Work machine control system

Abstract

To provide a work machine control system enabling a plurality of work machines to efficiently work at a work site.SOLUTION: At a work site where a first work machine (1B) and a second work machine (1A) respectively work, a work machine control system (100) controls operation of at least the second work machine. The work machine control system has a control part (50) that generates a command signal to make the second work machine cooperatively operate according to movement of the first work machine so as to prevent occurrence of at least either interference between machines or interference between works in the first work machine and the second work machine.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] Conventionally, there is known a work machine having a machine body and a work attachment supported on the machine body so as to be able to be raised or lowered. For example, the work attachment includes a boom, an arm, and a bucket. Patent Document 1 discloses a technology for automatically controlling such a work machine as an autonomous driving machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-131004 A Summary of the Invention [Problem to be solved by the invention]

[0004] By applying such an automatic driving machine for a work machine to a work site, productivity can be improved. For example, the automatic driving machine can perform simple tasks such as operating in a predetermined area. As a result, the operator can free his / her hands to perform other tasks in parallel with the operation of the automatic driving machine.

[0005] In many work sites, multiple work machines may operate in close proximity to each other when carrying soil or other work. If all of these work machines are operated by humans, they can operate each other without stopping their own work while watching the movements of the other work machines. However, since an automatic driving machine such as that described in Patent Document 1 operates according to a predetermined work plan, if a surrounding work machine approaches unexpectedly, there is a possibility that the two may come into contact and interfere with each other. On the other hand, even if the work machines have an interference prevention function, if each machine operates without considering the work plan of the surrounding work machines, the work itself may interfere with each other. In such a situation, the work machines may stop operating, resulting in a problem of reduced productivity. [Means for solving the problem]

[0006] An object of the present invention is to provide a work machine control system that is capable of efficiently carrying out work using a plurality of work machines at a work site.

[0007] A first aspect of the present invention provides a work machine control system for controlling the operation of at least a second work machine at a work site where a first work machine and a second work machine are working. The control system includes a control unit that generates a command signal for the second work machine to operate in coordination with the first work machine in response to movement of the first work machine so as to prevent at least one of interference between the first work machine and the second work machine and interference between tasks between the first work machine and the second work machine.

[0008] According to this configuration, by optimizing the operation of the second working machine on the cooperative side, it is possible to carry out efficient work while preventing the machines from coming into contact with each other or preventing interference between the different works.

[0009] According to a second aspect of the present invention, in the above-mentioned first aspect of the invention, the control unit may generate the command signal based on mutual operating conditions of the first work machine and the second work machine.

[0010] According to this configuration, by optimizing the operation of the second work machine on the cooperative side, it is possible to perform efficient work while preventing contact between the machines. In particular, since the operation of the second work machine can be optimized and corrected while observing the actual operating conditions, it is possible to suppress the occurrence of control variations due to delay factors that occur after work has started.

[0011] According to a third aspect of the present invention, in the above-mentioned second aspect of the invention, the operating condition may include a relative positional relationship between the first work machine and the second work machine.

[0012] According to this configuration, the work plan is revised while referring to the positional relationship between the two machines as the operating status of the two machines, so that contact and interference between the two machines can be reliably prevented.

[0013] A fourth aspect of the present invention is the invention related to the third aspect described above, further comprising a first position information acquisition unit that acquires position information of a first specific portion of the first work machine, and a second position information acquisition unit that acquires position information of a second specific portion of the second work machine, wherein the control unit calculates a distance between the first specific portion and the second specific portion based on results acquired by the first position information acquisition unit and the second position information acquisition unit, and generates the command signal so that the calculated distance does not fall below a predetermined threshold.

[0014] According to this configuration, since the distance between the specific parts is calculated, contact and interference between the two machines can be stably prevented by modifying the work plan. Also, by adjusting the threshold value, highly reliable control can be performed with a safety factor taken into consideration.

[0015] According to a fifth aspect of the present invention, in the above-mentioned second aspect of the invention, the operating conditions may include operating speeds of the first work machine and the second work machine.

[0016] According to this configuration, it is possible to prevent contact and interference between the two machines while eliminating the need to adjust the operating speed of the predetermined operation of the first work machine.

[0017] According to a sixth aspect of the present invention, in the above-mentioned second aspect of the invention, the operation status may include work details of the first work machine and the second work machine.

[0018] According to this configuration, the work contents prepared in advance can be shifted back and forth, or swapped, to prevent interference between the two machines and perform the work efficiently. This makes it possible to improve control efficiency compared to the case where complex parameter calculations are performed.

[0019] A seventh aspect of the present invention is the invention according to any one of the first to sixth aspects above, wherein the first work machine is capable of operating in accordance with an input first work plan, and the second work machine is capable of operating in accordance with an input second work plan, and the control unit generates the command signal for modifying the second work plan based on the first work plan and the second work plan that are preset, so as to prevent at least one of interference between machines and interference between tasks between the first work machine and the second work machine, and inputs the modified second work plan to the second work machine.

[0020] According to this configuration, it is possible to perform efficient work at the work site while preventing contact between specific parts.

[0021] An eighth aspect of the present invention is the invention according to the seventh aspect described above, wherein the control unit predicts in advance the operations of each of the first work machine and the second work machine based on the first work plan and the second work plan, determines whether or not the first work machine and the second work machine will interfere with each other from a result of the advance prediction, and generates the command signal in accordance with the determination result.

[0022] According to this configuration, it is possible to operate both machines safely while preventing interference between them based on the results of advance prediction. In this case, digital twin technology can be applied to advance prediction.

[0023] A ninth aspect of the present invention is the invention according to the seventh aspect, wherein the control unit sets a delay time for at least a part of the second work plan in order to avoid interference between the first work machine and the second work machine.

[0024] According to this configuration, by adjusting the work start time of the second work machine, etc., it is possible to prevent contact and interference between the two machines.

[0025] The invention according to a tenth aspect of the present invention is the invention according to the ninth aspect above, wherein the control unit, when the delay time exceeds a preset time threshold, adds another task corresponding to the time threshold to the second work plan.

