, damage to a graded road surface is suppressed. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing an example of a movement control system for a shovel according to a first embodiment. [Diagram 2] FIG. 1 is a side view of a shovel according to a first embodiment. [Diagram 3] FIG. 1 is a diagram illustrating an example of a configuration of a shovel according to a first embodiment. [Figure 4] FIG. 1 is a functional block diagram showing a configuration example of a movement control system for a shovel according to a first embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of map information of a work site generated by a map information generating unit according to the first embodiment. [Figure 6] 4A to 4C are diagrams illustrating an example of an area in which movement is permitted, estimated by an area estimation unit according to the first embodiment, from among measurement information of the spatial recognition device. [Figure 7]FIG. 4 is a sequence diagram showing a processing flow up to transmitting map information to an excavator in the excavator movement control system according to the first embodiment. [Figure 8] 5 is a flowchart showing control of autonomous movement of a shovel by a controller according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The embodiment described below is an example, not a limitation of the invention, and all features and combinations described in the embodiment are not necessarily essential to the invention. In addition, the same or corresponding components in each drawing are denoted by the same or corresponding reference numerals, and the description may be omitted.

[0010] (First embodiment) First, an overview of a shovel movement control system SYS according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing an example of a shovel movement control system SYS according to the first embodiment.

[0011] <Equipment that constitutes the excavator movement control system> As shown in FIG. 1, the shovel movement control system SYS according to the first embodiment includes a shovel 100, a drone DR, and an information processing device 400.

[0012] The shovel 100 and the drone DR are capable of wireless communication. The shovel 100 and the drone DR are connected to a communication network NT by wireless communication. In this embodiment, an information processing device 400 is connected to the communication network NT. This enables each of the shovel 100 and the drone DR to transmit and receive information to and from the information processing device 400.

[0013] The shovel 100 and the drone DR are present at a work site where the shovel 100 performs work. The shovel 100 and the drone DR can transmit information about the work site to the information processing device 400. This allows the information processing device 400 to collect and manage information about the work site.

[0014] At a work site according to this embodiment, a worker lays iron plates in an area of ​​a leveled road surface such as asphalt where the movement of the shovel 100 is permitted. The shovel 100 then moves over the laid iron plates to prevent damage to the asphalt or the like.

[0015] In this embodiment, an example of laying an iron plate in an area where the shovel 100 is permitted to move will be described, but the material laid in the area is not limited to an iron plate, and any metal material having a strength that allows the shovel 100 to travel with a crawler may be used. By laying a metal material having a strength that allows the shovel 100 to travel with a crawler, damage to the leveled road surface can be suppressed. Furthermore, when the area where the shovel 100 can move is changed, the worker re-lays the metal material. Since the material laid in this way can be reused, cost reduction can be achieved.

[0016] In addition, when the shovel 100 moves on the laid iron plates, the area where the iron plates are laid is limited, so there is a possibility that the shovel 100 moves along a route that does not allow it to reach the target position. In this case, the shovel 100 must return to the original route to move to the target position, or go to the target position through a leveled road surface where no iron plates are laid. In this case, there is a possibility that time will be lost due to the movement, or that the leveled road surface will be damaged.

[0017] Therefore, the shovel 100 according to this embodiment stores map information showing the area of ​​the work site where the iron plates are laid.

[0018] In this embodiment, a space recognition device is provided in the drone DR. The drone DR measures the work site using the space recognition device in order to generate map information, and transmits the measurement result to the information processing device 400.

[0019] The spatial recognition device may use LIDAR (Light Detection and Ranging) to detect iron plates laid at a work site. The LIDAR measures the distance between the LIDAR and, for example, one million or more points within a monitoring range. Note that this embodiment is not limited to a method using LIDAR, and any spatial recognition device capable of detecting iron plates may be used. Furthermore, this embodiment may be combined with an imaging device capable of detecting color, etc. As another example, a stereo camera may be used, or a distance measuring device such as a millimeter wave radar may be combined.

[0020] In this embodiment, when a LIDAR is used as the spatial recognition device, it is possible to identify whether an object is a steel plate or not based on the light reflectance that differs for each object.

[0021] The drone DR included in the excavator movement control system SYS may be one or more. As a result, the movement control system SYS may provide information about the work site to the information processing device 400 through the multiple drones DR.

[0022] In addition, the excavator movement control system SYS in this embodiment does not limit the device for detecting iron plates laid at the work site to the drone DR. For example, fixed-point measurement devices may be provided at predetermined distances at the work site, and the fixed-point measurement devices may detect iron plates laid at the work site.

[0023] The information processing device 400 generates map information showing the area where the iron plates are laid at the work site based on the measurement results of the drone DR, and transmits the generated map information to the shovel 100.

[0024] The shovel movement control system SYS may include one or more shovels 100. This allows the shovel movement control system SYS to provide the shovel 100 with information regarding the area in which the steel plates are laid at the work site.

[0025] [Overview of the work machine] In this embodiment, an example will be described in which a shovel is used as an example of a work machine, but the present invention is not limited to a shovel. The present invention may be applied to a construction machine, a standard machine, an application machine, a forestry machine, or a conveying machine based on a hydraulic shovel.

