Shovel and display device for shovel

Abstract

To reduce costs.SOLUTION: A shovel in one embodiment includes a communication device that receives information indicating a shape of an object obtained by a spatial recognition device that measures an area including the vicinity of the shovel, and a control unit that is configured to autonomously control an operation of the shovel based on the shape of the object indicated in the received information.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a shovel and a display device for a shovel. [Background technology]

[0002] In recent years, technology has been proposed for autonomously controlling the work performed at a work site as an excavator. In order to perform autonomous control, it is necessary to grasp the terrain of the work target. For this reason, technology has been proposed for mounting a terrain sensor such as a LIDAR (Light Detection And Ranging) on ​​an excavator (see Patent Document 1). The excavator can recognize the terrain of the excavation position by measuring with the terrain sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-60033 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, at a work site, multiple shovels may be used to carry out work. In the technology described in Patent Document 1, each shovel is equipped with a topographical sensor, so that using multiple shovels to carry out work increases costs and may result in duplicate processing, such as multiple shovels measuring the shape of the same object.

[0005] In view of the above, the shovel performs autonomous control based on the shape of an object received from other equipment, thereby reducing the processing load and achieving cost reduction. [Means for solving the problem]

[0006] A shovel according to one embodiment of the present invention includes a communication device that receives information indicating the shape of an object obtained by a spatial recognition device that measures an area including the vicinity of the shovel, and a control unit that is configured to autonomously control the operation of the shovel based on the shape of the object indicated in the received information. Effect of the Invention

[0007] According to one aspect of the present invention, the shape of objects around the shovel can be recognized without providing a spatial recognition device on the shovel, thereby achieving cost reduction. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of an autonomous control system according to the first embodiment. [Diagram 2] FIG. 2 is a top view of the shovel according to the first embodiment. [Diagram 3] FIG. 3 is a top view of the shovel according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing an example of the configuration of a drive control system of the shovel according to the first embodiment. [Diagram 5] FIG. 5 is a diagram illustrating functional blocks in a shovel controller of the shovel according to the first embodiment. [Figure 6] FIG. 6 is a conceptual diagram showing a situation in which two excavators according to the first embodiment are performing autonomous control. [Figure 7] FIG. 7 is a sequence diagram showing the autonomous control performed by each of the two shovels according to the first embodiment. [Figure 8] FIG. 8 is a sequence diagram showing the autonomous control performed by each of the two shovels according to the first modification of the first embodiment. [Figure 9] FIG. 9 is a sequence diagram showing the autonomous control performed by each of the two shovels according to the second modification of the first embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of an autonomous control system according to the second embodiment. [Figure 11] FIG. 11 is a schematic diagram illustrating an example of a remote control system according to the third embodiment. [Figure 12] FIG. 12 is a sequence diagram showing controls performed in each of the two excavators and the remote operation room according to the third 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) Fig. 1 is a diagram showing an example of an autonomous control system SYS according to a first embodiment. In Fig. 1, a left side view of a shovel 100 is shown.

[0011] As shown in FIG. 1, the autonomous control system SYS includes a plurality of shovels 100 (an example of a work machine) that perform work in locations relatively close to each other.

[0012] 1, the autonomous control system SYS includes two shovels 100 (100A, 100B) that perform work at the same work site WS. Furthermore, the autonomous control system SYS is not limited to two shovels 100, and may include three or more shovels 100.

[0013] Each of the multiple shovels 100 is configured to perform work by autonomous control at the work site WS. It would be costly to equip all of the shovels 100 that are autonomously controlled at the work site WS with a spatial recognition device.

[0014] Therefore, in the autonomous control system SYS, the shovel 100B acquires information based on measurement information of a spatial recognition device S7 (see FIG. 2) mounted on the other shovel 100A. This allows the shovel 100B to recognize the object shape based on the information received from the other shovel 100A.

[0015] The object shape represented by information based on the measurement information includes the shape of objects present in the vicinity of the shovel 100B, in other words, the working area of ​​the shovel 100B, and includes, for example, the shape of the soil and sand around the shovel 100B, the shape of the object to be loaded into the bucket 6 of the shovel 100B, the shape of obstacles present around the shovel 100B, or the shape of the road surface on which the shovel 100B is traveling.

[0016] In this embodiment, an example is taken in which information is directly transmitted and received between the shovels 100. The shovels 100 may be connected to each other by a wireless communication line, or may be connected to each other through a local communication line in the work site WS.

[0017] The spatial recognition device S7 mounted on the shovel 100A according to this embodiment is capable of detecting the shape of an object existing within a predetermined range (e.g., a radius of 30 m) based on the shovel 100A. Furthermore, the shovel 100A is provided with an imaging device to obtain data on surrounding objects. The range detectable by the spatial recognition device S7 must include at least the working area of ​​the shovel 100B. For this reason, the working range of the shovel 100B is determined in advance according to the detectable range of the spatial recognition device S7.

[0018] Fig. 2 is a top view of the shovel 100A according to the present embodiment. As shown in Fig. 2, the shovel 100A is provided with four spatial recognition devices S7 and four imaging devices S6.

[0019] The space recognition device S7 is configured to recognize the shape of the space around the shovel 100A. The space recognition device S7 includes a rear space recognition device S7B that detects the space behind the shovel 100A, a left space recognition device S7L that detects the space to the left of the shovel 100A, a right space recognition device S7R that detects the space to the right of the shovel 100A, and a front space recognition device S7F that detects the space in front of the shovel 100A.

[0020] The spatial recognition device S7 may use a LIDAR to detect an object present in the vicinity of the shovel 100A. 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 a LIDAR, and any spatial recognition device capable of measuring the distance to an object may be used. For example, a stereo camera may be used, or a distance measuring device such as a distance image camera or a millimeter wave radar may be used. When a millimeter wave radar or the like is used as the spatial recognition device S7, a number of signals (laser light, etc.) may be emitted from the spatial recognition device S7 toward the object, and the reflected signals may be received, and the distance and direction of the object may be derived from the reflected signals.

[0021] The rear space recognition device S7B is attached to the rear end of the upper surface of the upper rotating body 3. The left space recognition device S7L is attached to the left end of the upper surface of the upper rotating body 3. The right space recognition device S7R is attached to the right end of the upper surface of the upper rotating body 3. The front space recognition device S7F is attached to the front end of the upper surface of the cabin 10. In addition, the number of space recognition devices provided on the excavator 100A is not limited to four, and may be three or less, or five or more. The space recognition device S7 may further be attached to the upper side surface of the arm 5.

[0022] The spatial recognition device S7 may be configured to detect a predetermined object within a predetermined area set around the shovel 100A. For example, the spatial recognition device S7 may have a human detection function configured to be able to detect a person while distinguishing between a person and an object other than a person.

[0023] The imaging device S6 is configured to acquire an image of the periphery of the shovel 100A. In this embodiment, the imaging device S6 includes a front camera S6F that images the space in front of the shovel 100A, a left camera S6L that images the space to the left of the shovel 100A, a right camera S6R that images the space to the right of the shovel 100A, and a rear camera S6B that images the space behind the shovel 100A.