[0026] According to this configuration, by updating the work plan for the second work machine so that it does not come into contact with the first work machine, it is possible to reduce unnecessary waiting time for the second work machine. Effect of the Invention

[0027] According to the present invention, a work machine control system is provided that is capable of efficiently carrying out work using a plurality of work machines at a work site. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a side view of a work machine according to a first embodiment of the present invention. [Diagram 2] 1 is a schematic diagram showing a working site of a work machine according to a first embodiment of the present invention. FIG. [Diagram 3] FIG. 2 is a diagram showing a work plan for a first work machine and a second work machine according to the first embodiment of the present invention. [Figure 4] FIG. 2 is a block diagram of a control system according to an embodiment of the present invention. [Diagram 5] 3 is a flowchart of the entire process executed by the control system according to the first embodiment of the present invention. [Figure 6] FIG. 3 is a model diagram showing the distance between the buckets of two work machines in the processing executed by the control system according to the first embodiment of the present invention. [Figure 7] FIG. 3 is a model diagram showing the distance between the buckets of two work machines in the processing executed by the control system according to the first embodiment of the present invention. [Figure 8] 4 is a flowchart of a calculation process executed by the control system according to the first embodiment of the present invention. [Figure 9] 4 is a graph showing changes in the turning speed of the work machine according to the first embodiment of the present invention. [Figure 10] FIG. 4 is a diagram showing a state in which a work plan for the work machine according to the first embodiment of the present invention has been changed. [Figure 11] FIG. 1 is a schematic diagram showing a working state of a work machine according to a first embodiment of the present invention. [Figure 12] FIG. 2 is a schematic diagram showing a transition of the turning speed of the work machine according to the first embodiment of the present invention. [Figure 13] FIG. 11 is a diagram showing a state in which a work plan for a work machine according to a second embodiment of the present invention has been changed. [Figure 14] FIG. 5 is a schematic diagram showing a working state of a work machine according to a second embodiment of the present invention. [Figure 15] FIG. 11 is a diagram showing a state in which a work plan for a work machine according to a third embodiment of the present invention has been changed. [Figure 16] FIG. 11 is a schematic diagram showing a working state of a work machine according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0030] 1 shows a side view of a hydraulic excavator 1 (working machine) according to a first embodiment of the present invention. The hydraulic excavator 1 includes a lower traveling body 10 (lower main body) capable of traveling on the ground G (traveling surface), an upper rotating body 12 (upper main body) rotatably supported on the lower traveling body 10, and a movable work attachment 20 (attachment) mounted on the upper rotating body 12. The lower traveling body 10 and the upper rotating body 12 correspond to the body of the hydraulic excavator 1.

[0031] The lower traveling body 10 is capable of traveling on the ground surface G. As an example, the lower traveling body 10 includes a crawler-type traveling unit.

[0032] The upper rotating body 12 has a rotating frame 121 supported by the lower traveling body 10, a cab 13 mounted on the rotating frame 121, and a counterweight 15. The cab 13 allows an operator (worker) to board, and various devices for operating the hydraulic excavator 1 are disposed therein. The counterweight 15 is disposed at the rear portion of the rotating frame 121, and functions as a weight for balancing the hydraulic excavator 1.

[0033] The work attachment 20 is attached (supported) to the upper rotating body 12 so as to be movable relative to the upper rotating body 12, and performs a predetermined work on the ground or the like. The work attachment 20 includes a boom 21 connected to the front end of the revolving frame 121 so as to be rotatable in the hoisting direction about a horizontal central axis of rotation, an arm 22 connected to the tip of the boom 21 so as to be rotatable about the horizontal central axis of rotation, and a bucket 23 connected to the tip of the arm 22 so as to be rotatable about the horizontal central axis of rotation. In this embodiment, the central axes of rotation of the boom 21, the arm 22, and the bucket 23 are set parallel to each other. The boom 21 and the arm 22 constitute a hoisting body of the hydraulic excavator 1. The hydraulic excavator 1 further includes a boom cylinder 21S that expands and contracts to hoist (rotate) the boom 21, an arm cylinder 22S that expands and contracts to rotate the arm 22, and a bucket cylinder 23S that expands and contracts to rotate the bucket 23. Each of these cylinders comprises a hydraulic cylinder.

[0034] Bucket 23 includes a plurality of teeth 23H (tips, claws). The plurality of teeth 23H are arranged at intervals in a direction perpendicular to the plane of FIG. 1 (left-right direction), and are provided so as to protrude from the main body of bucket 23. When hydraulic excavator 1 performs excavation work on ground surface G, work attachment 20 moves so that the plurality of teeth 23H of bucket 23 penetrates into the ground surface.

[0035] The cab 13 is mounted on the front of the rotating frame 121 and constitutes a driver's compartment for operating the hydraulic excavator 1. That is, in the cab 13, the operator performs operations for causing the lower traveling structure 10 to travel, the upper rotating structure 12 to rotate, and the work attachment 20 to operate.

[0036] FIG. 2 is a schematic diagram showing the state of a work site of the hydraulic excavator 1 according to this embodiment. FIG. 3 is a diagram showing the work plan of the α machine 1A (second work machine) and the β machine 1B (first work machine) according to this embodiment. In FIG. 3, each work content and its start time are respectively shown. The α machine 1A and the β machine 1B correspond to the hydraulic excavator 1 described above, and are given identifiable names for the purpose of explanation. In this embodiment, as shown in FIG. 2 and FIG. 3, at the work site, the α machine 1A transports soil from point A1 to point B1, and the β machine 1B transports soil from point B2 to point C1 (hereinafter referred to as A1, B1, B2, C1). The β machine 1B dumps soil onto the bed of a truck at C1. B1 and B2 are set close to each other, and as shown in FIG. 2, they form one pile of soil B. Thus, in this embodiment, the α machine 1A and the β machine 1B cooperate to transport soil from A1 onto the bed of a truck. In addition, in some of the following figures, including FIG. 2, the α machine 1A and the β machine 1B are shown in plan views, i.e., views seen from above the machine bodies, for ease of explanation. Meanwhile, the pile of soil B and the dump truck are shown in side views seen from the horizontal direction. The α machine 1A and the β machine 1B can perform the above work by rotating back and forth like windshield wipers in a plan view. Specifically, the α machine 1A and the β machine 1B rotate back and forth so as to alternately work on the pile of soil B without interfering with each other's work and movement.

[0037] Here, the α machine 1A is an automatically controlled machine having cooperation, and the β machine 1B is a normal automatically controlled machine. That is, the β machine 1B stores information corresponding to the work plan (first work plan) of FIG. 3 in its own memory unit (not shown), and operates according to the work plan to automatically execute the work shown in FIG. 2. This work plan includes information such as acceleration σ1, deceleration σ2, maximum speed r1, acceleration start time L1, and deceleration start time L2 when the β machine 1B performs a turning operation between B2 and C1 (see FIG. 9). In addition, the work plan includes position information of the teeth 23H of the bucket 23 that moves between B2 and C1, and the work plan may include information on the change in posture (trajectory) of the work attachment 20 to realize the position of the teeth 23H. Furthermore, each work plan may be preset so that the hydraulic excavator 1 travels back and forth between two points n times (n is a natural number), and may be preset so that the work ends when a sensor (not shown) detects that the amount of soil at the starting point has run out.