[0026] An overview of the shovel 100 according to this embodiment will be described with reference to Fig. 2. Fig. 2 is a side view of the shovel 100 as a work machine according to this embodiment.

[0027] The excavator 100 in this embodiment comprises a lower running body 1, an upper rotating body 3 mounted on the lower running body 1 so as to be freely rotatable via a rotating mechanism 2, a boom 4, an arm 5, and a bucket 6 that constitute an attachment (work machine), and a cabin 10.

[0028] The lower traveling body 1 allows the excavator 100 to travel by hydraulically driving a pair of left and right crawlers by traveling hydraulic motors 1L, 1R (see FIG. 2 described later). In other words, the pair of traveling hydraulic motors 1L, 1R (an example of a traveling motor) drive the lower traveling body 1 (crawlers) as a driven part.

[0029] The upper rotating body 3 is driven by a swing hydraulic motor 2A (see FIG. 2 described later) to swing relative to the lower traveling body 1. In other words, the swing hydraulic motor 2A is a swing drive part that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3.

[0030] The upper rotating body 3 may be electrically driven by an electric motor (hereinafter, "electric motor for rotation") instead of the hydraulic motor for rotation 2A. In other words, the electric motor for rotation is a rotation drive part that drives the upper rotating body 3 as a non-driven part, similar to the hydraulic motor for rotation 2A, and can change the orientation of the upper rotating body 3.

[0031] The boom 4 is pivotally attached to the front center of the upper rotating body 3 so as to be able to tilt up and down, an arm 5 is pivotally attached to the tip of the boom 4 so as to be able to rotate up and down, and a bucket 6 as an end attachment is pivotally attached to the tip of the arm 5 so as to be able to rotate up and down. The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, each of which serves as a hydraulic actuator.

[0032] The bucket 6 is an example of an end attachment (work tool), and other end attachments capable of driving soil, such as a slope bucket, may be attached to the tip of the arm 5 instead of the bucket 6 depending on the work content, etc.

[0033] The cabin 10 is a cab in which an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0034] [Excavator configuration] Next, a specific configuration of the shovel 100 according to this embodiment will be described with reference to FIG. 3 in addition to FIG.

[0035] FIG. 3 is a diagram illustrating an example of the configuration of the shovel 100 according to this embodiment.

[0036] In FIG. 3, the mechanical power system, hydraulic oil lines, pilot lines, and electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0037] The drive system of the excavator 100 according to this embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve 17. Moreover, the hydraulic drive system of the excavator 100 according to this embodiment includes hydraulic actuators such as the traveling hydraulic motors 1L, 1R, the swing hydraulic motor 2A, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, which hydraulically drive the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6, respectively, as described above.

[0038] The engine 11 is a main power source in the hydraulic drive system, and is mounted, for example, on the rear of the upper rotating body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by a controller 30 (described later), and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

[0039] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes, for example, regulators 13L and 13R, as described below.

[0040] The main pump 14 is mounted on the rear of the upper rotating body 3, for example, like the engine 11, and supplies hydraulic oil to the control valve 17 through a high-pressure hydraulic line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13 to adjust the stroke length of the piston, thereby controlling the discharge flow rate (discharge pressure). The main pump 14 includes, for example, main pumps 14L and 14R, as described below.

[0041] The control valve 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve 17 includes control valves 171 to 176. The control valve 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators through the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, traveling hydraulic motors 1L and 1R, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 1L, the control valve 172 corresponds to the right traveling hydraulic motor 1R, and the control valve 173 corresponds to the swing hydraulic motor 2A. Moreover, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0042] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to be able to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0043] The operating device 26 is a device that an operator uses to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0044] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs a detected value to the controller 30. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R, as described later.

[0045] The operation sensor 29 is configured to detect the operation content of the operator using the operating device 26. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operating device 26 corresponding to each actuator, and outputs the detected value to the controller 30. In this embodiment, the controller 30 controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. Then, the controller 30 supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17. The pressure of the hydraulic oil (pilot pressure) supplied to each pilot port is, in principle, a pressure according to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. In this way, the operating device 26 is configured to be able to supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17.

[0046] The proportional valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting the pilot pump 15 and the pilot port of the control valve in the control valve 17, and is configured so as to be able to change the flow passage area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0047] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26.

[0048] The control system of the shovel 100 in this embodiment includes a controller 30, a display device 40, an input device 42, an audio output device 43, a memory device 47, a boom angle sensor S1, an arm angle sensor S2, a bucket angle sensor S3, a machine body inclination sensor (an example of an attitude detection unit) S4, a turning state sensor S5, a spatial recognition device S6, a positioning device PS, and a communication device T1.

[0049] The controller 30 (an example of a control device) is provided, for example, in the cabin 10 and controls the driving of the excavator 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is mainly configured with a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a non-volatile auxiliary storage device, various input / output interfaces, etc. The controller 30 realizes various functions by, for example, executing various programs stored in the ROM or the non-volatile auxiliary storage device on the CPU.

[0050] For example, the controller 30 sets a target rotation speed based on an operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0051] Furthermore, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge amount of the main pump 14.