[0024] The imaging device S6 is, for example, a monocular camera having an imaging element such as a CCD or CMOS, and may output the captured image to a display device (not shown).

[0025] The front camera S6F is attached, for example, to the roof of the cabin 10. The left camera S6L is attached to the left end of the upper surface of the upper rotating body 3. The right camera S6R is attached to the right end of the upper surface of the upper rotating body 3. The rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0026] In this embodiment, by providing the imaging device S6 in the above-mentioned arrangement, it is possible to capture images of objects present around the shovel 100A.

[0027] The shovel 100B recognizes the shape of an object in the space around the shovel 100B based on the shape of the object measured by the shovel 100A. For this reason, the shovel 100B is not provided with a space recognition device S7.

[0028] Fig. 3 is a top view of the shovel 100B according to this embodiment. As shown in Fig. 2, the shovel 100B is provided with four imaging devices S6. The four imaging devices S6 provided in the shovel 100B are similar to those provided in the shovel 100A, and description thereof will be omitted.

[0029] That is, in this embodiment, at least one shovel 100A among the multiple shovels 100 included in the autonomous control system SYS is equipped with a spatial recognition device S7. The shovel 100A having the spatial recognition device S7 provides information indicating the object shape to other shovels 100B located in the vicinity thereof.

[0030] The autonomous control system SYS may include other work machines in addition to the shovel 100. For example, the autonomous control system SYS may include a work machine such as a mobile crane. In the autonomous control system SYS, some of the multiple work machines may be replaced with a spatial recognition device installed at the work site WS, a work vehicle at the work site WS, or a drone (all of which are examples of predetermined equipment), etc. In this way, the shovel 100 can acquire measurement information from a spatial recognition device installed at the work site WS, a work vehicle at the work site WS, or a spatial recognition device mounted on a drone, etc., and recognize the topography around the shovel 100 based on the measurement information.

[0031] As shown in FIG. 1, a shovel 100 (100A, 100B) includes a lower traveling body 1, an upper rotating body 3, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10.

[0032] As shown in Figures 2 and 3, the lower traveling body 1 includes, for example, a left crawler 1CL and a right crawler 1CR, and the crawlers 1CL, 1CR are hydraulically driven by corresponding traveling hydraulic motors 1L, 1R, respectively, to travel independently.

[0033] The upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. For example, the upper rotating body 3 rotates relative to the lower traveling body 1 as the rotating mechanism 2 is hydraulically driven by a rotating hydraulic motor 2A (see FIG. 4).

[0034] Boom 4 is attached to the front center of upper rotating body 3 so as to be able to tilt up and down about a rotation axis in the left-right direction. Arm 5 is attached to the tip of boom 4 so as to be able to rotate about a rotation axis in the left-right direction. Bucket 6 is attached to the tip of arm 5 so as to be able to rotate about a rotation axis in the left-right direction.

[0035] The bucket 6 is an example of an end attachment, and is attached to the tip of the arm 5 in a suitably replaceable manner depending on the work content of the excavator 100. In other words, instead of the bucket 6, a bucket of a different type from the bucket 6, such as a relatively large bucket, a bucket for slopes, or a dredging bucket, may be attached to the tip of the arm 5. Also, a type of end attachment other than a bucket, such as an agitator, a breaker, or a crusher, may be attached to the tip of the arm 5. Also, a spare attachment, such as a quick coupling or a tiltrotator, may be provided between the arm 5 and the end attachment.

[0036] The boom 4, the arm 5, and the bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0037] A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6. The excavation attachment may be provided with a bucket tilt mechanism.

[0038] The boom angle sensor S1 detects the rotation angle of the boom 4. In this embodiment, the boom angle sensor S1 is an acceleration sensor, and can detect the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. For example, the boom angle is at its minimum when the boom 4 is lowered to the lowest, and increases as the boom 4 is raised.

[0039] The arm angle sensor S2 detects the rotation angle of the arm 5. In this embodiment, the arm angle sensor S2 is an acceleration sensor, and can detect the arm angle, which is the rotation angle of the arm 5 with respect to the boom 4. For example, the arm angle is at its minimum when the arm 5 is fully closed, and increases as the arm 5 is opened.

[0040] The bucket angle sensor S3 detects the rotation angle of the bucket 6. In this embodiment, the bucket angle sensor S3 is an acceleration sensor, and can detect the bucket angle, which is the rotation angle of the bucket 6 with respect to the arm 5. For example, the bucket angle is at its minimum when the bucket 6 is fully closed, and increases as the bucket 6 is opened.

[0041] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, or a rotary encoder that detects the rotation angle around the connecting pin, etc. The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 constitute a posture sensor that detects the posture of the excavation attachment.

[0042] A cabin 10 serving as a driver's cab is provided on the upper rotating body 3, and a power source such as an engine 11 (see FIG. 4) is mounted on the upper rotating body 3. In addition, a vehicle tilt sensor S4, a turning angular velocity sensor S5, a communication device T1, and a positioning device S8 are attached to the upper rotating body 3.

[0043] The drive source is not limited to the engine 11, and may be a motor. The shovel 100 may be equipped with an engine and a motor as the drive source. The shovel 100 may be driven only by the engine, may be a hybrid type driven by the engine and the motor, or may be an electric shovel (electrical work machine) driven only by the motor.

[0044] The machine body inclination sensor S4 is configured to detect the inclination of the upper rotating body 3 with respect to a predetermined plane. In this embodiment, the machine body inclination sensor S4 is an acceleration sensor that detects the inclination angle about the front-rear axis and the left-right axis of the upper rotating body 3 with respect to a horizontal plane. The front-rear axis and the left-right axis of the upper rotating body 3 are, for example, perpendicular to each other and pass through the shovel center point, which is a point on the rotation axis of the shovel 100.

[0045] The rotation angular velocity sensor S5 is configured to detect the rotation angular velocity of the upper rotating body 3. In this embodiment, the rotation angular velocity sensor S5 is a gyro sensor. The rotation angular velocity sensor S5 may be a resolver or a rotary encoder, etc. The rotation angular velocity sensor S5 may detect a rotation speed. The rotation speed may be calculated from the rotation angular velocity.

[0046] The communication device T1 is a device that controls communication between the shovel 100 and the outside. The communication device T1 controls, for example, wireless communication between the shovel 100 and an external GNSS (Global Navigation Satellite System) surveying system. The shovel 100 can acquire design data via wireless communication by using the communication device T1. However, the shovel 100 may acquire the design data using a semiconductor memory or the like. The design data includes three-dimensional design data.

[0047] The communication device T1 is configured to control communication with equipment external to the shovel 100. In this embodiment, the communication device T1 is configured to control communication between the communication device T1 and equipment external to the shovel 100 via a communication line (including a wireless communication line). The communication device T1 includes, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), a satellite communication module for connecting to a satellite communication network, and the like.

[0048] Furthermore, the communication device T1 controls wireless communication between the excavator 100 and an external GNSS (Global Navigation Satellite System) surveying system, for example.