[0038] Meanwhile, like the β machine 1B, the α machine 1A can also operate according to a preset work plan (second work plan), but in this embodiment, the work plan of the α machine 1A is modified as necessary to prevent interference between the α machine 1A and the β machine 1B. That is, the α machine 1A can operate in coordination with the movement of the β machine 1B. As a result, work can be performed efficiently at the work site while avoiding interference between the α machine 1A and the β machine 1B. In this embodiment, such coordinated operation of the α machine 1A is controlled by the control system 100.

[0039] Fig. 4 is a block diagram of the control system 100 according to this embodiment. Note that Fig. 4 also illustrates a portion of the configuration of the α machine 1A.

[0040] The α machine 1A includes an operation unit 61, a shovel control unit 62, and a drive unit 63 (the same applies to the hydraulic excavator 1 including the β machine 1B).

[0041] The operation unit 61 is disposed in the cab 13, and includes an operation lever and the like that is operated by an operator. That is, the operation unit 61 receives operations for operating the α machine 1A. The operations include the traveling of the lower traveling body 10, the rotation of the upper rotating body 12, the driving of the work attachment 20 (the boom 21, the arm 22, the bucket 23), and the like.

[0042] The operation unit 61 also includes an input unit such as a touch panel, an input button, and a switch. The input unit accepts input of various information. As an example, the input unit accepts information for switching between automatic control, manual control, semi-automatic control (assist control), remote control, and the like of the α machine 1A.

[0043] A display device (not shown) is also arranged in the cab 13. The display device is a liquid crystal display provided in the cab 13, and displays various information related to the operation of the α machine 1A, the progress of processing by the control system 100, and the like, and notifies the operator. At this time, the display device receives a predetermined display command signal, and displays various information to be notified to the operator in response to the display command signal. The information includes attitude information of the work attachment 20 and position information of the α machine 1A. The display device is also capable of displaying map information at the work site, and can display position information of the α machine 1A and the β machine 1B on the map. Note that the above display is an example, and may be arranged outside the cab 13, for example. That is, the display may be configured to notify the site manager of each piece of information in addition to notifying the operator of each piece of information.

[0044] The shovel control unit 62 inputs a drive command signal to the drive unit 63 in accordance with the content of the operation received by the operation unit 61. As a result, the operations of the lower traveling body 10, the upper rotating body 12, the work attachment 20, and the like are controlled. Furthermore, when the hydraulic excavator 1 operates in the automatic operation mode, the shovel control unit 62 inputs a drive command signal to the drive unit 63 so that the teeth 23H of the bucket 23 move along a preset design surface. The drive command signal is based on a virtual trajectory along which the teeth 23H move at the work site, and the trajectory may be stored in advance in a memory unit of the α machine 1A by teaching or the like.

[0045] The drive unit 63 drives various structures of the α machine 1A, and drives the lower traveling body 10, upper rotating body 12, work attachment 20, etc., which are operated by the operation unit 61. In particular, the drive unit 63 is capable of moving the work attachment 20 so that the bucket 23 excavates the ground. At this time, the drive unit 63 receives a predetermined command signal (drive command signal) and drives the work attachment 20 in accordance with the command signal. As a result, the attitude of the work attachment 20 relative to the upper rotating body 12 can be changed. The drive unit 63 includes hydraulic circuits such as a hydraulic pump, a hydraulic motor, and a control valve.

[0046] On the other hand, the control system 100 includes a control device 50, a first motion detection unit 64, and a second motion detection unit 71.

[0047] The control device 50 is installed, for example, in an administrative office adjacent to the work site. The control device 50 can perform two-way communication with each of the α machine 1A and the β machine 1B, for example, via wireless communication, and can transmit and receive command signals and the like. In other embodiments, the control device 50 may be installed in a remote location away from the work site. Also, the α machine 1A may be equipped with the control device 50.

[0048] The control device 50 is composed of a CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a control program, a RAM (Random Access Memory) used as a working area for the CPU, etc. The control device 50 functions to have each of the functional parts of an operation plan acquisition part 51, an optimum calculation part 52, a target rotation speed generation part 53, a rotation control part 54, and a memory part 55, by the CPU executing the control program stored in the ROM. These functional parts do not have physical entities, but correspond to units of functions executed by the control program.

[0049] It should be noted that all or a part of the control device 50 is not limited to being provided in the hydraulic excavator 1, and when the hydraulic excavator 1 is remotely controlled, the control device 50 may be provided in a location different from the hydraulic excavator 1. Furthermore, the control program may be transmitted to the control device 50 from a remote server (management device) or cloud and executed therein, or the control program may be executed on the server or cloud, and various control signals generated may be transmitted to the control device 50.

[0050] When the α machine 1A and the β machine 1B start working together, the operation plan acquisition unit 51 acquires information about a work plan that is set in advance and stored in the memory unit 55. Note that the control device 50 may communicate with each of the α machine 1A and the β machine 1B, and the operation plan acquisition unit 51 may acquire information about the work plan that is stored in the memory unit of each hydraulic excavator 1.

[0051] The optimization calculation unit 52 generates a command signal for the α machine 1A to operate cooperatively in accordance with the movement of the β machine 1B so as to prevent the α machine 1A and the β machine 1B from interfering with each other in the cooperative work, or the work from interfering with each other. Here, interference between the α machine 1A and the β machine 1B means interference (contact) between the machines, and interference between the work means that one work machine is temporarily waiting to accomplish the work of the other work machine. In this embodiment, the optimization calculation unit 52 generates a command signal for correcting the work plan of the α machine 1A based on the work plans of the α machine 1A and the β machine 1B acquired by the operation plan acquisition unit 51 so as to prevent the two from interfering with each other, or the work from interfering with each other.

[0052] The target rotation speed generation unit 53 generates a target rotation speed for the α machine 1A based on the optimal parameters set by the optimization calculation unit 52. The rotation control unit 54 inputs the work plan corrected by the optimization calculation unit 52 to the α machine 1A. At this time, the rotation control unit 54 inputs the target rotation speed command r input from the target rotation speed generation unit 53 to the α machine 1A. The rotation control unit 54 inputs the work plan for the β machine 1B acquired by the operation plan acquisition unit 51 directly to the β machine 1B.

[0053] The storage unit 55 stores information about the work plans of the α machine 1A and the β machine 1B. The information is prepared as time transitions of each parameter, acceleration σ1, deceleration σ2, maximum speed r1, acceleration start time L1, and deceleration start time L2, based on a predetermined work start time. Note that the method of storing information about the work plans is not limited to this.

[0054] The first movement detection unit 64 (second position information acquisition unit) detects information related to the movement of the α machine 1A and inputs it to the control device 50. Similarly, the second movement detection unit 71 (first position information acquisition unit) detects information related to the movement of the β machine 1B and inputs it to the control device 50. Since the first movement detection unit 64 and the second movement detection unit 71 have the same configuration, the configuration of the first movement detection unit 64 will be described below.

