Automatic operation control system for work machine

Abstract

To provide an automatic operation control system for a work machine which can suspend the work machine in the automatic operation at an appropriate state by simple data processing.SOLUTION: An automatic operation control system for a work machine 1 according to the present invention includes: a feature point 2 that defines a direction in which the work machine 1 is to be suspended; a control unit 15 which is provided at the work machine 1, and which controls the movement thereof; and a detecting unit which is provided at the work machine 1, and which detects the feature point 2. The control unit 15 executes a movement control on the work machine 1 in such a way that the work machine 1 is directed in the direction defined by the detected feature point 2 by the detecting unit when the work machine 1 suspends at a suspend position 6.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an automatic driving control system for a working machine.

Background Art

[0002] Patent Document 1 discloses a construction machine autonomous driving system that can accurately estimate the self-position of a construction machine even in a place with a poor GNSS reception environment, and preferably autonomously drive the construction machine. The system includes a map storage unit that stores an overall map showing the movable range of the construction machine, a point cloud information acquisition unit that acquires point cloud information around the construction machine, a mapping unit that creates an environmental map around the construction machine based on the point cloud information, and a self-position estimation unit that estimates the self-position of the construction machine in the overall map based on the overall map and the environmental map.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, working machines such as construction machines (e.g., wheel loaders, etc.) and transport machines (e.g., shovel loaders, etc.) may be used for transport work of, for example, earth and sand, gravel, coal, biomass fuel, etc., and it may be required to unload the transported material at an accurate position.

[0005] And for this purpose, when the working machine stops at the unloading destination, it is required to stop the working machine in a state suitable for unloading the transported material. Therefore, there are cases where the working machine is required to stop in an appropriate state when it stops.

[0006] However, in order to cause such an operation to be automatically performed by the working machine, if complicated data processing is involved, not only is an expensive information processing device required therefor, but also the development of software for realizing such data processing becomes large-scale, resulting in a problem of high cost.

[0007] The present invention has been made in view of such circumstances, and an object thereof is to provide an automatic driving control system for a working machine that can stop the working machine during automatic driving in an appropriate state with simple data processing.

Means for Solving the Problems

[0008] The present invention is grasped by the following configuration in order to achieve the above object. The automatic driving control system for a working machine according to the present invention includes a feature point that defines the direction when the working machine stops, a control unit that is provided on the working machine and controls movement, and a detection unit that is provided on the working machine and detects the feature point. When the working machine stops at a stop position, the control unit controls the movement of the working machine so that the working machine faces in the direction according to the direction defined by the feature point detected by the detection unit.

Effects of the Invention

[0009] According to the present invention, it is possible to provide an automatic driving control system for a working machine that can stop the working machine during automatic driving in an appropriate state with simple data processing.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0011] Hereinafter, with reference to the accompanying drawings, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail. Throughout the description of the embodiments, the same elements are denoted by the same numbers or symbols.

[0012] (First Embodiment) An automatic driving control system (hereinafter, may be simply referred to as "automatic driving control system") of a working machine 1 according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4.

[0013] FIG. 1 is a diagram for explaining the movement control of the working machine 1 by the automatic driving control system of the first embodiment. As an example, in a power plant, the working machine 1 transports solid fuel 3 such as biofuel or coal from a fuel storage 31 to a silo 4 that supplies the solid fuel 3 to a power generation boiler (not shown).

[0014] When the working machine 1 inserts the solid fuel 3 transported from the fuel storage 31 into the inlet 41 of the silo 4, the inserted solid fuel 3 is supplied to the silo 4 by a conveyor 42 provided between the inlet 41 and the silo 4.

[0015] FIG. 2 is an enlarged perspective view of a part around the inlet 41 of FIG. 1. The inlet 41 is provided with an opening 41a for the working machine 1 (see FIG. 1) to insert the solid fuel 3 into the inlet 41.