[0049] The positioning device S8 is configured to acquire position information of the shovel 100. In this embodiment, the positioning device S8 is configured to measure the position and orientation of the shovel 100 as the position information of the shovel 100. Specifically, the positioning device S8 is a GNSS receiver incorporating an electronic compass, and measures the latitude, longitude, and altitude of the current position of the shovel 100, and measures the orientation of the shovel 100.

[0050] The position information acquired by the positioning device S8 is expressed in a reference coordinate system (an example of a first coordinate system). The reference coordinate system is, for example, the World Geodetic System. The World Geodetic System is a three-dimensional orthogonal XYZ coordinate system with the origin at the center of gravity of the Earth, the X axis pointing to the intersection of the Greenwich meridian and the equator, the Y axis pointing to 90 degrees east, and the Z axis pointing to the North Pole.

[0051] The cabin 10 is a control room in which an operator sits and operates the excavator 100, and is mounted, for example, on the front left side of the upper rotating body 3.

[0052] The excavator 100 operates driven elements such as a lower traveling body 1 (i.e., a pair of left and right crawlers 1C), an upper rotating body 3, a boom 4, an arm 5, and a bucket 6 in response to operation by an operator inside the cabin 10.

[0053] The shovel 100 according to this embodiment can automatically operate the actuators regardless of the contents of the operation by the operator. This allows the shovel 100 to realize a function ("autonomous control function" or "MC (Machine Control) function") that automatically operates at least some of the driven elements such as the lower traveling structure 1, the upper rotating structure 3, the boom 4, the arm 5, and the bucket 6.

[0054] The autonomous control function may include a function of automatically operating at least a part of the multiple driven elements (actuators) on the premise that there is no operation by an operator or remote operation of the operation device 26. In addition, in the shovel 100, when the autonomous control function is active, the inside of the cabin 10 may be unmanned.

[0055] [Excavator drive control system] Fig. 4 is a diagram showing an example of the configuration of a drive control system of a shovel 100A according to this embodiment, in which a mechanical power transmission system is indicated by a double line, a hydraulic oil line by a thick solid line, a pilot line by a dashed line, and an electric drive and control system by a dotted line.

[0056] The drive system of the excavator 100A according to this embodiment includes the engine 11, the regulator 13, the main pump 14, and the control valve unit 17. Moreover, the hydraulic drive system of the excavator 100A 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.

[0057] 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 rotation speed under direct or indirect control by a shovel controller 30A (described later), and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses light oil as fuel.

[0058] 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 shovel controller 30A. The regulator 13 includes, for example, regulators 13L and 13R, as described later.

[0059] 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 unit 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 shovel controller 30A, 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).

[0060] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100A. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve unit 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 .

[0061] 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 unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0062] 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.

[0063] 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 shovel controller 30A. The discharge pressure sensor 28 includes, for example, discharge pressure sensors 28L and 28R, as described later.

[0064] 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 shovel controller 30A. In this embodiment, the shovel controller 30A controls the opening area of ​​the proportional valve 31 according to the output of the operation sensor 29. Then, the shovel controller 30A supplies the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 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 unit 17.

[0065] The proportional valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting the pilot pump 15 and a pilot port of a control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the shovel controller 30A. Therefore, the shovel controller 30A can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by the operator.

[0066] With this configuration, even when a specific operating device 26 is not being operated, the shovel controller 30A can operate the hydraulic actuator corresponding to that specific operating device 26.

[0067] The shovel controller 30A is a calculation device that executes various calculations. The shovel controller 30A is provided, for example, in the cabin 10 and controls the drive of the shovel 100A. The functions of the shovel controller 30A may be realized by any hardware, software, or a combination thereof. For example, the shovel controller 30A is mainly configured with a microcomputer including a central processing unit (CPU), a memory device such as a random access memory (RAM), a non-volatile auxiliary storage device such as a read only memory (ROM), and various interface devices for input and output. The shovel controller 30A executes various programs installed in the non-volatile auxiliary storage device on the CPU to realize various functions.

[0068] For example, the shovel controller 30A sets a target rotation speed in accordance with the work currently being performed, and performs drive control to rotate the engine 11 at a constant speed.

[0069] Furthermore, for example, the shovel controller 30A outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0070] Note that some of the functions of the shovel controller 30A may be realized by another controller (control device). That is, the functions of the shovel controller 30A 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).

[0071] It should be noted that the configuration of the drive control system of the shovel 100B is the same as that of the drive control system of the shovel 100A shown in FIG. 4 except that the spatial recognition device S7 has been removed and a shovel controller 30B has been provided in place of the shovel controller 30A, and therefore the explanation thereof will be omitted.

[0072] <<Excavator functional blocks>> Each functional block in the shovel controller of the shovel 100 will be described. FIG. 5 is a diagram illustrating functional blocks in the shovel controller of the shovel 100 according to this embodiment. Note that each functional block in the shovel controller is conceptual, and does not necessarily have to be physically configured as shown in the figure. All or a part of each functional block can be functionally or physically distributed and integrated in any unit. All or any part of each processing function performed in each functional block is realized by a program executed by a CPU. Alternatively, each functional block may be realized as hardware using wired logic.

[0073] 5, the shovel 100A and the shovel 100B are common in that they perform autonomous control, but the processes executed by the shovel controller 30A and the shovel controller 30B are different. This is because the shovel 100B performs autonomous control based on the object shape measured by the spatial recognition device S7 of the shovel 100A.

[0074] Fig. 6 is a conceptual diagram showing a situation in which two shovels 100 according to this embodiment are performing autonomous control. In the example shown in Fig. 6, it is assumed that a shovel 100A and a shovel 100B are performing work at the same work site WS.

[0075] The shovel 100A detects the shape of an object present within an area 1601 detectable by the four spatial recognition devices S7. This makes it possible to detect the shape of the soil of the work target 1611 of the shovel 100A and the shape of the soil of the work target 1612 of the shovel 100B. The area 1601 is a range detectable by the spatial recognition device S7, and is, for example, about a 30 m radius.

[0076] Then, the shovel 100A transmits information indicating the object shape detected by the spatial recognition device S7 to the shovel 100B, whereby the shovel 100B can recognize the shape of the soil and sand present in the work target 1612.

[0077] However, the relative coordinate system for the shovel 100A to perform the autonomous control is different from the relative coordinate system for the shovel 100B to perform the autonomous control. In the example shown in Fig. 6, there exists a first relative coordinate system 1651 (X1, Y1, Z1) representing a three-dimensional space for the shovel 100A to perform the autonomous control, and a second relative coordinate system (X2, Y2, Z2) representing a three-dimensional space for the shovel 100B to perform the autonomous control.

[0078] The first relative coordinate system 1651 (X1, Y1, Z1) has an origin at, for example, the center position of the shovel 100A, and the second relative coordinate system 1652 (X2, Y2, Z2) has an origin at, for example, the center position of the shovel 100B.