[0055] First, the first operation detection unit 64 detects and acquires information regarding the attitude of the work attachment 20 relative to the upper rotating body 12. As an example, the first operation detection unit 64 includes three sensors attached to the boom cylinder 21S, arm cylinder 22S, and bucket cylinder 23S, respectively, and detects the stroke (extension amount, length) of each cylinder. The stroke of each cylinder detected by each sensor is used to calculate the position and attitude of the boom 21, arm 22, and bucket 23. Note that, in order to calculate the position and attitude of the boom 21, arm 22, and bucket 23, angle sensors that detect the rotation angles of the boom 21, arm 22, and bucket 23, respectively, may be used instead of the cylinder stroke sensors.

[0056] Secondly, the first operation detection unit 64 acquires the position information of the α machine 1A. As an example, the first operation detection unit 64 can acquire body coordinate information, which is information on the absolute coordinates at the work site of a body reference point previously provided on the upper rotating body 12. The first operation detection unit 64 has an antenna that constitutes the body reference point. The antenna is arranged, for example, on the upper surface of the cab 13, and functions as a GNSS mobile station. Meanwhile, a GNSS (Global Navigation Satellite System) reference station is provided (not shown) in order to acquire the body coordinate information. The GNSS reference station is a reference station that is arranged at the work site or at a position closest to the work site. Note that, as the GNSS, in addition to the well-known GPS (Global Positioning System), satellite positioning systems such as GLONASS (Global Navigation Satellite System), Galileo, and Quasi-Zenith Satellite System (QZSS) may be adopted.

[0057] Thirdly, the first operation detection unit 64 may be capable of detecting the attitude of the hydraulic excavator 1 with respect to the ground. In this case, the first operation detection unit 64 includes an IMU (Inertial Measurement Unit) mounted on the upper rotating body 12. The IMU detects information related to the attitude of the hydraulic excavator 1 (upper rotating body 12) with respect to the ground G. In other words, the IMU detects the attitude and angle (inclination) of the hydraulic excavator 1 machine body.

[0058] The position information of the bucket 23 (second specific part) of the α machine 1A can be acquired by the above-described first operation detection unit 64. At this time, the first operation detection unit 64 can detect the position of the bucket 23 of the α machine 1A based on three-dimensional coordinates, with a predetermined specific position in the work site as the origin.

[0059] With a similar configuration, the second operation detection unit 71 can also detect the position of the bucket 23 (first specific portion) of the β machine 1B based on three-dimensional coordinates, with the specific position serving as the origin.

[0060] FIG. 5 is a flowchart of the entire process executed by the control system 100 according to this embodiment. For example, when a predetermined start button arranged in the cab 13 is pressed, the control system 100 starts the cooperative operation process of the α machine 1A and the β machine 1B. The start button is not limited to being arranged in the cab 13, and may be provided on a terminal (PC, tablet, smartphone) or a remote control device arranged outside the cab 13. As an example, the bucket 23 of the α machine 1A is arranged at A1, and the bucket 23 of the β machine 1B is arranged at C1 in advance by an operator. Note that the initial positions of the buckets 23 are not limited to those arranged by an operator.

[0061] When the process is started, the operation plan acquisition unit 51 of the control device 50 acquires the work plans of the α machine 1A and the β machine 1B from the memory unit 55 (step S1A). The operation plan acquisition unit 51 also acquires an operation prediction result using data on the most recent operation of the β machine 1B (the side to be coordinated) (step S1B). Next, the optimum calculation unit 52 executes a re-planning judgment (step S2). For example, the optimum calculation unit 52 can predict the near future operation from the most recent operation result using the acquired time series data and model, and judge the necessity of re-planning.

[0062] If it is determined that re-planning is not necessary (NO in step S2), the process proceeds to step S3, where the current parameters such as σ, L, and r1 are maintained and the process ends. On the other hand, if it is determined that re-planning is necessary (YES in step S2), the process proceeds to step S4.

[0063] In step S4, a parameter search is performed. Here, the optimum calculation unit 52 calculates a plurality of parameter sets of (σ1, r1). Here, as an example, it is assumed that 100 sets of parameters are set. Then, the optimum calculation unit 52 evaluates the possibility of interference for each parameter set using Equation 1 described below (step S5).

[0064] The evaluation of step S5 will be described in detail below. Based on each parameter set, the optimum calculation unit 52 calculates the distance D(t) between the buckets 23 of the α machine 1A and the β machine 1B in the simulation being replanned, using the time tt in the simulation time as a variable. Furthermore, the optimum calculation unit 52 compares the magnitude relationship between a distance threshold D_lim stored in advance in the storage unit 55 and the minimum value of the distance D(t). Note that D_lim is a threshold set to avoid contact and interference between the buckets 23. This value may be set by the operator.

[0065] FIG. 6 is a diagram showing a model for calculating the distance between two buckets 23. In FIG. 6, two black circles represent the center of rotation of the upper swing body 12 of each hydraulic excavator 1, and two white circles represent the tip ends of the buckets 23. In this mode, the distance D(t) between the two buckets can be calculated based on a known Euclidean norm.

[0066] On the other hand, FIG. 7 is a diagram showing a model similar to FIG. 6 when the distance between the tip coordinates of the bucket 23 of the β machine 1B and the straight line formed by the working attachment 20 of the α machine 1A is defined as the distance D(t). In this case, the distance D(t) can be expressed by the following Equation 1. In Equation 1, the symbols α and β of the hydraulic excavator 1 (α machine 1A, β machine 1B) are attached to the X coordinate, Z coordinate, and the coefficients of the straight line equation in the figure, respectively.

[0067]

Equation

[0068] Of the D(t) calculated by the above two models respectively, the smaller one is taken as Min(t). When Min(D(t)) < D_lim, if the parameter to be evaluated is selected, the minimum value of the distance between the buckets 23 will be smaller than the threshold value, and eventually there is a possibility that the two working machines will interfere. Therefore, the optimal calculation unit 52 sets the Flag for control switching to 1 and excludes this parameter from the candidates. On the other hand, when D_lim ≤ Min(D(t)), if the parameter to be evaluated is selected, the minimum value of the distance between the buckets 23 will be equal to or greater than the threshold value, and the two working machines can work without interference. Therefore, the optimal calculation unit 52 sets the Flag to 0 and holds it as a candidate parameter.

[0069] The optimal operation unit 52 executes the above-described evaluation for each parameter set. When the evaluation for the set number of times is completed (YES in step S6), among them, for example, considering other conditions such as the end time of a specific operation that the α machine 1A should satisfy, it selects the optimal parameters and updates σ, L, and r1, thereby implementing a change (parameter change) to the operation plan of the α machine 1A (step S7). Specifically, several parameters that can complete the operation for a predetermined time while keeping Flag = 0 are calculated, and each parameter is evaluated by Equation 2, which will be described in detail later. Then, the one with the best evaluation value is selected. If the evaluation for the set number of times has not been completed in step S6 (NO in step S6), the optimal operation unit 52 returns to step S4 and repeats the process.