[0016] Then, in order to cause the working machine 1 to perform the above-described transportation work in automatic driving, as shown in FIG. 1, the automatic driving control system includes the working machine 1 and a feature point 2 provided outside the working machine 1 and defining the direction when the working machine 1 stops at the stop position 6. Hereinafter, after sequentially explaining the working machine 1 and the feature point 2, with reference to FIG. 1, specific movement control of the working machine 1 by the automatic driving control system will be described.

[0017] In addition, in FIG. 1, four working machines 1 are drawn, but this does not indicate that there are four working machines 1. Instead, it is drawn to explain how one working machine 1 moves. The signs P1 to P4 shown on the working machine 1 indicate the differences in the positions of the working machine 1 on the map.

[0018] Further, in the first embodiment, as shown in FIG. 1, the automatic driving control system shows a case where the working machine 1 is provided with a user interface 1a (for example, a PC, a tablet, etc.) for an operator to remotely confirm the driving state and give an operation instruction as necessary when the working machine 1 is in the automatic driving state, but this is not necessarily required. However, since there may be a situation where remote operation is desired during work, it is preferable to provide the user interface 1a.

[0019] Furthermore, the working machine 1 of the first embodiment can be directly boarded by an operator and manually operated, but it is not limited thereto.

[0020] (Working machine 1) FIG. 3 is a side view for explaining the working machine 1 according to the first embodiment of the present invention. In addition, in the first embodiment, the case of a wheel loader classified as a construction machine is described as the working machine 1, but a shovel loader classified as a transport machine may also be used. Since the working machine itself is selected according to the work content, as long as it is a working machine to which the automatic driving control system according to the present invention can be applied, it is not particularly limited.

[0021] As shown in FIG. 3, the working machine 1 includes a body portion 11 having a cab 11a used when an operator directly operates, wheels 12 provided at two locations on the left and right on the front side and two locations on the left and right on the rear side of the body portion 11 and rotating during movement, an arm 13 extending forward from the front of the body portion 11 and provided so as to be vertically drivable with respect to the body portion 11, and a bucket 14 provided at the tip of the arm 13 and rotatable with respect to the tip of the arm 13. Note that the above left and right refer to the direction orthogonal to the direction connecting the front and rear of the body portion 11.

[0022] The arm 13 and the bucket 14 are driven by hydraulic control by operating operation levers L1 and L2 (see FIG. 4) provided in the cab 11a, and an actuator 5 (see FIG. 4) is attached to the operation levers L1 and L2 to realize the lever operation performed by the operator even during automatic operation.

[0023] Note that there is also a type that electrically detects the operation amount of the operation lever and performs hydraulic control with an electromagnetic proportional control valve. In that case, instead of the configuration of the actuator 5 described above, it may be an aspect of performing electrical control, and it is not necessary to be limited to a type in which the control of the arm 13 and the bucket 14 during automatic operation is performed by an actuator that performs mechanical control.

[0024] That is, it may be configured such that the control unit 15 described later controls the electromagnetic proportional control valve according to an electrical signal corresponding to the operation amount of the operation lever, thereby driving the arm 13 and the bucket 14 corresponding to the operation of the operation levers L1 and L2.

[0025] FIG. 4 is a diagram for explaining the actuator 5 that drives the operation levers L1 and L2 of the working machine 1 according to the first embodiment. In FIG. 4, the operation lever L1 for operating the arm 13 and the operation lever L2 for operating the bucket 14 provided in the cab 11a are shown, and the illustration of the console, which is a cover covering the lower portions of the operation levers L1 and L2, is omitted.

[0026] As shown in FIG. 4, the actuator 5 is provided so as to be located on the side surface side orthogonal to the operation directions of the operation levers L1 and L2 of the base portions L11 and L21 that can receive the operation levers L1 and L2 in a drivable manner.

[0027] The actuator 5 includes a motor 51, a gear 52 that rotates by the rotational force of the motor 51, and a connection arm 53 that has a fixing portion 53a fixed to the bases of the operation levers L1 and L2 at one end and a gear portion 53b connected to the gear 52 at the other end.