[0079] The measurement information of the spatial recognition device S7 is information obtained by measuring the shape of an object based on a relative distance with the shovel 100A as a reference. In other words, the measurement information of the spatial recognition device S7 expresses the shape of an object in the first relative coordinate system 1651. For this reason, it is difficult for the shovel 100B to recognize the shape of surrounding objects, etc., using the measurement information of the spatial recognition device S7 of the shovel 100A.

[0080] Therefore, the shovel 100A converts the measurement information of the spatial recognition device S7 into the reference coordinate system 1650 (X, Y, Z). For this purpose, the shovel 100A acquires current position information in the reference coordinate system 1650 from the positioning device S8. As described above, the reference coordinate system is the world geodetic system, and therefore is a coordinate system that can be recognized by each of the shovel 100A and the shovel 100B.

[0081] Then, the shovel 100A transmits information indicating the soil shape converted into the reference coordinate system 1650 (X, Y, Z) to the shovel 100B.

[0082] Then, the shovel 100B converts the object shape in the reference coordinate system (an example of a first coordinate system) 1650 indicated in the received information into a second relative coordinate system (an example of a second coordinate system) 1652. In order to perform the conversion, the shovel 100B acquires current position information in the reference coordinate system 1650 from the positioning device S8. Then, the shovel 100B converts the coordinate system of the object shape indicated in the received information based on the current position information. This enables the shovel 100B to recognize the object shape and the like present on the work target 1612. Next, the configurations of the shovel controller 30A and the shovel controller 30B will be described.

[0083] Returning to FIG. 5, the shovel controller 30A, by implementing a program, is provided with an acquisition unit 301A, a transmission control unit 302A, a reception control unit 303A, an shovel state identification unit 304A, a target trajectory generation unit 305A, an autonomous control unit 306A, and a coordinate system conversion unit 307A.

[0084] The acquisition unit 301A acquires signals from various detection devices provided in the shovel 100A. For example, the acquisition unit 301A acquires the detection results of a boom angle sensor S1, an arm angle sensor S2, and a bucket angle sensor S3. The acquisition unit 301A also acquires image information, measurement information, and position information.

[0085] The image information is information captured by the imaging device S6. The measurement information is information indicating the shape measured by the spatial recognition device S7. The position information is information indicating the position and orientation of the shovel 100 in the reference coordinate system measured by the positioning device S8.

[0086] The transmission control unit 302A performs control for transmitting various information to an external device (for example, the shovel 100B) via the communication device T1.

[0087] The shovel state identifying unit 304A is configured to identify the state of the shovel 100A based on the signal acquired by the acquiring unit 301A. In this embodiment, the state of the shovel 100A includes the position and orientation of the shovel 100A and the state of the attachment AT of the shovel 100 (for example, the positions of the boom 4, the arm 5, and the bucket 6). The position of the shovel 100 is, for example, the position of the shovel 100 in the reference coordinate system (the latitude, longitude, and altitude of the reference point of the shovel 100). In this way, the shovel state identifying unit 304A identifies the position and orientation of the shovel 100 and the state of the attachment AT based on the output of the positioning device S8.

[0088] The state of the attachment (e.g., the positions of the boom 4, arm 5, and bucket 6) can be determined from the detection results of the angle sensors (boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3) and the respective sizes of the boom 4, arm 5, and bucket 6.

[0089] The target trajectory generating unit 305A generates a target trajectory for autonomous control of the shovel 100A. The target trajectory generating unit 305A according to this embodiment generates a target trajectory based on construction information, image information, measurement information, and the status of the shovel 100B. The construction information is information that indicates the shape of the work target (e.g., soil and sand) after construction, which is stored in a non-volatile storage device (not shown) of the shovel 100A. The measurement information indicates the shape of an object (e.g., soil and sand that is the work target) expressed in a first relative coordinate system.

[0090] For example, the target trajectory generating unit 305A generates a target trajectory for excavation by the attachment AT of the current shovel 100 so that the situation around the shovel 100A, represented by a combination of image information and measurement information, becomes the shape indicated in the construction information.

[0091] The autonomous control unit 306A determines the operation content of the operating element (hydraulic actuator) in order to move along the target trajectory generated by the target trajectory generating unit 305A, and generates an operation signal according to the determined operation content, thereby realizing the autonomous control function of the shovel 100A.

[0092] The coordinate system conversion unit 307A converts the object shape, which is indicated in the measurement information and expressed in a first relative coordinate system with the shovel 100A as the reference, into a reference coordinate system based on the position information and the measurement information.

[0093] The transmission control unit 302A transmits information indicating the object shape converted into the reference coordinate system to the shovel 100B via the communication device T1.

[0094] By implementing a program, the shovel controller 30B is provided with an acquisition unit 301B, a transmission control unit 302B, a reception control unit 303B, a shovel state identification unit 304B, a target trajectory generation unit 305B, an autonomous control unit 306B, and a coordinate system conversion unit 307B.

[0095] The acquisition unit 301B acquires signals from various detection devices provided in the shovel 100B. For example, the acquisition unit 301B acquires the detection results of a boom angle sensor S1, an arm angle sensor S2, and a bucket angle sensor S3. The acquisition unit 301B also acquires image information and position information.

[0096] The transmission control unit 302B performs control for transmitting various information to an external device (for example, the excavator 100A) via the communication device T1.

[0097] The reception control unit 303B performs control for receiving various information from an external device (for example, the shovel 100A) via the communication device T1. For example, the reception control unit 303B receives information indicating an object shape in a reference coordinate system from the shovel 100A (an example of another shovel) via the communication device T1. As shown in FIG. 6, the received information indicates the object shape measured in an area including the periphery of the shovel 100B with the shovel 100A as the reference. That is, the received information includes the shape of the soil of the work target 1612 of the shovel 100B. Therefore, the shovel 100B can recognize the shape of the soil of the work target 1612.

[0098] The shovel condition identifying unit 304B is configured to identify the condition of the shovel 100 based on the signal acquired by the acquiring unit 301B. The condition of the shovel 100B identified by the shovel condition identifying unit 304B is similar to the condition of the shovel 100A identified by the shovel condition identifying unit 304A, and therefore a description thereof will be omitted.

[0099] The coordinate system conversion unit 307B converts the object shape expressed in the reference coordinate system according to the received information into the second relative coordinate system based on the position information measured by the positioning device S8. Therefore, the shovel controller 30B can recognize the object shape in the second relative coordinate system based on the shovel 100B.

[0100] The target trajectory generating unit 305B generates a target trajectory for the shovel 100B to autonomously control. The target trajectory generating unit 305B according to this embodiment generates a target trajectory based on the construction information, image information, the object shape in the second relative coordinate system, and the state of the shovel 100B. The construction information is information that indicates the object shape (e.g., the shape of the soil) of the work target after construction, which is stored in a non-volatile storage device (not shown) of the shovel 100B. The object shape in the second relative coordinate system includes the current object shape (e.g., the shape of the soil) that is the work target of the shovel 100B. Note that this embodiment shows an example of generating a target trajectory, and is not limited to a method of generating a target trajectory based on the construction information, image information, the object shape in the second relative coordinate system, and the state of the shovel 100B. It is sufficient that the target trajectory is generated based on at least the object shape in the second relative coordinate system. In this embodiment, the operation of the shovel can be autonomously controlled by generating the target trajectory.