[0052] Furthermore, for example, the controller 30 performs control related to a machine guidance function that guides (guides) the manual operation of the shovel 100 by the operator through the operation device 26. Furthermore, the controller 30 performs control related to a machine control function that automatically assists the manual operation of the shovel 100 by the operator through the operation device 26. In other words, the controller 30 may include a machine guidance unit as a functional unit related to the machine guidance function and the machine control function.

[0053] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0054] The display device 40 is provided at a location that is easily visible to an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device 40 may be connected to the controller 30 via an in-vehicle communication network such as a Controller Area Network (CAN), or may be connected to the controller 30 via a one-to-one dedicated line.

[0055] The input device 42 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs by the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device 42 includes a touch panel mounted on the display of a display device that displays various information images, a knob switch provided at the tip of a lever portion of the operation device 26, and button switches, levers, toggles, rotary dials, etc. provided around the display device 40. A signal corresponding to the content of an operation performed on the input device 42 is taken into the controller 30.

[0056] The audio output device 43 is provided, for example, in the cabin 10, connected to the controller 30, and outputs audio under the control of the controller 30. The audio output device 43 is, for example, a speaker or a buzzer. The audio output device 43 outputs various information by audio in response to an audio output command from the controller 30.

[0057] The storage device 47 is provided, for example, in the cabin 10, and stores various pieces of information under the control of the controller 30. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during operation of the shovel 100, or may store information acquired via various devices before the operation of the shovel 100 is started. The storage device 47 may include a map information storage unit 47A. The map information storage unit 47A stores map information of the work site that is acquired, for example, via the communication device T1 or the like, or that is set via the input device 42 or the like.

[0058] The boom angle sensor S1 is attached to the boom 4 and detects the elevation angle of the boom 4 relative to the upper rotating body 3 (hereinafter referred to as the "boom angle"), for example, the angle formed by a straight line connecting the fulcrums at both ends of the boom 4 relative to the rotation plane of the upper rotating body 3 in a side view. The boom angle sensor S1 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), etc. The boom angle sensor S1 may also include a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle, etc. The same applies to the arm angle sensor S2 and the bucket angle sensor S3 below. A detection signal corresponding to the boom angle by the boom angle sensor S1 is taken into the controller 30.

[0059] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the “arm angle”), for example, the angle formed by a line connecting the fulcrums at both ends of the arm 5 with respect to a line connecting the fulcrums at both ends of the boom 4 in a side view. A detection signal corresponding to the arm angle by the arm angle sensor S2 is input to the controller 30.

[0060] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the “bucket angle”), for example, the angle formed by a line connecting the fulcrum of the bucket 6 and its tip (tip) with respect to a line connecting the fulcrums of both ends of the arm 5 in a side view. A detection signal corresponding to the bucket angle by the bucket angle sensor S3 is input to the controller 30.

[0061] The machine body tilt sensor S4 (an example of an attitude detection unit) detects the tilt state of the machine body (upper rotating body 3 or lower running body 1) with respect to a horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angles around two axes in the forward / backward and left / right directions (hereinafter, "fore / aft tilt angle" and "left / right tilt angle") of the shovel 100 (i.e., upper rotating body 3). The machine body tilt sensor S4 may include, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU, etc. A detection signal corresponding to the tilt angle (fore / aft tilt angle and left / right tilt angle) by the machine body tilt sensor S4 is input to the controller 30.

[0062] The turning state sensor S5 outputs detection information related to the turning state of the upper rotating body 3. The turning state sensor S5 detects, for example, the turning angular velocity and turning angle of the upper rotating body 3. The turning state sensor S5 may include, for example, a gyro sensor, a resolver, a rotary encoder, etc. A detection signal corresponding to the turning angle and turning angular velocity of the upper rotating body 3 detected by the turning state sensor S5 is input to the controller 30.

[0063] The spatial recognition device (an example of a detection unit) S6 detects objects around the shovel 100. The spatial recognition device S6 includes a spatial recognition device S6F that measures the area in front of the shovel 100, a spatial recognition device S6L that measures the area to the left of the shovel 100, a spatial recognition device S6R that measures the area to the right of the shovel 100, and a spatial recognition device S6B that measures the area behind the shovel 100.

[0064] The spatial recognition device S6F is attached to the outside of the cabin 10, for example, on the roof of the cabin 10. The spatial recognition device S6F may also be attached to the ceiling of the cabin 10, i.e., inside the cabin 10. The spatial recognition device S6L is attached to the left end of the upper surface of the upper rotating body 3, the spatial recognition device S6R is attached to the right end of the upper surface of the upper rotating body 3, and the spatial recognition device S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0065] The spatial recognition device S6 (S6F, S6B, S6L, S6R) may each use, for example, a LIDAR. The spatial recognition device S6 may also be a stereo camera or a distance image camera. The measurement results by the spatial recognition device S6 are input to the controller 30.

[0066] The spatial recognition device S6 may function as an object detection device. In this case, the spatial recognition device S6 may detect an object present around the shovel 100. The object to be detected may include, for example, a person, an animal, a vehicle, a construction machine, a building, a hole, and the like. The spatial recognition device S6 may also calculate the distance from the spatial recognition device S6 or the shovel 100 to the recognized object. The spatial recognition device S6 as an object detection device may include, for example, a stereo camera, a distance image sensor, and the like. The spatial recognition device S6 may also be provided with other object detection devices, such as, for example, an ultrasonic sensor, a millimeter wave radar, a LIDAR, and an infrared sensor.