[0070] Next, in the operation plan of the latest α machine 1A, the optimal operation unit 52 determines whether the magnitude of the delay time L0 is greater than a preset time threshold L W (step S8). The delay time L0 corresponds to the time (waiting time) when the optimal operation unit 52 delays the start time of the operation of the α machine 1A in order to avoid interference between the α machine 1A and the β machine 1B. Also, the time threshold L W is a threshold set to determine whether the α machine 1A can additionally perform another operation that was not included in the original operation plan. In this embodiment, as this other operation, an operation of the α machine 1A to loosen (stir) the earth and sand at point A1, as described later, is exemplified.

[0071] In step S8, when L W < L0 (YES in step S8), the operation plan acquisition unit 51 additionally acquires the operation plan regarding the above-described other operation from the storage unit 55, and combines it with the local operation plan modified (delayed) by the optimal operation unit 52, thereby changing the final operation plan of the α machine 1A (step S9). Also, in step S8, when L0 ≤ L W (NO in step S8), the process ends without adding the above-described other operation.

[0072] When the above processing is completed, the control device 50 inputs the latest work plan to the α unit 1A and the β unit 1B and starts the cooperative work. At this time, the work plan of the α unit 1A is corrected as necessary to prevent interference between the buckets 23 of the α unit 1A and the β unit 1B, so that it becomes possible to perform work efficiently and safely by multiple hydraulic excavators 1 at the work site.

[0073] Fig. 8 is a flowchart of the calculation process executed by the control system 100. A detailed description will be given of the case where the work plan of the α machine 1A is changed in step 7 of Fig. 5, that is, the values ​​of the acceleration / deceleration speed σ, the acceleration / deceleration time L, and the maximum speed r1 are updated.

[0074] 8, the optimum calculation unit 52 acquires each parameter included in the work plan of the α machine 1A and the β machine 1B from the operation plan acquisition unit 51. At this time, the work plan of the α machine 1A includes a target angle r θ As described above, this information may be stored as teaching information by the operator operating the α machine 1A in advance.

[0075] As described above, the threshold value D_lim for preventing interference between the buckets 23 of the α machine 1A and the β machine 1B is input from the storage unit 55 to the optimization calculation unit 52. Furthermore, an operation plan request signal for starting the processing of FIG. 5 is input to the optimization calculation unit 52. As described above, this signal is transmitted, for example, when a switch button is pressed, and is transmitted every time the bucket 23 of the α machine 1A reaches A1, B1, and the processing of FIG. 5 is repeated. Information regarding the actual turning angle of the α machine 1A acquired by the first operation detection unit 64 is also input to the optimization calculation unit 52.

[0076] The optimum calculation unit 52 updates each value of the acceleration σ1, the deceleration σ2, the maximum speed r1, the acceleration start time L1, and the deceleration start time L2 through a predetermined calculation, and inputs them to the target swing speed generation unit 53. As a result, the target swing speed generation unit 53 inputs a command signal of the target swing speed r to the swing control unit 54. Fig. 9 is a graph showing the progress of the swing speed r of the α machine 1A (hydraulic excavator 1) determined by these parameters.

[0077] In response to the above parameter settings, the swing control unit 54 inputs a command signal to the shovel control unit 62 of the α machine 1A based on the known PI (Proportional Integral) control to control the movement of the upper swing body 12 and the work attachment 20. At this time, the swing control unit 54 functions as a controller that responds to the acceleration / deceleration speeds σ1 and σ2 as inputs. The above command signal corresponds to the operation lever signal (pilot pressure: Pi pressure) input from the operation unit 61 when the α machine 1A is operated manually. In response to this signal, the shovel control unit 62 inputs a valve command value to the drive unit 63 to change the flow rate and the inflow destination of the hydraulic oil supplied to the hydraulic actuator from the control valve included in the drive unit 63. As a result, the α machine 1A can operate according to the latest work plan. The control of the basic operation of the β machine 1B is also similar to the above.

[0078] In this embodiment, as an example, a known real-coded GA (RGA: Real-coded Genetic Algorithms) is used as a method of optimization calculation. Equation 2 shows an evaluation function in this real-coded GA. By using this evaluation function, the work plan of the α machine 1A can be completed as quickly as possible without the α machine 1A and the β machine 1B interfering with each other during work. This evaluation function will be described in detail later.

[0079]

number

[0080] The smaller this evaluation function is, the more parameters are set such that the working efficiency of the α machine 1A improves under the condition that D_lim ≦ Min(D(t)). Note that this evaluation function becomes J = 1 under the condition that Min(D(t)) < D_lim. In Equation 2, Min(D(t)) is represented by D K (k).

[0081] In Equation 2, r θ (t) means the reaching (target) turning angle of the α machine 1A. For example, in A1, r θ (t) is 0 degrees, and in B1, r θ (t) is 180 degrees. Also, θ α (t) means the time-series turning angle of the α machine 1A. This value corresponds to the result reflecting the search parameters L1, L2, r, σ1, and σ2. Furthermore, D(t) means the distance between the buckets 23 of the α machine 1A and the β machine 1B. Also, as described above, D_lim is a threshold value set to avoid contact and interference between the buckets 23. This value may be set by the operator.

[0082] In the above calculation, the information of the working plan of the β machine 1B is included in the condition “Min(D(t)) < D_lim”, and a new (revised) working plan of the α machine 1A is created under the state considering this working plan. The movements of the α machine 1A and the β machine 1B are roughly classified into a plurality of patterns to be described later according to the parameters obtained by this optimization calculation.

[0083] FIG. 10 is a diagram showing a state where the working plan of the α machine 1A according to the present embodiment is changed. FIG. 11 is a schematic diagram showing the working states of the α machine 1A and the β machine 1B. FIG. 12 is a schematic diagram showing the transition of the turning speed of the α machine 1A according to the present embodiment.

[0084] Here, when the optimized L1 is set as L0, in this embodiment, as shown in FIG. 10, the operation of the α machine 1A for excavating the soil at point A1 (holding it in the bucket 23) is delayed by the delay time of L0 seconds, thereby preventing interference between the α machine 1A and the β machine 1B. In particular, in the time zone indicated by the hatching in FIG. 10, as shown in FIG. 11, after the β machine 1B moves away from point B2 toward the C1 side, the α machine 1A approaches point B1. As a result, interference between the two machines can be stably prevented.

[0085] Furthermore, in this embodiment, regarding the magnitude of the above delay time L0, as a result of the evaluation in step S8 of FIG. 5, since L W < L0, the stirring operation in the A1 excavation area is added as a separate operation in the same step S9 (see FIG. 10).