[0101] For example, the target trajectory generating unit 305B generates a target trajectory for the attachment AT of the current shovel 100 to excavate so that the situation around the shovel 100B, which is represented by a combination of the image information and the object shape in the second relative coordinate system, becomes the shape indicated by the construction information. Since the situation around the shovel 100B is recognized by combining the received object shape with the image information captured by the imaging device S6 in this way, it is possible to generate a target trajectory with higher accuracy. Therefore, it is possible to improve the accuracy of the autonomous control.

[0102] The autonomous control unit 306B determines the operation content of the operating element (hydraulic actuator) in order to move along the target trajectory generated by the target trajectory generating unit 305B, and generates an operation signal according to the determined operation content, thereby realizing the autonomous control function of the shovel 100B.

[0103] In this embodiment, an example of operating the shovel 100B according to a target trajectory will be described, but the method of autonomous control of the operation of the shovel 100B is not limited to operation according to a target trajectory, and any method may be used as long as it autonomously controls the operation of the shovel 100B based on the shape of an object.

[0104] FIG. 7 is a sequence diagram showing the autonomous control performed by each of the shovel 100A and the shovel 100B according to this embodiment.

[0105] First, the acquisition unit 301A of the shovel 100A acquires image information from the imaging device S6 (S1701). The acquisition unit 301A acquires position information in the reference coordinate system measured by the positioning device S8 (S1702).

[0106] The acquisition unit 301A acquires measurement information representing the object shape by the spatial recognition device S7 (S1703).

[0107] The shovel condition identifying unit 304A identifies the condition of the shovel 100A based on the signal acquired by the acquiring unit 301A (S1704).

[0108] The target trajectory generating unit 305A generates a target trajectory based on the state of the shovel 100A, the image information, and the object shape indicated by the measurement information (S1705).

[0109] The autonomous control unit 306A performs autonomous control (eg, excavation control) to move along the target trajectory generated by the target trajectory generating unit 305A (S1706).

[0110] Thereafter, the acquiring unit 301A acquires measurement information representing the object shape after autonomous control (eg, excavation control) has been performed (S1707).

[0111] Then, the coordinate system conversion unit 307A converts the object shape indicated by the measurement information into a reference coordinate system based on the position information (S1708).

[0112] The transmission control unit 302A transmits information representing the object shape in the reference coordinate system to the excavator 100B (S1709).

[0113] On the other hand, the acquisition unit 301B of the shovel 100B acquires image information from the imaging device S6 (S1711). The acquisition unit 301B acquires position information in the reference coordinate system measured by the positioning device S8 (S1712).

[0114] The shovel condition identifying unit 304B identifies the condition of the shovel 100B based on the signal acquired by the acquiring unit 301B (S1713).

[0115] Coordinate system conversion section 307B converts the object shape indicated by the information received in S1709 into a second relative coordinate system based on the position information acquired in S1712 (S1714).

[0116] The target trajectory generating unit 305B generates a target trajectory based on the state of the shovel 100B, the image information, and the object shape represented in the second relative coordinate system (S1715).

[0117] The autonomous control unit 306B performs autonomous control to move along the target trajectory generated by the target trajectory generating unit 305B (S1716).

[0118] In this embodiment, the shovel 100A and the shovel 100B perform the above-mentioned control, so that the shovel 100B can perform autonomous control based on the object shape measured by the shovel 100A. Note that Fig. 7 shows an example of the timing at which the shovel 100A transmits information indicating the object shape to the shovel 100B. The transmission of the information may be determined according to the embodiment, and may be, for example, the timing at which a change in the object shape is detected, or may be at a predetermined time interval (for example, every second), etc.

[0119] In the present embodiment, an example has been described in which the shovel 100B converts the object shape represented in the reference coordinate system into the second relative coordinate system. As a result, in the present embodiment, the shovel controller 30B can recognize the object shape in a coordinate system centered on the shovel 100B. Therefore, the shovel controller 30B can appropriately recognize the surrounding object shapes, thereby improving the accuracy of autonomous control.

[0120] However, this embodiment is not limited to the method of converting the coordinate system. For example, the shovel 100B may perform autonomous control based on the object shape in the reference coordinate system without converting the coordinate system.

[0121] The shovels 100A and 100B according to this embodiment are autonomously controlled according to, for example, construction information. The movements of the shovels 100A and 100B are determined by the construction information, etc. In other words, since the movements of the shovels 100A and 100B are determined by the builder, it is possible to prevent the shovel 100B from moving outside the area 1601 detectable by the spatial recognition device S7 of the shovel 100A.

[0122] (Modification 1 of the first embodiment) In the above-described embodiment, an example has been described in which the shovel 100B recognizes the shape of an object based on information received from the shovel 100A. However, the above-described embodiment does not limit the information used to recognize the object shape to only the measurement information by the spatial recognition device S7. Therefore, in Modification 1 of the first embodiment, an example will be described in which the object shape measured by the tip of the bucket 6 is used in addition to the measurement information.

[0123] That is, when the shovel 100B excavates with the attachment AT, the toe of the bucket 6 comes into contact with the soil being the work target. Therefore, when the bucket 6 starts excavating the soil, the shovel controller 30B identifies the movement trajectory of the toe of the bucket 6 as the object shape (soil shape).

[0124] Any method may be used to identify the shape of an object (e.g., soil) based on the position of the tip of the bucket 6, regardless of whether it is a well-known method. For example, whether the tip of the bucket 6 is in contact with soil can be determined based on the pressure generated in the boom cylinder 7, the arm cylinder 8, or the bucket cylinder 9. Therefore, when it is determined based on the detected pressure that the tip of the bucket 6 is in contact with soil, the current position of the tip of the bucket 6 is identified as the surface of the soil. This allows the shovel controller 30B to identify the soil shape (an example of the object shape) from the tip position of the bucket 6.

[0125] The shovel controller 30B of the shovel 100B performs autonomous control based on information combining the object shape obtained based on the position of the tip (end) of the bucket 6 of the attachment AT and the object shape indicated by the information measured by the shovel 100A. A specific method of autonomous control will be described.

[0126] Fig. 8 is a sequence diagram showing the autonomous control performed by each of the shovel 100A and the shovel 100B according to this modification. The sequence diagram shown in Fig. 8 is an example in which the autonomous control of the shovel 100A and the shovel 100B is repeatedly performed. Also, it is an example in which the object shape based on the position of the toe of the bucket 6 detected during the previous autonomous control of the shovel 100B is used for the current autonomous control.