[0067] Furthermore, the spatial recognition device S6 according to this embodiment detects an iron plate laid in the work site. Any method, including known methods, may be used to detect the iron plate. For example, the spatial recognition device S6 may detect whether an object is an iron plate or not based on the light reflectance that differs for each object, and may also detect the area in which the iron plate is laid.

[0068] A boom rod pressure sensor S7R and a boom bottom pressure sensor S7B are attached to the boom cylinder 7. An arm rod pressure sensor S8R and an arm bottom pressure sensor S8B are attached to the arm cylinder 8. A bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B are attached to the bucket cylinder 9. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are collectively referred to as "cylinder pressure sensors."

[0069] The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom rod pressure"), and the boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as the "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm rod pressure"), and the arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as the "arm bottom pressure"). The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket rod pressure"), and the bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as the "bucket bottom pressure").

[0070] The positioning device PS detects the position and orientation of the upper rotating body 3 of the excavator 100. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, which detects the position and orientation of the upper rotating body 3, and a detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. Furthermore, among the functions of the positioning device PS, the function of detecting the orientation of the upper rotating body 3 may be substituted by a direction sensor attached to the upper rotating body 3.

[0071] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as a terminal, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0072] <Block configuration of remote control system> Fig. 4 is a functional block diagram showing a configuration example of a shovel movement control system SYS according to the present embodiment. In the example shown in Fig. 4, block configurations of the drone DR, the information processing device 400, and the shovel 100 included in the movement control system SYS are shown.

[0073] [Drone block configuration] The drone DR includes a communication device T3, a controller D30, a spatial recognition device DS6, and a positioning device DPS.

[0074] The positioning device DPS detects the position and orientation of the drone DR. The positioning device DPS is, for example, a Global Navigation Satellite System (GNSS) compass, detects the position and orientation of the drone DR, and a detection signal corresponding to the position and orientation of the drone DR is input to the controller D30. In addition, the function of detecting the orientation of the drone DR, which is one of the functions of the positioning device DPS, may be substituted by a direction sensor attached to the drone DR.

[0075] The spatial recognition device DS6 measures objects present around the drone DR. The spatial recognition device DS6 may use, for example, a LIDAR. The measurement results by the spatial recognition device DS6 are input to the controller D30.

[0076] The drone DR according to this embodiment uses the spatial recognition device DS6 to measure the area where the shovel 100 may move, including the work site. This makes it possible to measure the area where the iron plate is laid in the area where the shovel 100 may move.

[0077] The operation of the drone DR may be automatic control or may be manual control by an arbitrary operator. In other words, when the drone DR moves according to the operation, it is sufficient that the spatial recognition device DS6 can measure the entire area where the iron plate is laid.

[0078] The communication device T3 communicates with external devices through a predetermined network including a mobile communication network with a base station as a terminal, a satellite communication network, the Internet, etc. The communication device T3 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0079] The functions of the controller D30 will be described. As shown in FIG. 4, the controller D30 has an acquisition unit D31 and a communication control unit D32 as functional blocks, and performs processing for transmitting measurement information detected by the spatial recognition device DS6 to the information processing device 400.

[0080] The acquisition unit D31 acquires measurement information by the spatial recognition device DS6 and a detection signal corresponding to the position and orientation of the drone DR by the positioning device DPS.

[0081] The communication control unit D32 transmits and receives information to and from an external device using the communication device T3. For example, the communication control unit D32 transmits the measurement information acquired by the acquisition unit D31 to the information processing device 400 in association with the detection signal using the communication device T3.

[0082] [Block configuration of information processing device] The information processing device 400 includes a communication device T2, a controller 430, and a storage device 410.

[0083] The communication device T2 communicates with external devices through a predetermined network including a satellite communication network, the Internet, etc. The communication device T2 is, for example, a communication module connectable to a public line.

[0084] The storage device 410 stores various information under the control of the controller 430. The storage device 410 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 410 may include a map information storage unit 410A. The map information storage unit 410A stores map information of a work site generated by the controller 430. The map information will be described later.

[0085] The following describes the functions of the controller 430. As shown in FIG.

[0086] The communication control unit 431 transmits and receives information to and from an external device using the communication device T2. For example, the communication control unit 431 receives measurement information and a detection signal associated with the measurement information from the drone DR using the communication device T2.

[0087] The measurement information includes the detection result of the surrounding object based on the drone DR, and the detection signal includes the position and orientation of the drone DR. In other words, the controller 430 can recognize the detection result of the surrounding object based on the position and orientation indicated by the detection signal.

[0088] The area estimation unit 432 estimates the area where the iron plate is laid based on the received measurement information and detection signal. Specifically, the area estimation unit 432 extracts point cloud data representing the shape of the object from the measurement information, and estimates the area where the iron plate is laid based on the feature amount (for example, light reflectance) of the point cloud data. The iron plate is a metal member having a predetermined light reflectance. Therefore, the area estimation unit 432 estimates whether the area is an area where the iron plate is laid based on whether the light reflectance is a predetermined light reflectance. Then, the area where the iron plate is estimated to be laid can be converted into a world coordinate system by the position and orientation indicated by the detection signal. In this embodiment, the area where the iron plate is laid, in other words, the area where the movement of the shovel 100 is permitted, can be specified based on the measurement result by the drone DR. Therefore, since the movement of the shovel 100 can be controlled after grasping whether the area is an area where the iron plate is laid, the shovel 100 can be moved to the target position without getting lost. Therefore, it is possible to reduce the operational burden and improve the convenience.