[0086] Regarding the above, when the work plan of the α machine 1A is updated to a plan that cooperates with the β machine 1B, waiting time occurs in the operation of the α machine 1A in the work procedure as per the prior plan. Therefore, by performing in advance what can be executed from the subsequent work processes during this waiting time, a decrease in productivity can be prevented.

[0087] Here, the transition of the turning speed of the α machine 1A after the work plan is changed as described above will be described with reference to FIG. 12. In FIG. 12, the delay time L0 in FIG. 10 is shown as L 11 That is, L 11 is the waiting (separate work possible) time before excavation. Also, L 12 is the turning deceleration timing when moving from A1 to B1. r1 is the turning speed when moving from A1 to B1. σ 11 indicates the rise time to the target turning speed when moving from A1 to B1, and the smaller σ 11 is, the faster it reaches the target value. Similarly, σ 12 is the fall time from the target turning speed when moving from A1 to B1. Similarly, L 21 is the waiting (separate work possible) time when returning from B1 to A1, and L 22is the timing of deceleration when returning from B1 to A1. Also, r2 is the turning speed when returning from B1 to A1. Furthermore, σ 21 is the rise time to the target turning speed when returning from B1 to A1, and σ 22 is the fall time from the target turning speed when returning from B1 to A1. In addition, since the turning direction is different when going from A1 to B1 and when returning from B1 to A1, the sign of the speed on the vertical axis is distinguished as positive or negative, as shown in FIG.

[0088] In the optimization using the evaluation function by the optimization calculation unit 52 described above, this delay time L 11 In addition, the transition of the turning speed when turning from point A1 to B1 (each parameter r1, σ 11 , σ 12 , L 12 ), the transition of the turning speed when turning from point B1 to point A1 (each parameter r2, σ 21 , σ 22 , L 22 In this case, the times required for the excavation and soil removal operations at points A1 and B1 are set as fixed values ​​based on a prior operation plan, etc.

[0089] FIG. 13 is a diagram showing a state where the work plan of the α machine 1A according to the second embodiment of the present invention has been changed. FIG. 14 is a schematic diagram showing the state of work of the α machine 1A and the β machine 1B according to the second embodiment. In this embodiment, as in the previous first embodiment, the optimization calculation unit 52 delays the excavation work of the α machine 1A by L0 seconds. In this example, as shown in FIG. 14, the α machine 1A and the β machine 1B move back and forth to the left and right so as not to interfere with each other's work. In other words, this is an example where efficient work can be performed while preventing interference simply by delaying the work start time of the α machine 1A. Also, in this example, as a result of evaluating the magnitude of the above-mentioned delay time L0 in step S8 of FIG. 5, it is determined that the delay time L0 is longer than L0 seconds. <L W Therefore, no additional work was added (see Figure 13).

[0090] FIG. 15 is a diagram showing a state where the work plan of the α machine 1A according to the third embodiment of the present invention has been changed. FIG. 16 is a schematic diagram showing the state of work of the α machine 1A and the β machine 1B according to the third embodiment. In this embodiment, the optimization calculation unit 52 corrects the work plan of the α machine 1A, and the time required for turning is shortened. In other words, this is an example in which the acceleration σ1, deceleration σ2, and maximum speed r1 of the α machine 1A during the turning operation are corrected to be larger. In this case, as shown in FIG. 16, after the α machine 1A moves away from the point B1 to the A1 side, the β machine 1B approaches the point B2. As a result, interference between the two machines can be stably prevented.

[0091] As described above, in the control system 100 according to each embodiment of the present invention, the control device 50 generates a command signal for the α machine 1A to operate in coordination with the movement of the β machine 1B so as to prevent interference between the α machine 1A and the β machine 1B or interference between the two tasks.

[0092] According to this configuration, by optimizing the operation of the cooperative α machine 1A, it is possible to perform efficient work while preventing the machines from coming into contact with each other. Note that in this manner, the operation mode of the α machine 1A and the β machine 1B in which one of the machines 1A operates cooperatively in accordance with the movement of the other machine β, 1B, may be any of the automatic, manual, and semi-automatic modes. In the manual and semi-automatic modes, a command signal output by the control system is input to the shovel control unit 62 of the α machine 1A, making it possible to assist the operation of the operator. Also, the work machine represented by the hydraulic excavator 1 may be another machine such as a bulldozer.

[0093] Furthermore, in each embodiment of the present invention, the control device 50 generates a command signal for correcting the work plan of the α machine 1A based on the mutual operating conditions of the α machine 1A and the β machine 1B.

[0094] According to this configuration, by optimizing the operation of the α machine 1A on the cooperative side, it is possible to perform efficient work while preventing contact between the machines. In particular, since the operation of the α machine 1A can be optimized and corrected while observing the actual operating conditions, it is possible to suppress the occurrence of control variations due to delay factors that occur after the start of work. Here, the above-mentioned delay factors are mainly environmental factors. Examples of such environmental factors include soil characteristics at the work site that are different from those at the time of planning, and dump truck operation being delayed from the plan due to road conditions. In this way, when a situation that was not included at the time of planning occurs, it is expected that delays will occur in the movement of the work machine. Furthermore, the above-mentioned delay factors also include delays due to failure or performance deterioration of hydraulic equipment in the work machine.

[0095] In the above embodiment, the operating conditions include the relative positional relationship between the α machine 1A and the β machine 1B, and as an example, the work plan of the α machine 1A is corrected based on the distance D(t) between the buckets 23 of both machines. As described above, the distance D(t) can be calculated using a plurality of models.

[0096] According to such a configuration, the work plan is revised while referring to the positional relationship between the two machines as the operating conditions of the two machines, so that contact and interference between the two machines can be reliably prevented.

[0097] In particular, in the above embodiment, the control device 50 calculates the distance D(t) between the buckets 23 of both machines based on the results obtained by the first operation detection unit 64 and the second operation detection unit 71, and generates the command signal so that the calculated distance D(t) does not fall below a predetermined threshold value D_lim.

[0098] According to this configuration, since the distance between the buckets 23 is calculated as the specific part, contact and interference between the two machines can be stably prevented by correcting the work plan. Also, by adjusting the magnitude of the threshold D_lim, highly reliable control can be performed with a safety factor taken into consideration.

[0099] The operating conditions may include the operating speeds of the α machine 1A and the β machine 1B. In this case, the control device 50 may set the operating speed of a predetermined operation of the α machine 1A in accordance with the operating speed of a predetermined operation of the β machine 1B. For example, when the operating speed of the β machine 1B is high, the operating speed of the α machine 1A may be increased to suppress interference between the two.

[0100] According to such a configuration, it is possible to prevent contact and interference between the two machines while eliminating the need to adjust the operation speed of the predetermined operation of the α machine 1A.