[0028] As shown in FIG. 4, in order to avoid interference with the base portions L11 and L21, the connection arm 53 extends outward away from the operation levers L1 and L2 in a side view seen from the operation directions of the operation levers L1 and L2 from the fixing portion 53a at one end, then bends downward at a substantially right angle and extends, and further bends at a substantially right angle and extends outward away from the base portions L11 and L21, and the gear portion 53b at the other end is connected to the gear 52, forming a substantially Z-shaped member.

[0029] In this way, since the actuator 5 is realized with a configuration that is easy to make compact, such as the motor 51, the gear 52, and the connection arm 53, it can be housed in a console (not shown) that is a cover covering the lower portions of the operation levers L1 and L2 having a general shape.

[0030] In FIG. 4, the number of gears 52 is different between the actuator 5 that drives the operation lever L1 and the actuator 5 that drives the operation lever L2. This is because, in the actuator 5 that drives the operation lever L2, torque was required, so the gear 52 having a speed reduction structure is used. Whether to use a plurality of gears 52 or not is selected according to the required torque.

[0031] During automatic operation, the operations of the operation levers L1 and L2 are controlled by the rotation of the motor 51. The operation levers L1 and L2 are configured to be in the neutral position when no force is applied. To move the arm 13 and the bucket 14 in the desired direction, the motor 51 is rotated forward or backward. In addition, when it is desired to maintain the state after operating the arm 13 or the bucket 14, the operation levers L1 and L2 may be positioned in the neutral position.

[0032] On the other hand, in the first embodiment, since it is assumed that an operator can board and manually operate the machine, an electromagnetic clutch (not shown) is interposed between the motor 51 and the gear 52 so that no operation is required to remove the actuator 5 when the operator operates. By simply turning off the electromagnetic clutch that is ON during automatic operation, manual operation by the operator becomes possible.

[0033] In addition, if an electromagnetic clutch is provided, during automatic operation, after operating the above-described arm 13 or bucket 14, in order to maintain the state, by simply turning off the electromagnetic clutch to disengage the clutch, the operation levers L1 and L2 automatically return to the neutral position, so it has a utility value even during automatic operation.

[0034] Returning to the description of the working machine 1. As shown in FIG. 3, the working machine 1 includes a control unit 15 that controls the driving of various parts during automatic operation, and various measuring devices (inclinometer 16, 3D-LiDAR 17, gyro 18, GNSS 19, etc.) for obtaining necessary information during automatic operation.

[0035] (Control unit 15) The control unit 15 includes a control panel 15a provided on the lower outer side surface of the cab 11a, and an input / output control panel 15b provided on the rear side inside the cab 11a and connected to an antenna WF provided on the outer ceiling surface of the cab 11a. This antenna WF is, for example, a wireless antenna for performing data communication with the user interface 1a. The control panel 15a and the input / output control panel 15b are fixed to the working machine 1 in a state of being housed in boxes respectively.

[0036] The control panel 15a is in charge of all operations such as controlling the movement during automatic driving and controlling the driving of the arm 13 and the bucket 14 during automatic driving. For example, it may be configured using integrated circuits, or may be configured by combining a central processing unit (CPU) and storage devices (RAM, ROM), etc.

[0037] Even during remote operation where an operator sends an operation command using the user interface 1a, the control panel 15a of the control unit 15 that has received the command controls the operations of each part of the working machine 1.

[0038] The input / output control panel 15b is in charge of the transmission and reception of the control unit 15 and is responsible for data communication between the control panel 15a, the user interface 1a, and various measuring devices provided on the working machine 1.

[0039] (Measuring device) In the working machine 1 of the first embodiment, as various measuring devices mentioned above, an inclinometer 16, a 3D-LiDAR 17 (Light Detection and Ranging), a gyro 18, a GNSS 19 (Global Navigation Satellite System), etc. are provided.