[0089] In this embodiment, the method of determining whether or not an object is an iron plate (iron floor plate) is not limited to the determination based on the reflectance of light. For example, the determination may be based on the color of the light reflected from the iron plate, or on the reflection spectrum of the light reflected from the iron plate. Furthermore, the determination may be based on the difference in height between the road surface on which the iron plate is laid and other road surfaces (e.g., a leveled road surface), in other words, on whether or not the thickness of the iron plate is detected.

[0090] In this embodiment, map information of the work site may be stored in advance in the map information storage unit 410A. The map information includes information on the work area of ​​the shovel 100, the storage location of the shovel 100, the leveled road surface, etc. in the world coordinate system. This allows the area estimation unit 432 to identify the correspondence between the work area of ​​the shovel 100, the storage location of the shovel 100, the leveled road surface, etc., and the estimated area where the iron plate is laid.

[0091] In this manner, when map information is stored in advance, the area estimation unit 432 can estimate the working area of ​​the shovel 100, the storage location of the shovel 100, and the area of ​​the leveled road surface where iron plates have been laid to allow the movement of the shovel 100, which are shown in the map information.

[0092] The map information generation unit 433 superimposes the area where the iron plates are laid, estimated by the area estimation unit 432, on the map information showing the work site, to generate map information showing the area in which the shovel 100 is permitted to move, and stores the map information in the map information storage unit 410A.

[0093] Fig. 5 is a diagram showing an example of map information of a work site generated by the map information generating unit 433 according to this embodiment. In the example shown in Fig. 5, the map information shows a work site including leveled road surfaces ST1 and ST2, a storage location RS, areas A1, A2, and A3, and a work area WS.

[0094] 5 indicates that, of the leveled road surfaces ST1 and ST2, an iron plate is laid on the leveled road surface ST2. The map information also indicates that an iron plate is laid in the storage location RS of the shovel 100. Furthermore, the map information also indicates that, of the working areas WS, an iron plate is laid in the first working area WS1.

[0095] On the other hand, the map information indicates that no iron plates have been laid on the leveled road surface ST1, the areas A1, A2, A3, and the second working area WS2 of the working area WS.

[0096] That is, in the map information shown in FIG. 5, the leveled road surface ST2, the storage area RS, and the first working area WS1 are shown as areas where iron plates are laid.

[0097] Returning to Fig. 4, the communication control unit 431 uses the communication device T2 to transmit map information stored in the map information storage unit 410A, which indicates the area where the iron plates are laid, to the shovel 100. By receiving the map information, the controller 30 of the shovel 100 recognizes the area where the iron plates are laid, and by controlling the shovel 100 to pass through that area, it becomes possible to suppress damage to the leveled road surface.

[0098] In the present embodiment, the drone DR that acquires the measurement information and the detection signal and the information processing device 400 that generates the map information are realized in separate configurations. However, the present embodiment is not limited to a method in which the drone DR and the information processing device 400 are realized in separate configurations. For example, the drone DR may have the function of the information processing device 400. In this case, the drone DR may generate the map information and transmit it to the shovel 100.

[0099] [Excavator block configuration] The shovel 100 according to this embodiment is a shovel capable of autonomous control of movement and the like, and performs autonomous control according to various information stored in the storage device 47. For example, the shovel 100 may perform excavation or the like in a work area according to construction information stored in the storage device 47. Furthermore, the shovel 100 may control its autonomous movement to a target position (for example, a storage location RS) according to map information.

[0100] The controller 30 controls the autonomous movement based on the position and orientation detected by the positioning device PS and the map information stored in the map information storage unit 47A so as to permit the lower traveling body 1 to move through an area where iron plates are laid (an example of a first area) and to output a warning or suppress movement to an area where no iron plates are laid when the lower traveling body 1 moves through an area where no iron plates are laid (an example of a second area). Specific control of the autonomous movement will be described later.

[0101] The shovel 100 implements a configuration in the controller 30 for executing various processes. The following describes the functions of the controller 30. As shown in FIG. 4, the controller 30 has, as functional blocks, a communication control unit 301, an acquisition unit 302, a path generation unit 303, a movement control unit 304, a region estimation unit 305, and an output unit 306.

[0102] The communication control unit 301 transmits and receives information to and from an external device using the communication device T1. For example, the communication control unit 301 receives map information from the information processing device 400 using the communication device T1. The communication control unit 301 stores the received map information in the map information storage unit 47A.

[0103] As a result, the map information storage unit 47A stores therein map information indicating an area in which iron plates (an example of a predetermined member) are laid to allow the lower traveling body 1 to move by the crawlers.

[0104] The acquisition unit 302 acquires signals from various sensors (S1 to S9, PS, 28, 29) provided on the shovel.