[0101] The operating status may also include the work contents of the α machine 1A and the β machine 1B. In this case, the control device 50 may grasp the movement and timing according to the work contents of the β machine 1B and set a work plan for the α machine 1A so as to prevent interference. The control device 50 may also directly control the movement of the α machine 1A. Furthermore, the control device 50 may select work contents that can prevent interference with the β machine 1B and assign them as the work of the α machine 1A.

[0102] With this configuration, the work contents prepared in advance can be shifted back and forth, or swapped, to prevent interference between the two machines and perform the work efficiently. This makes it possible to improve the calculation efficiency compared to the case where complex parameter calculations are performed.

[0103] In addition, in the above embodiment, the control device 50 generates a command signal to modify the second work plan based on the previously set first work plan and second work plan so as to prevent interference between the β machine 1B and the α machine 1A, or interference between the two works, and inputs the modified second work plan to the α machine 1A.

[0104] According to such a configuration, it is possible to prevent specific parts (work attachments 20) represented by the bucket 23 from coming into contact with each other, and to perform efficient work at the work site.

[0105] In addition, in the above embodiment, the control device 50 predicts in advance the operation of each of the β machine 1B and the α machine 1A based on the first work plan and the second work plan, determines whether or not the β machine 1B and the α machine 1A will interfere with each other from the result of the prediction, and generates the command signal according to the determination result.

[0106] With this configuration, it is possible to operate both machines safely while preventing interference between them based on the results of advance prediction. In this case, digital twin technology can be applied to advance prediction. Specifically, time-series data and models obtained from the work machines may be used to predict near-future operations from the results of recent operations.

[0107] In particular, in the above embodiment, the control device 50 sets a delay time L0 in at least a part of the second work plan in order to avoid interference between the β machine 1B and the α machine 1A.

[0108] According to such a configuration, by adjusting the work start time of the α machine 1A, contact and interference between the two machines can be prevented.

[0109] In particular, in this embodiment, the control device 50 determines whether the delay time L0 is equal to or smaller than a preset time threshold L W If the time threshold L W A separate task corresponding to the above is added to the second task plan.

[0110] According to this configuration, the work plan of the α unit 1A is updated from the work plan of the β unit 1B so that the α unit 1A does not come into contact with the β unit 1B, thereby reducing the wasteful waiting time of the α unit 1A. The separate work is not limited to the mixing work described above, but may be other work. In this case, the separate work is not limited to the work actually performed by the work attachment 20, and may be, for example, time used for detecting the surrounding conditions using various sensors equipped in the hydraulic excavator 1.

[0111] In other words, the present invention is based on the technical idea of ​​calculating the swing start timing, swing speed, deceleration timing, and the like using an optimization calculation technique with information on the work plans of the surrounding machines as constraints, and deriving a trajectory for the operation of the hydraulic excavator 1. Furthermore, the present invention focuses on the fact that it is possible to perform another task in addition to the existing work plan based on the results derived by the optimization calculation, and includes a new technical idea of ​​determining whether or not this is possible.

[0112] According to such a configuration, it is possible to control the operation taking into consideration the situation of the surrounding machine (β machine 1B) while preventing the work productivity of the other machine (α machine 1A) from being reduced. Furthermore, the automatically operated machine can be safely operated even in a site where the machine is arranged in such a way that it may come into contact with the surrounding machines. Furthermore, it is possible to flexibly respond to the surrounding machine situation, update the work plan, and realize further improvement in productivity. Furthermore, since upper and lower limits can be set for various derived parameters such as speed, acceleration / deceleration, and timing as necessary, a trajectory can be generated taking into consideration the mechanical characteristics of the hydraulic excavator 1. Furthermore, even if the surrounding situation changes, it is possible to easily respond to the change by performing calculations in the same procedure at a predetermined timing.

[0113] Although one embodiment of the work machine control system 100 according to the present invention has been described above, the present invention is not limited to the above embodiment.

[0114] In the above embodiment, the control system 100 has been described as being mounted on part of a work site or on the α machine 1A (hydraulic excavator 1), but part of the control system 100 may be disposed at a location remote from the hydraulic excavator 1. In this case, the structure of the control system 100 mounted on the hydraulic excavator 1 and the structure disposed at a location remote from the hydraulic excavator 1 may transmit and receive information via wireless communication or the like.

[0115] In the above-described embodiment, before the α machine 1A and the β machine 1B enter actual work, the control device 50 determines the possibility of their contact and interference, and modifies and updates the work plan of the α machine 1A. However, the present invention is not limited to this. After the actual work of both machines is started, the possibility of their contact and interference may be determined, and the work of the α machine 1A may be modified and updated as necessary. At this time, in addition to the prior work plan, it is desirable to make a determination that reflects the current latest operating status. As an example, the control device 50 may acquire information regarding the positions, operating speeds, acceleration and deceleration speeds, etc. of the current work attachments 20 of the α machine 1A and the β machine 1B through the first motion detection unit 64 and the second motion detection unit 71, and determine the contact and interference between the two machines.

[0116] At this time, based only on the latest operating status, the contact and interference in the near future may be determined, or the possibility of contact and interference may be determined in combination with the prior work plan.

[0117] Furthermore, every time the α machine 1A and the β machine 1B perform each work (reciprocating movement, turning operation) set at a predetermined cycle, the position of the latest work attachment 20 is detected, and the possibility of contact and interference is determined at any time based on the difference from the prior work plan. Even if the possibility of interference is low in the prior work plan, if the operation of the β machine 1B is delayed for some reason, the possibility of unexpected interference may occur. Thus, by grasping the operating status of both machines in real time, it becomes possible to perform stable work over a long period.

[0118] At this time, a method of calculating an operation plan by utilizing the data stored in the database may be applied. The following aspects thereof will be described. Here too, the aforementioned parameters σ1, σ2, L1, L2, r1 are calculated by the real number value GA. At this time, the search range of each parameter in the quasi-optimization calculation is determined by using the past operation plans stored in the database.

[0119] <STEP1: Construction of Initial Database> First, pre-learn the operation plan of the β machine 1B corresponding to the operation plan of the α machine 1A. The information vector φ storing the parameters related to the operation plan of the α machine 1A ~ is defined by the following Equation 3.

[0120]

Equation

[0121] Here, σ 1oh , L 1oh and r 1oh represent the rise time during acceleration, the acceleration start time of turning, and the target turning speed of the α machine 1A. Note that the rise time σ 2oh during deceleration of the α machine 1A is set to σ 2oh = σ 1oh . Furthermore, the deceleration start time L 2oh is uniquely determined by σ 1oh and σ 2oh . Therefore, in the information vector φ ~ , L 2oh and σ 2oh are omitted. Also, the operation plan parameters of the β machine 1B are defined by θ￣ shown in the following Equation 4.