[0040] (Inclinometer 16) The inclinometer 16 is provided at three locations: the surface facing the driver's cab 11a side of the bucket 14, near the intermediate position in the longitudinal direction of the arm 13, and the outer ceiling surface of the driver's cab 11a. During automatic driving, based on the inclination data detected by the inclinometers 16 provided on the arm 13 and the bucket 14, the control unit 15 controls the appropriate operation amounts of the arm 13 and the bucket 14.

[0041] The inclinometer 16 provided on the outer surface of the ceiling of the cab 11a is for detecting the inclination state of the working machine 1 itself. For example, the detection data is used to correct the influence of the inclination of the working machine 1 itself when operating the arm 13 and the bucket 14.

[0042] (3D-LiDAR 17) The 3D-LiDAR 17 is provided at three locations: below the lower side of the front outer surface of the body part 11, at the center in the left-right direction on the front side of the outer surface of the ceiling of the cab 11a, and on the rear body of the body part 11.

[0043] The 3D-LiDAR 17 acquires point cloud data represented by a three-dimensional coordinate axis according to the shape, position, etc. of surrounding structures, etc. centered on the working machine 1. And since the point cloud data can be used for creating 3D mapping, etc. that three-dimensionally represents the surrounding state centered on the working machine 1, the 3D-LiDAR 17 is preferably arranged at the center in the left-right direction in all cases. Note that the center in the left-right direction means the center when viewed in the direction orthogonal to the direction connecting the front and rear of the body part 11.

[0044] Also, the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body part 11 is arranged on the lower side of the front outer surface so that when the bucket 14 is positioned upward within a range where the working machine 1 can move safely when the working machine 1 moves, the front side in front becomes the measurement area.

[0045] Specifically, the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body part 11 is preferably arranged at a position lower than the position of the top of the front wheel 12 at the height position in the vertical direction of the body part 11.

[0046] If a 3D-LiDAR 17 provided on the lower side of the front outer surface of the body part 11 is arranged at such a position, as shown in FIG. 3, the forward field of view FV of the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body part 11 can be secured just by lifting the bucket 14 to such an extent that there is no problem with the traveling of the working machine 1.

[0047] (Gyro 18) The gyro 18 is provided in a box that houses the input / output control panel 15b provided on the rear side of the cab 11a.

[0048] Then, the gyro 18 detects the posture state including the inclination of the body part 11, and the detected data is used to correct the influence of the inclination of the body part 11 and the like in the control of each part during automatic driving.

[0049] (GNSS 19) The GNSS 19 is provided at the center in the left-right direction on the rear side of the outer surface of the ceiling of the cab 11a. Here, the center in the left-right direction also means the center when viewed in the direction orthogonal to the direction connecting the front and rear of the body part 11.

[0050] The GNSS 19 functions as a position detection unit that detects the position of the working machine 1 on the map information, and the detected position is used for movement control and the like during automatic driving. Also, the GNSS 19 functions as an azimuth detection unit that detects the azimuth angle, and the detected azimuth angle is used for movement control during automatic driving. Therefore, the GNSS 19 functions as a position and azimuth detection unit that detects the position and azimuth of the working machine 1 on the map information. Note that hereinafter, in some cases, the position detected by the GNSS 19 may be described as position information, the detected azimuth angle may be described as azimuth information, and in some cases, both may be described as azimuth and position information.

[0051] (Feature point 2) Next, the feature point 2 will be described with reference to FIGS. 1 and 2. In the first embodiment, as shown in FIGS. 1 and 2, the case where a plurality (two in the example) of feature points 2 are used is shown. The stop position 6 shown in FIG. 1 indicates the position where the work machine 1 stops when loading the solid fuel 3 transported to the inlet 41.

[0052] Specifically, the stop position 6 indicates the position where, when the work machine 1 stops there, the bucket 14 is appropriately positioned within the opening 41a of the inlet 41 and the solid fuel 3 can be loaded.

[0053] As shown in FIG. 2, the two feature points 2 are respectively provided at the lower positions of one end and the other end of the opening 41a of the inlet 41 so that the line connecting the feature points 2 is substantially parallel to the plane of the opening 41a.