[0105] For example, the acquisition unit 302 acquires measurement information obtained by measuring the periphery of the shovel 100 by the spatial recognition device S6. The acquisition unit 302 also acquires a detection signal indicating the current position and orientation of the shovel 100 from the positioning device PS.

[0106] Furthermore, the acquisition unit 302 acquires the map information stored in the map information storage unit 47A.

[0107] The path generating unit 303 generates a target path for moving the shovel 100 from the current position (position and orientation detected by the positioning device PS) to a target position (an example of a predetermined position) through an area where iron plates are laid, based on map information. The target path according to this embodiment is a path for moving the center position of the shovel 100 to a target position in the world coordinate system (for example, any position included in the storage place RS). The target position of the shovel 100 may be received from the information processing device 400 or the like, or may be determined in advance. In this embodiment, since the target path is generated, the shovel 100 can reach the target position without getting lost even while passing through an area where iron plates are laid. This reduces the operational burden on the operator.

[0108] The path generation unit 303 in this embodiment refers to map information to identify the area where the iron plates are laid, in other words, the area where the movement of the shovel 100 is permitted, and generates a path for moving the shovel 100 through the area where movement is permitted to the target path.

[0109] For example, in the example shown in Figure 5, when the shovel 100 is in the first working area WS1 and moves to the storage location RS, the path generating unit 303 generates a target path for moving to the storage location RS via the level road surface ST2.

[0110] The movement control unit 304 generates operation commands to control each component of the shovel 100 in order to cause the shovel 100 to move autonomously according to the generated target path, and outputs the generated operation commands. For example, the movement control unit 304 outputs operation commands to autonomously operate at least one of the traveling hydraulic motors 1L, 1R in order to move according to the target path generated by the path generation unit 303 based on the current position and orientation of the shovel 100 acquired by the acquisition unit 302. In this embodiment, the controller 30 can move the shovel 100 to the target position through the area where the iron plates are laid, without the need for operation by the operator, thereby reducing the operational burden.

[0111] In this embodiment, the movement control unit 304 outputs an operation command to adjust the pilot pressure acting on the control valve corresponding to each actuator individually and autonomously, thereby allowing each actuator to operate autonomously. In this way, the movement control unit 304 can control various operations such as the operation of the bucket 6, the arm 5, and the boom 4, and the rotation of the upper rotating body 3, in addition to the movement of the lower traveling body 1.

[0112] The area estimation unit 305 is configured to estimate an area in which the shovel 100 is permitted to move based on the features (height value and reflection intensity value) of each point data included in the point cloud data indicating the shapes of objects present around the shovel 100, in accordance with the measurement information of the spatial recognition device S6 acquired by the acquisition unit 302, and to permit the shovel 100 to move within that area.

[0113] That is, when the shovel 100 moves according to the map information, the area where the iron plates are actually laid may differ from the map information. Therefore, the area estimation unit 305 judges whether or not the iron plates are laid in the direction in which the shovel 100 moves according to the target route based on the measurement information of the spatial recognition device S6. This makes it possible to prevent the shovel 100 from moving through an area where the iron plates are not laid, even if the map information holds information different from the area where the iron plates are actually laid. Therefore, damage to the leveled road surface can be suppressed.

[0114] 6 is a diagram showing an example of an area in which movement is permitted, as estimated by the area estimation unit 305 according to this embodiment, from the measurement information of the spatial recognition device S6. The measurement information shown in FIG. 6 shows, for example, a measurement result of the area in front of the shovel 100, as measured by the spatial recognition device S6.

[0115] The leveled road surface ST2A on which the iron plate is laid is an area in which the movement of the shovel 100 is permitted. The hatched area PA is an area in which the movement of the shovel 100 is restricted. The hatched area PA includes, for example, the leveled road surface ST1A on which the iron plate is not laid.

[0116] Then, when the shovel 100 turns right, in other words when the shovel 100 moves along the leveled road surface ST2A, the area estimation unit 305 determines that an iron plate is laid in the direction in which the shovel 100 is moving, and continues autonomous movement control by the movement control unit 304.

[0117] On the other hand, when the shovel 100 moves straight, in other words when the shovel 100 moves on the leveled road surface ST1A, the area estimation unit 305 determines that no iron plates are laid in the direction in which the shovel 100 is moving, and stops the autonomous movement control by the movement control unit 304.

[0118] In this embodiment, by performing the above-described control, it is possible to prevent the shovel 100 from moving through areas where no iron plates are laid, even if the area where the iron plates are laid differs from the map information.

[0119] The output unit 306 outputs information from the audio output device 43 or the display device 40. For example, the output unit 306 may output a warning or the like from the audio output device 43.

[0120] <Processing flow in the excavator movement control system> Next, a description will be given of the flow of processing in the shovel movement control system SYS according to this embodiment up to providing map information to the shovel 100. Fig. 7 is a sequence diagram showing the flow of processing in the shovel movement control system SYS according to this embodiment up to transmitting map information to the shovel 100.

[0121] 7, the spatial recognition device DS6 of the drone DR measures objects present around the drone DR (S1701). Then, the acquisition unit 302 acquires measurement information from the spatial recognition device DS6.

[0122] The positioning device DPS detects the position and orientation of the drone DR (S1702). Then, the acquisition unit 302 acquires a detection signal indicating the measurement result from the positioning device DPS.