[0122]

Equation

[0123] Also, the information vector φ ~ and θ￣ that is quasi-optimized under that condition are used as a set of data sets and stored in the initial database Φ￣ ∈ R N0×8 shown in the following Equation 5.

[0124]

Equation

[0125] Note that N0 in Equation 5 represents the number of data sets.

[0126] <STEP2: Selection of Neighboring Data> Here, the requirement point φ indicating the operation plan of the α machine 1A is shown in the following Equation 6. - It is represented as follows.

[0127]

Equation

[0128] Next, the requirement point φ of Equation 6 - and Φ in the database of Equation 5 ~ (j) are used to obtain the distance between them by the weighted L1 norm of the following Equation 7.

[0129]

Equation

[0130] Here, φ in Equation 7 ~ l (j) represents the j-th row and the l-th element of the information vector. Also, maxφ ~ l is the maximum value among the l-th elements, and minφ ~ l is the minimum value. From the data sets with a small distance d(φ ~ (j), φ￣) in Equation 22, k N θ￣(j) are selected in order, and the data set is defined as the neighborhood data. This neighborhood data represents the set of operation plan parameters of the β machine 1B corresponding to the operation plan of the α machine 1A.

[0131] <STEP3: Derivation of Operation Plan Parameters> Here, the motion planning parameter θ̂ of the β machine 1B is derived by real-coded GA. As mentioned above, real-coded GA is a method to search for a quasi-optimal solution in solving the problem of optimizing the combination of parameters that minimizes the fitness function (see the paper "Real-coded GA and its Applications by Isao Ono, Masayuki Yamamura, and Hajime Kita", Journal of the Japanese Society for Artificial Intelligence, Vol. 15, No. 2, pp. 259-266 (2000)"). Here, the search range is determined using the neighborhood data obtained in STEP 2 as shown in the following Equations 8 to 12, and the motion planning parameters are calculated by real-coded GA. In Equations 8 to 12, i = 1, 2, ... kn is a natural number.

[0132]

number

[0133]

number

[0134]

number

[0135]

number

[0136]

number

[0137] <1> Generation of the initial population The minimum and maximum values ​​of each element in the selected kN neighboring data are used to determine a search range appropriate for the surrounding circumstances. An initial population consisting of N individuals with genes randomly determined within that range is generated. The adjustable parameters representing the genes are σ 1K , σ 2K , L 1K , L 2K and r 1KEach individual is defined by the following Equation 13.

[0138]

number

[0139] The above initial population is considered the first generation.

[0140] <2> Evaluation of individuals Using the evaluation function shown in the following formula 14, each individual Q K The fitness of is calculated. Note that the same formula is repeated for ease of understanding, but formula 14 is the same as formula 2 described above.

[0141]

number

[0142] Here, n in Equation 14 represents the number of steps in the motion plan. Also, fmax is the part of the upper part of Equation 14 excluding 1 / fmax, and r θBK This represents the maximum error between the distance D and the Σ term that follows. K (k) is the threshold value D for collision detection Lim This completes the target angle r θBK For a reference trajectory that reaches (k) in a short time, the value of the fitness function will be small.

[0143] <3> Selection of individuals Next, the calculated fitness f(Q K ) are selected as the next generation of individuals.

[0144] <4> crossover next, <3> The individuals not selected in are replaced with individuals generated by crossover. <3> Randomly select two individuals Q from the individuals selected in U and Q V These are used as parent individuals to create new individuals Q W is generated according to the following Equation 15.

[0145]

number

[0146] Here, I(max{f(Q U ),f(Q V )} is Q U or Q V This procedure means that Q U and Q V is applied to each gene in

[0147] <5> mutation The above <4> Randomly select β(%) individuals from the next generation of individuals generated by the crossover of <1> is replaced with a random value in the search range.

[0148] <6> Termination Condition The above <2> from <5> The process is repeated until the number of generations G is reached, at which point the remaining individual with the lowest fitness function value is determined as a quasi-optimal solution, and the genes stored in that individual are used as parameters for the motion plan.

[0149] By following the above-described procedure, a motion plan can be calculated using the data stored in the database. [Explanation of symbols]

[0150] 1. Hydraulic excavator (working machine) 10 Undercarriage 100 Control System 12 Upper rotating body 13 Cab 1A α machine (2nd working machine) 1B β machine (1st working machine) 20 Work attachment 21 Boom 22 Arm 23 Bucket 50 Control device (control unit) 51 Motion plan acquisition unit 52 Optimal Calculation Unit 53 Target turning speed generation unit 54 Swivel control section 55 Storage section 61 Operation section 62 Excavator control unit 63 Drive unit 64 First motion detection unit (first position information acquisition unit) 71 second motion detection unit (second position information acquisition unit)

Claims

1. A work machine control system that controls an operation of at least a second work machine at a work site where a first work machine and a second work machine work, comprising: a control unit that generates a command signal for causing the second work machine to operate in coordination in response to movement of the first work machine, so as to prevent at least one of interference between the first work machine and the second work machine and interference between tasks between the first work machine and the second work machine.

2. The work machine control system according to claim 1 , wherein the control unit generates the command signal based on mutual operating conditions of the first work machine and the second work machine.

3. The work machine control system according to claim 2 , wherein the operating conditions include a relative positional relationship between the first work machine and the second work machine.

4. a first position information acquisition unit that acquires position information of a first specific part of the first work machine; a second position information acquisition unit that acquires position information of a second specific portion of the second work machine; Further comprising:

4. The work machine control system according to claim 3, wherein the control unit calculates a distance between the first specific portion and the second specific portion based on results of acquisition by the first position information acquisition unit and the second position information acquisition unit, and generates the command signal so that the calculated distance does not fall below a predetermined threshold value.

5. The work machine control system of claim 2 , wherein the operating conditions include operating speeds of the first work machine and the second work machine.

6. The work machine control system according to claim 2 , wherein the operating conditions include work details of the first work machine and the second work machine.

7. the first work machine is capable of operating according to an input first work plan; the second work machine is capable of operating according to an input second work plan; 2. The work machine control system according to claim 1, wherein the control unit generates the command signal for modifying the second work plan based on the first work plan and the second work plan that are set in advance, so as to prevent at least one of interference between machines and interference between tasks between the first work machine and the second work machine, and inputs the modified second work plan to the second work machine.

8. 8. The work machine control system according to claim 7, wherein the control unit predicts in advance the operations of each of the first work machine and the second work machine based on the first work plan and the second work plan, determines whether or not the first work machine and the second work machine will interfere with each other from a result of the advance prediction, and generates the command signal in accordance with the determination result.

9. The work machine control system according to claim 7 , wherein the control unit sets a delay time for at least a part of the second work plan in order to avoid interference between the first work machine and the second work machine.

10. The work machine control system according to claim 9 , wherein, when the delay time exceeds a preset time threshold, the control unit adds another task corresponding to the time threshold to the second work plan.

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