[0054] When the feature points 2 are provided in this way, while the work machine 1 is moving toward the inlet 41 with movement control so as to face the direction opposite to the line connecting the feature points 2 until it reaches the stop position 6, and stops when it reaches the stop position 6, the work machine 1 appropriately faces the opening 41a.

[0055] Therefore, the feature points 2 are arranged so as to form a line that faces the work machine 1 when the work machine 1 moves toward the stop position 6, thereby defining the orientation of the work machine 1 when it stops.

[0056] Also, the central portion of the line connecting the feature points 2 indicates substantially the center in the width direction of the opening 41a. When a line passing through the center when viewed in the direction orthogonal to the direction connecting the front and rear of the body portion 11 of the work machine 1 is defined as the center line (hereinafter, may be referred to as the "center line of the work machine 1"), when the work machine 1 stops at the stop position 6, if the center line substantially overlaps the central portion of the line connecting the feature points 2, the work machine 1 will appropriately be positioned substantially at the center in the width direction of the opening 41a.

[0057] Therefore, while the machine tool 1 is moving toward the stop position 6, it is moved while being controlled to move toward the receiving port 41 such that the center line of the machine tool 1 substantially overlaps the center of the line connecting the feature points 2. When it reaches the stop position 6 and stops, the machine tool 1 is appropriately positioned substantially at the center in the width direction of the opening 41a.

[0058] From this, the feature points 2 are arranged so as to form the center of the line connecting the feature points 2 that substantially overlaps the center line of the machine tool 1 when the machine tool 1 is moving toward the stop position 6, thereby also defining the position in the direction orthogonal to the orientation when the machine tool 1 stops.

[0059] Note that the stop position 6 is determined in advance as to how far it is from the feature points 2 according to the size of the machine tool 1 and the work content, and the line connecting the feature points 2 can be set as a virtual line that is virtually positioned on the front side by the separation distance D.

[0060] In this case, for example, as shown in FIG. 1, one end 61 is given as the position where the corresponding feature point 2 is projected forward by the distance D, and the other end 62 is also given as the position where the corresponding feature point 2 is projected forward by the distance D. It may be set as a virtual line connecting the one end 61 and the other end 62 given in this way.

[0061] Further, based on the measurement of the 3D-LiDAR 17, since the distance to the object and the shape of the object are known, the stop position 6 may be more simply set as the position separated from the receiving port 41 by the distance D.

[0062] In the first embodiment, the 3D-LiDAR 17 described above is used as the detection unit that detects the feature points 2 provided on the machine tool 1. Specifically, as the detection unit that detects the feature points 2, among the three 3D-LiDARs 17 provided on the machine tool 1, the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body portion 11 is used.

[0063] Note that it is not necessary to be limited to this. For example, the 3D-LiDAR 17 provided on the outer ceiling surface of the cab 11a may be used as the detection unit.

[0064] Also, both the 3D-LiDAR 17 provided on the outer front surface of the body portion 11 and the 3D-LiDAR 17 provided on the outer ceiling surface of the cab 11a may be used as the detection unit. In this case, after synthesizing the data acquired by the two 3D-LiDARs 17, the feature point 2 may be detected.

[0065] In the first embodiment, the 3D-LiDAR 17 is used as the detection unit. The 3D-LiDAR 17 irradiates laser light and acquires point cloud data based on the information of the reflected light. Therefore, a member having a reflectance distinguishable from the surroundings is used for the feature point 2. Specifically, in the first embodiment, a retroreflective tape is used as the member with a high reflectance for the feature point 2.

[0066] Note that it is not necessary to be limited to this. Since a three-dimensional map can be generated based on the point cloud data acquired by the 3D-LiDAR 17, something that is distinguishable from the surroundings in terms of shape, etc. can also be used as the feature point 2. However, a reflective tape such as a retroreflective tape can be easily installed and removed, and is also inexpensive. Therefore, it is suitable as a member to be used for the feature point 2.