[0123] The communication control unit D32 of the drone DR uses the communication device T3 to transmit the measurement information and the detection signal to the information processing device 400 (S1703).

[0124] The area estimation unit 432 of the information processing device 400 extracts point cloud data representing the shape of the object from the received measurement information, and calculates the feature amount (for example, light reflectance) of the point cloud data (S1704).

[0125] The area estimation unit 432 of the information processing device 400 estimates the area where the iron plate is laid based on the feature amount (e.g., light reflectance) of the point cloud data, using the position and orientation indicated by the detection signal as a reference (S1705).

[0126] The excavator movement control system SYS according to this embodiment repeats the processes of S1701 to S1705 until the drone DR measures the entire work site.

[0127] Then, the map information generating unit 433 superimposes the area where the iron plates are laid, estimated by the area estimating unit 432, on the map information showing the work site, to generate map information showing the area in which the movement of the shovel 100 is permitted (S1706). Then, the map information generating unit 433 stores the generated map information in the map information storage unit 410A.

[0128] The communication control unit 431 uses the communication device T2 to transmit the map information stored in the map information storage unit 410A to the excavator 100 (S1707).

[0129] Then, the communication control unit 301 of the shovel 100 stores the received map information in the map information storage unit 47A (S1708).

[0130] The shovel movement control system SYS of this embodiment performs the above-mentioned control, allowing the controller 30 of the shovel 100 to recognize the area in which the iron plates are laid and then control the movement of the shovel 100.

[0131] Next, a description will be given of the control of the autonomous movement of the shovel 100 in the controller 30 according to this embodiment. Fig. 8 is a flow chart showing the control of the autonomous movement of the shovel 100 in the controller 30 according to this embodiment.

[0132] First, the acquisition unit 302 acquires the target position of the shovel 100 together with the current position and orientation of the shovel 100 from the positioning device PS (S1801).

[0133] The acquisition unit 302 acquires map information from the map information storage unit 47A (S1802).

[0134] The route generation unit 303 refers to the map information to identify the area where the iron plates are laid, in other words, the area where the movement of the shovel 100 is permitted, and generates a target route for moving the shovel 100 through the area where movement is permitted to the target position (S1803).

[0135] The movement control unit 304 outputs an operation command to autonomously operate at least one of the traveling hydraulic motors 1L, 1R in order to move along the generated target route, and starts controlling the autonomous movement (S1804).

[0136] Then, the movement control unit 304 determines whether the target position has been reached (S1805). If it is determined that the target position has not been reached (S1805: NO), the area estimation unit 305 acquires measurement information from the spatial recognition device S6 (S1806).

[0137] The area estimation unit 305 estimates the area where the iron plates are laid based on the feature values ​​(height value and reflection intensity value) of each point data included in the point cloud data showing the shapes of objects existing around the shovel 100 from the measurement information of the spatial recognition device S6 acquired by the acquisition unit 302 (S1807).

[0138] Then, the area estimation unit 305 determines whether the destination of the target route is an area where an iron plate is laid (S1808). If it is determined that the destination is an area where an iron plate is laid (S1808: YES), the process is repeated from S1805.

[0139] On the other hand, if the area estimation unit 305 determines that the movement destination is an area where no iron plates are laid (S1808: NO), the movement control unit 304 stops outputting the operation command and stops control of the autonomous movement (S1809).

[0140] When an operator or the like is present in the cabin 10, the output unit 306 outputs a warning or the like from the audio output device 43 (S1810). This allows the operator to recognize that no iron plate is laid in the moving direction.

[0141] On the other hand, in S1805, if it is determined that the target position has been reached (S1805: YES), the movement control unit 304 ends the process.

[0142] In this embodiment, the controller 30 performs the above-mentioned control, so that the shovel 100 can move to the target position through the area where the iron plates are laid. Also, if no iron plates are laid between the shovel 100 and the target position, the movement of the shovel 100 is restricted, so that damage to the leveled road surface can be restricted.

[0143] In the present embodiment, an example has been described in which metal members such as iron plates are used as members to be laid on a road surface. However, the present embodiment does not limit the members to be laid to metal members, and other materials may be used.

[0144] (Variation 1) In the above-described embodiment, an example has been described in which the movement of the shovel 100 is permitted only in an area where an iron plate has been laid. However, the above-described embodiment is not limited to an example in which the movement of the shovel 100 is permitted only in an area where an iron plate has been laid. In other words, the shovel 100 only needs to suppress damage to the leveled road surface, and for example, when the working area of ​​the shovel 100 is the ground or an irregular ground, the movement of the shovel 100 may be permitted even if an iron plate has not been laid.

[0145] In this modification, therefore, an example will be described in which the movement of the shovel 100 is permitted when the working area is the ground or the like. In this modification, the map information stored in the map information storage unit 47A of the shovel 100 includes information on the working area on which no iron plates are laid. The controller 30 according to this embodiment refers to the map information and permits the shovel 100 to move through the working area even when no iron plates are laid in the working area. In other words, even when the shovel 100 moves through the working area, the movement is not restricted, a warning is not output, or the like. As a result, the shovel 100 can move and perform work even if no iron plates are laid in the working area.