[0127] The autonomous control unit 306B of the shovel 100 performs autonomous control (e.g., excavation control) according to the already generated target trajectory, and the acquisition unit 301B identifies the object shape (e.g., soil shape) from the position of the tip of the bucket 6 of the attachment AT, which is identified based on the angle sensors S1, S2, S3 and the pressure of the cylinder (boom cylinder 7, arm cylinder 8, or bucket cylinder 9) (S1821). The identified object shape is shown in a second relative coordinate system based on the shovel 100B. The generation of the target trajectory is performed using a method to be described later, and a description thereof will be omitted.

[0128] The acquisition unit 301B acquires position information in the reference coordinate system measured by the positioning device S8 (S1822). Then, the coordinate system conversion unit 307B converts the identified object shape (based on the toe position) into the reference coordinate system based on the position information (S1823). Then, the transmission control unit 302B transmits the object shape in the reference coordinate system (based on the toe position) to the shovel 100A (S1824). This allows the shovel 100A to synthesize the object shape.

[0129] The acquisition unit 301A of the shovel 100A acquires image information from the imaging device S6 (S1801). The acquisition unit 301A acquires position information in the reference coordinate system measured by the positioning device S8 (S1802).

[0130] The acquisition unit 301A acquires measurement information representing the object shape by the spatial recognition device S7 (S1803).

[0131] Then, the coordinate system conversion section 307A converts the object shape indicated by the information received in S1824 into the first relative coordinate system based on the position information (S1804).

[0132] Furthermore, the coordinate system conversion unit 307A combines the object shape converted into the first relative coordinate system in S1804 with the object shape represented by the measurement information (S1805). This allows the shovel controller 30A to recognize the object shape taking into account the position of the tip of the bucket 6 of the shovel 100B.

[0133] Furthermore, the coordinate system conversion unit 307A converts the object shape after the synthesis into the reference coordinate system based on the position information (S1806). Then, the transmission control unit 302A transmits information on the object shape after the synthesis shown in the reference coordinate system to the excavator 100B (S1807).

[0134] The shovel condition identifying unit 304A identifies the condition of the shovel 100A based on the signal acquired by the acquiring unit 301A (S1808).

[0135] The target trajectory generating unit 305A generates a target trajectory based on the state of the shovel 100A, the image information, and the object shape after synthesis represented in the first relative coordinate system (S1809).

[0136] The autonomous control unit 306A performs autonomous control (eg, excavation control) to move along the target trajectory generated by the target trajectory generating unit 305A (S1810).

[0137] On the other hand, the acquisition unit 301B of the shovel 100B acquires image information from the imaging device S6 (S1825). The acquisition unit 301B acquires position information in the reference coordinate system measured by the positioning device S8 (S1826).

[0138] The shovel condition identifying unit 304B identifies the condition of the shovel 100B based on the signal acquired by the acquiring unit 301B (S1827).

[0139] Coordinate system conversion section 307B converts the object shape indicated by the information received in S1807 into a second relative coordinate system based on the position information acquired in S1826 (S1828).

[0140] The target trajectory generating unit 305B generates a target trajectory based on the state of the shovel 100B, the image information, and the object shape in the second relative coordinate system (S1829).

[0141] The autonomous control unit 306B performs autonomous control according to the generated target trajectory, and the acquisition unit 301B identifies the object shape from the coordinates indicating the position of the tip of the bucket 6 of the attachment AT, which are identified based on the angle sensors S1, S2, S3 and the pressure of the cylinder (boom cylinder 7, arm cylinder 8, or bucket cylinder 9) (S1830). The identified object shape is used for the next autonomous control.

[0142] In this first modified example, by performing the above-mentioned control, autonomous control that takes into account the object shape based on the tip position of the bucket 6 of the shovel 100B can be realized. As a result, even when the shovel 100B works in an area that is difficult to detect by the spatial recognition device S7 of the shovel 100A, the object shape in that area can be identified by the tip position of the bucket 6 of the shovel 100B. This improves the accuracy of identifying the object shape. Therefore, it is possible to improve the accuracy of the autonomous control.

[0143] (Modification 2 of the first embodiment) In the above-mentioned modified example, an example in which the object shape is synthesized by the shovel 100A equipped with the spatial recognition device S7 has been described. However, the above-mentioned modified example is not limited to a method in which the object shape is synthesized by the shovel 100A. Therefore, in this modified example, an example in which the object shape is synthesized by the shovel 100B will be described.

[0144] Fig. 9 is a sequence diagram showing the autonomous control performed by each of the shovel 100A and the shovel 100B according to this modification. The sequence diagram shown in Fig. 9 is an example in which the autonomous control of the shovel 100A and the shovel 100B is repeatedly performed. Also, it is an example in which the object shape detected during the previous autonomous control of the shovel 100B is used for the current autonomous control.

[0145] The autonomous control unit 306B of the shovel 100 performs autonomous control (e.g., excavation control) according to the already generated target trajectory, and the acquisition unit 301B identifies the object shape (e.g., soil shape) from coordinates indicating the position of the tip of the bucket 6 of the attachment AT, which are identified based on the angle sensors S1, S2, S3 and the pressure of the cylinder (boom cylinder 7, arm cylinder 8, or bucket cylinder 9) (S1921). The identified soil shape is shown in a second relative coordinate system based on the shovel 100B.

[0146] On the other hand, the acquisition unit 301A of the shovel 100A acquires image information from the imaging device S6 (S1901). The acquisition unit 301A acquires position information in the reference coordinate system measured by the positioning device S8 (S1902).

[0147] The acquisition unit 301A acquires measurement information representing the object shape by the spatial recognition device S7 (S1903).

[0148] The coordinate system conversion unit 307A converts the object shape indicated by the measurement information into a reference coordinate system based on the position information (S1904). Then, the transmission control unit 302A transmits information indicating the object shape indicated in the reference coordinate system to the excavator 100B (S1905).

[0149] On the other hand, the acquisition unit 301B of the shovel 100B acquires image information from the imaging device S6 (S1922). The acquisition unit 301B acquires position information indicated in the reference coordinate system measured by the positioning device S8 (S1923).

[0150] The shovel state identifying unit 304B identifies the state of the shovel 100B based on the signal acquired by the acquiring unit 301B (S1924).

[0151] Furthermore, coordinate system conversion section 307B converts the object shape indicated by the information received in S1905 into a second relative coordinate system based on the position information (S1925).

[0152] Then, coordinate system conversion section 307B combines the object shape converted into the second relative coordinate system in S1925 with the object shape identified in S1921 (S1926).

[0153] The coordinate system conversion unit 307B converts the object shape after synthesis into the reference coordinate system based on the position information (S1927).

[0154] The transmission control unit 302B transmits information indicating the object shape after synthesis, which is represented in the reference coordinate system, to the excavator 100A (S1928).

[0155] The target trajectory generating unit 305B generates a target trajectory based on the state of the shovel 100B, the image information, and the object shape after synthesis represented in the second relative coordinate system (S1929).

[0156] The autonomous control unit 306B performs autonomous control according to the generated target trajectory, and the acquisition unit 301B identifies the object shape from the coordinates indicating the position of the tip of the bucket 6 of the attachment AT, which are identified based on the angle sensors S1, S2, S3 and the pressure of the cylinder (boom cylinder 7, arm cylinder 8, or bucket cylinder 9) (S1930). The identified object shape is used for the next autonomous control.

[0157] Coordinate system conversion section 307A converts the object shape indicated by the information received in S1927 into the first relative coordinate system based on the position information acquired in S1902 (S1906).

[0158] The target trajectory generating unit 305A generates a target trajectory based on the state of the shovel 100A, the image information, and the object shape represented in the first relative coordinate system (S1907).

[0159] The autonomous control unit 306A performs autonomous control (eg, excavation control) to move along the target trajectory generated by the target trajectory generating unit 305A (S1908).

[0160] In the present modified example 2, by performing the above-mentioned control, it is possible to realize autonomous control that takes into account the shape of an object based on the position of the tip of the bucket 6 of the shovel 100B. As in the modified example described above, it is possible to realize an improvement in the accuracy of autonomous control.

[0161] Second Embodiment In the above-mentioned embodiment and modified examples, an example in which two shovels communicate directly with each other has been described. However, the above-mentioned embodiment and modified examples are not limited to a method in which two shovels communicate directly with each other. Therefore, in the second embodiment, a case in which communication is performed via a server will be described.

[0162] Fig. 10 is a diagram showing an example of an autonomous control system SYS1 according to the second embodiment. In Fig. 10, a left side view of a shovel 100 is shown.

[0163] 10, the autonomous control system SYS1 includes a plurality of shovels 100 (an example of a work machine) that perform work in locations relatively close to each other. Specifically, the autonomous control system SYS1 includes a plurality of shovels 100 that perform work at the same work site WS.

[0164] 10, the autonomous control system SYS1 includes two shovels 100 (100A, 100B). Furthermore, the autonomous control system SYS1 is not limited to two shovels 100, and may include three or more shovels 100.

[0165] The configuration of the two shovels 100A, 100B is similar to that of the above-described embodiment, and therefore a description thereof will be omitted.

[0166] In this embodiment, communication between the shovel 100A and the shovel 100B is performed via a management server 2000 (an example of an information processing device).

[0167] For example, the shovel 100A transmits information indicating the object shape in the reference coordinate system to the management server 2000. Then, the management server 2000 stores the information indicating the object shape in the reference coordinate system. Then, the shovel 100B receives the information indicating the object shape in the reference coordinate system from the management server 2000 and recognizes the object shape around the shovel 100B.

[0168] It should be noted that the information stored by the management server 2000 is not limited to the information transmitted from the shovel 100A. For example, the management server 2000 may receive information indicating the object shape in the reference coordinate system from a fixed-point measuring device or a drone present at the same work site WS, and store the information.

[0169] Furthermore, the management server 2000 may synthesize object shapes received from a plurality of devices (for example, any two or more of the shovel 100A, the fixed point measuring device, and the drone). In this case, the management server 2000 transmits the synthesized object shape to the shovel 100B.

[0170] In this embodiment, management of the object shape becomes easy by providing the management server 2000. With this configuration, the shovel 100A can transmit the object shape to the management server 2000 at any timing, and the shovel 100B can receive the object shape from the management server 2000 at a desired timing. Therefore, it is possible to realize improved convenience.

[0171] Furthermore, as shown in this embodiment, the shape of an object may be measured by a device other than a shovel. This makes it easier to measure areas that cannot be measured by a spatial recognition device provided on the shovel. This makes it possible to improve the accuracy of the autonomous control of the shovel 100.

[0172] (Third embodiment) In the above-mentioned embodiment and modified example, an example in which each of the two shovels performs autonomous control has been described. However, the above-mentioned embodiment is not limited to a method in which the object shape measured by a shovel is used for the autonomous control of the other shovel. Therefore, in the third embodiment, a method of performing remote control will be described.

[0173] Fig. 11 is a schematic diagram showing an example of a remote control system SYS2 according to the third embodiment. As shown in Fig. 11, the remote control system SYS2 according to the third embodiment includes two excavators 100 and a remote control room RC.

[0174] The excavator 100 and the remote control room RC are connected to each other via a communication line NW so as to be able to send and receive data.

[0175] Wireless communication is possible for the shovel 100. The shovel 100 is then able to transmit and receive data to and from a device (for example, a remote control room RC) connected to the communication line NW.

[0176] The shovel 100 can then transmit information about the work site to the remote control room RC. This allows the remote control room RC to check the work site in accordance with the information from the shovel 100. Note that in this embodiment, the device that measures the work site is not limited to the shovel 100, and may be another type of device, such as a drone that flies over the work site, a fixed camera, or an imaging device that can be carried by a user.

[0177] In this embodiment, the shovel 100A performs autonomous control. Then, the shovel 100B is remotely controlled from a remote control room RC. Note that this embodiment illustrates one mode of use of the shovel 100, and for example, instead of performing the autonomous control by the shovel 100A, remote control may be performed.

[0178] The shovel (an example of the second shovel) 100A is provided with a spatial recognition device S7 similar to the above-described embodiment. Meanwhile, the shovel 100B is not provided with the spatial recognition device S7.

[0179] For this reason, the remote control room RC is configured to be able to refer to the object shape measured by the spatial recognition device S7 of the shovel 100A when remotely controlling the shovel (an example of a first shovel) 100B.

[0180] The remote operation system SYS2 may include three or more shovels 100. This allows the remote operation system SYS2 to provide information about the work site to the remote operation room RC through the multiple shovels 100.

[0181] <Example of remote control room configuration> The remote control room RC is equipped with a communication device T2, a remote controller 40, an operation device 42, an operation sensor 43, and a display device D1. Also, the remote control room RC is provided with an operation seat DS where an operator OP who remotely operates the excavator 100B sits.

[0182] The communication device T2 is configured to control communication with the communication device T1 attached to the excavator 100.

[0183] The remote controller 40 is a calculation device that executes various calculations. In this embodiment, the remote controller 40 is configured with a microcomputer including a CPU and a memory. The various functions of the remote controller 40 are realized by the CPU executing a program stored in the memory.

[0184] An operation sensor 43 for detecting the operation content of the operation device 42 is installed in the operation device 42 (one example of an operation unit). The operation sensor 43 is, for example, an inclination sensor that detects the inclination angle of the operation lever, or an angle sensor that detects the swing angle of the operation lever around the swing axis. The operation sensor 43 may be composed of other sensors such as a pressure sensor, a current sensor, a voltage sensor, or a distance sensor. The operation sensor 43 outputs information on the detected operation content of the operation device 42 to the remote controller 40. The remote controller 40 generates an operation signal based on the received information and transmits the generated operation signal to the excavator 100. The operation sensor 43 may be configured to generate an operation signal. In this case, the operation sensor 43 may output the operation signal to the communication device T2 without passing through the remote controller 40. This makes it possible to remotely operate the excavator 100 from the remote operation room RC.

[0185] The display device D1 displays a screen based on information transmitted from the shovel 100 so that the operator OP in the remote control room RC can visually confirm the surroundings of the shovel 100. The display device D1 enables the operator to confirm the status of the work site including the surroundings of the shovel 100 even though he is in the remote control room RC.