[0146] (Variation 2) In the above-described embodiment, the case where the controller 30 of the shovel 100 controls the autonomous movement has been described. However, the above-described embodiment is not limited to the case where the controller 30 controls the autonomous movement. For example, the output unit 306 of the controller 30 may display on the display device 40 a target route generated by the route generating unit 303 based on map information. Then, the operator aboard the cabin 10 can move the shovel 100 to the target position without damaging the leveled road surface by operating the shovel 100 along the target route displayed on the display device 40.

[0147] Furthermore, while the operator is moving the shovel 100, the controller 30 may perform one or more of outputting a warning and controlling the shovel to stop moving if it determines based on map information that the shovel 100 will move through an area where no iron plates are laid. By the controller 30 performing this control, the shovel 100 can be prevented from moving through an area where no iron plates are laid while the operator is operating the shovel 100, thereby preventing damage to the leveled road surface.

[0148] (Variation 3) In the second modification, a case where an operator inside the cabin 10 operates the shovel 100 has been described. However, the second modification is not limited to a case where an operator inside the cabin 10. In this modification, a case where the shovel 100 is remotely operated will be described. That is, this modification is an example in which the shovel 100 is remotely operated by transmitting an operation command to the shovel 100 from a remote operation room.

[0149] In this modification, the map information generated by the information processing device 400 is transmitted to the remote control room. As a result, the remote controller in the remote control room displays the target route generated based on the map information on the display device. Then, the operator in the remote control room can operate the shovel 100 along the displayed target route to move it to the target position without damaging the leveled road surface.

[0150] <effect> In the above-described embodiment and modified example, damage to the leveled road surface can be suppressed by controlling the shovel to move through the area where steel plates and other members are laid. In the above-described embodiment and modified example, movement control is performed according to map information showing the area where steel plates and other members are laid, so that the shovel can reach the target position through the area where the members are laid without getting lost. Therefore, the shovel can be easily moved to the target position while suppressing damage to the leveled road surface, thereby reducing the operational burden.

[0151] In the above-described embodiment and modified examples, an example has been described in which the present invention is applied to a shovel as a work machine that travels on crawlers. However, the above-described embodiment and modified examples are not limited to work machines that travel on crawlers, and may be any work machine that travels on crawlers, such as a crawler crane.

[0152] Although the embodiment of the work machine and the work machine movement control system according to the present invention have been described above, the present invention is not limited to the above embodiment. Various changes, modifications, substitutions, additions, deletions, and combinations are possible within the scope of the claims. Naturally, these also fall within the technical scope of the present invention. [Explanation of symbols]

[0153] SYS Movement Control System 100 Shovel 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket 17 Control valve S6 spatial recognition device PS Positioning Device T1 Communications Equipment 30 Controller 301 Communication Control Unit 302 Acquisition Department 303 Route Generation Unit 304 Movement control section 305 Area estimation part 306 Output section 40 Display device 47A Map information storage unit 400 Information processing device 410A Map information storage unit 430 Controller 431 Communication Control Unit 432 Region estimation part 433 Map Information Generation Unit T2 Communication Equipment DR Drone DS6 spatial recognition device DPS Positioning Device D30 Controller T3 Communications Equipment

Claims

1. a lower traveling body having a crawler; a storage unit that stores map information indicating a first area in which a predetermined member is laid to permit movement by the crawler; A detection unit that detects the position where the work machine is present; a control unit configured to permit the undercarriage to move through the first area in which the specified components are laid, and to output a warning or inhibit movement to a second area in which the specified components are not laid, when the undercarriage moves through a second area in which the specified components are not laid, based on the position detected by the detection unit and the map information; A work machine comprising:

2. The map information stored in the storage unit indicates the first area in which a metal member having a strength sufficient for the crawler to travel is laid.

2. The work machine of claim 1.

3. A detection unit that detects objects in the vicinity of the work machine is further provided, The control unit is further configured to estimate the first area in which the predetermined member is laid around the work machine according to a detection result by the detection unit, and to permit movement of the work machine to the first area.

2. The work machine of claim 1.

4. The control unit is configured to generate a route for the work machine to move through the first area in which the predetermined member is laid to a predetermined position based on the map information.

2. The work machine of claim 1.

5. The control unit is configured to perform control so that the work machine moves according to the generated route.

5. A work machine according to claim 4.

6. an information processing device configured to transmit, to the work machine, map information indicating a first area in which a predetermined member is laid to allow movement by the crawler; the work machine comprising: a lower body having the crawlers; a memory unit which stores the received map information; a detection unit which detects a position where the work machine is present; and a control unit which is configured to permit movement of the lower body through the first area where the specified members are laid, and to output a warning or inhibit movement to the second area when the lower body moves through a second area where the specified members are not laid, based on the position detected by the detection unit and the map information; A movement control system for a work machine having the above-mentioned components.

7. The drone further includes a detection unit that detects surrounding objects. The information processing device is configured to estimate the first area in which the predetermined member is laid based on a detection result by a detection unit included in the drone, and to generate the map information showing the first area.

7. A movement control system for a work machine according to claim 6.

8. The information processing device is configured to recognize the first area based on the reflectance of the specified member from the detection result by the detection unit of the drone, 8. A movement control system for a work machine according to claim 7.

Images