[0186] The communication device T2 receives image information captured by the imaging device S6 from the shovel 100B, which is the remote-operated target. Furthermore, the communication device T2 receives information indicating the object shape obtained by the spatial recognition device S7 from the shovel 100A.

[0187] Then, the display device D1 displays a screen (an example of first display information) based on the image information received from the shovel 100B. This allows the situation around the shovel 100B to be confirmed. Furthermore, the display device D1 also displays a screen (an example of second display information) showing the object shape indicated by the information received from the shovel 100A. Any method may be used to display the screen showing the object shape and the screen based on the image information. For example, when the display device D1 is composed of multiple display devices, the screen showing the object shape and the screen based on the image information may be displayed on separate display devices.

[0188] Furthermore, when displaying a screen showing the object shape indicated by the information received from shovel 100A, the object shape may be displayed so as to show the periphery of shovel 100B based on the position information received from shovel 100B.

[0189] FIG. 12 is a sequence diagram showing the controls performed by each of the shovel 100A, the shovel 100B, and the remote operation room RC according to this embodiment.

[0190] First, the acquisition unit 301B of the shovel 100B acquires image information from the imaging device S6 (S2311). The acquisition unit 301B acquires position information in the reference coordinate system measured by the positioning device S8 (S2312).

[0191] Then, the transmission control unit 302B of the excavator 100B transmits the image information and position information to the remote control room RC (S2313).

[0192] On the other hand, the acquisition unit 301A of the shovel 100A acquires image information from the imaging device S6 (S2301). The acquisition unit 301A acquires position information in the reference coordinate system measured by the positioning device S8 (S2302).

[0193] The acquisition unit 301A acquires measurement information representing the object shape by the spatial recognition device S7 (S2303).

[0194] Then, coordinate system conversion section 307A converts the object shape indicated by the measurement information into a reference coordinate system based on the position information (S2304).

[0195] The transmission control unit 302A transmits information representing the object shape in the reference coordinate system to the excavator 100B (S2305).

[0196] The remote controller 40 in the remote operation room RC controls the display of a screen based on the received image information and a screen showing the object shape on the display device D1 (S2321).

[0197] The remote controller 40 receives, from the operation sensor 43, an operation signal indicating the operation accepted by the operation device 42 (S2322).

[0198] The remote controller 40 transmits an operation signal to the excavator 100B (S2323).

[0199] As a result, the shovel controller 30B of the shovel 100B controls the shovel 100B based on the received operation signal (S2314).

[0200] On the other hand, after the shovel 100A transmits the information representing the object shape, the shovel state identifying unit 304A identifies the state of the shovel 100A based on the signal acquired by the acquiring unit 301A (S2304).

[0201] The target trajectory generating unit 305A generates a target trajectory based on the state of the shovel 100A, the object shape indicated by the image information and the measurement information, and the like (S2306).

[0202] The autonomous control unit 306A performs autonomous control (eg, excavation control) to move along the target trajectory generated by the target trajectory generating unit 305A (S2307).

[0203] In this embodiment, the display device of the shovel 100B is the remote control room RC. However, this embodiment does not limit the display device of the shovel 100B to the remote control room RC. For example, the display device of the shovel 100B may be a mobile communication terminal such as a PC or a tablet terminal.

[0204] <effect> In the first and second embodiments described above, the shovel 100B (an example of another shovel) can recognize the object shape detected by the spatial recognition device S7 of the shovel 100A, and therefore the accuracy of autonomous control can be improved. This can improve the work efficiency. In addition, the shovel 100B does not need to be provided with a spatial recognition device for each shovel, and therefore costs can be reduced.

[0205] In the above-mentioned third embodiment, even if the remotely operated shovel does not have a spatial recognition device, the object shape detected by the spatial recognition device mounted on another shovel is displayed, so the operator can recognize the object shape. Therefore, it is possible to improve operability. In addition, since the shovel to be operated does not need to have a spatial recognition device mounted on it, it is possible to reduce costs.

[0206] In the above-described embodiment and modified examples, a case has been described in which a shovel is used as an example of a work machine. However, the configurations shown in the embodiment and modified examples are not limited to being applied to a shovel as a work machine, and may be applied to, for example, a crane, a forklift, etc.

[0207] Although an embodiment showing an example of a shovel and a display device for a shovel has 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]

[0208] 100A, 100B Shovel 1 Undercarriage 2 Swivel mechanism 3. Upper rotating body 4. Boom 5 Arm 6 Bucket S6 imaging device S7 spatial recognition device S8 Positioning Device T1 Communications Equipment 30A, 30B Excavator Controller 301A, 301B Acquisition Department 302A, 302B Transmission control section 303A, 303B Receiving control section 304A, 304B Excavator condition identification section 305A, 305B Target trajectory generation section 306A, 306B Autonomous control unit 307A, 307B Coordinate system conversion section RC Remote Control Room T2 Communication Equipment D1 display device 40 Remote Controller 42 Operating device 43 Operation Sensor

Claims

1. A communication device that receives information indicating the shape of an object obtained by a spatial recognition device that measures an area including the vicinity of the shovel; and A control unit configured to autonomously control an operation of the shovel based on a shape of the object indicated in the received information; An excavator equipped with:

2. The communication device receives the information from an information processing device or another shovel. The shovel according to claim 1.

3. A positioning device that measures position information of the shovel in a first coordinate system, the communication device receives the information indicative of a shape of the object expressed in the first coordinate system; the control unit is configured to convert a shape of the object shown in the first coordinate system into a second coordinate system used for autonomous control by the shovel based on the position information measured by the positioning device, and to perform autonomous control based on the shape of the object in the second coordinate system. The shovel according to claim 1.

4. Further, an imaging device capable of imaging the surroundings of the shovel is provided, The control unit is configured to perform the autonomous control based on image information captured by the imaging device and a shape of the object. The shovel according to claim 1.

5. Equipped with additional attachments, The control unit is configured to perform the autonomous control based on a shape of the object obtained based on the position of the tip of the attachment and a shape of the object indicated in the received information. The shovel according to claim 1.

6. The communication device transmits information indicating the shape of the object obtained based on the position of the tip of the attachment to another shovel. The shovel according to claim 5.

7. The shape of the object obtained based on the position of the tip when excavating using the attachment is synthesized with the shape of the object indicated in the information received from another shovel, and the autonomous control is performed based on the synthesized information. The shovel according to claim 5.

8. A spatial recognition device that measures an area including the vicinity of other shovels; A communication device that transmits information indicating the shape of the object obtained by the spatial recognition device to the other shovels; An excavator equipped with:

9. a communication device that receives from a first shovel image information captured by an imaging device capable of capturing an image of the periphery of the first shovel, and receives from a second shovel information indicating the shape of an object obtained by a spatial recognition device that measures an area including the vicinity of the first shovel; a control unit configured to display first display information based on the image information and second display information showing a shape of the object shown by the information; A display device for an excavator comprising:

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