[0067] (Movement control) Next, mainly with reference to FIG. 1, the movement control of the working machine 1 by the automatic driving control system of the first embodiment will be described.

[0068] When starting the work, the operator who monitors the work operates the user interface 1a and transmits the map information designating the position P1 and a rough movement route (see the thick arrow line) to the working machine 1. Note that the specification of position P1 also includes the specification of the orientation of the working machine 1. In the first embodiment, the orientation is specified such that the bucket 14 faces the fuel storage 31 side.

[0069] In addition, the specification of a rough movement route includes the specification of the positions to pass through (refer to positions P2, P3, and P4). Although not shown in the figure, the range for storing the solid fuel 3 can also be specified. For example, as an example, the area of the fuel storage 31 can be specified as the range, and the working machine 1 performs excavation within that range.

[0070] When the map information is transmitted to the working machine 1, the operator operates the user interface 1a to transmit an instruction command to start the automatic driving of the working machine 1.

[0071] When the working machine 1 receives the instruction command for automatic driving, based on the position information of the GNSS 19, the control unit 15 controls the driving of the wheels 12 to move toward the position P1 in the specified map information.

[0072] Note that when moving without driving the bucket 14, basically, as shown in FIG. 3, the control unit 15 keeps the bucket 14 slightly lifted to secure the forward view FV of the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body portion 11.

[0073] When the working machine 1 arrives at the position P1, based on the position information of the GNSS 19, the control unit 15 controls the driving of the wheels 12 to move toward the position P2 in the specified map information, and also controls the driving of the wheels 12 to reach the solid fuel 3 by utilizing the distance to the solid fuel 3 based on the measurement of the 3D-LiDAR 17 and the 3D map data, and scoops up the solid fuel 3 with the bucket 14.

[0074] In the above description, it is explained that the work machine 1 moves from the position P1 to the position P2 in order to perform excavation. More specifically, it is possible to specify on the map information one or more arbitrary relay positions, which are relay points that the work machine 1 is desired to pass through while moving from the position P1 to the position P2.

[0075] Next, when the bucket 14 scoops up the solid fuel 3, the control unit 15 then controls the driving of the wheels 12 so as to move toward the position P1 in the specified map information. After scooping up the solid fuel 3 with this bucket 14, when moving toward the position P1 again, the driving of the wheels 12 is controlled so as to reverse the work machine 1.

[0076] In the above description, it is explained that after excavation, the work machine 1 returns to the position P1. More specifically, it is also possible to specify a position different from the position 1 for the position that the work machine 1 should move to after this excavation, and it is possible to specify on the map information one or more arbitrary relay positions, which are relay points that are desired to be passed through until reaching there.

[0077] And the state when the bucket 14 scoops up the solid fuel 3 is also a state where the bucket 14 is lifted, similar to that shown in FIG. 3, so that the front view FV of the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body portion 11 is secured.

[0078] Next, when the work machine 1 reaches the position P1 again, the control unit 15 controls the driving of the wheels 12 so as to move toward the position P4 via the position P3 in the specified map information based on the position information of the GNSS 19.

[0079] In the above description, the position P3 is merely an example of a relay position. More specifically, it is possible to specify on the map information more relay positions that become relay points, that is, one or more arbitrary relay positions.

[0080] While the working machine 1 is moving towards the position P4, the feature point 2 enters the forward field of view FV of the 3D-LiDAR 17 provided on the lower side of the front outer surface of the body portion 11. Thus, in terms of capturing the forward state during the transportation operation, it can be said that the position on the lower side of the front outer surface of the body portion 11 is a suitable position as the installation position of the 3D-LiDAR 17.

[0081] When the feature point 2 can be detected, the control unit 15 drives the wheels 12 so that, until reaching the stop position 6, the orientation of the working machine 1 becomes the orientation defined by the feature point 2 and the position of the working machine 1 in the direction orthogonal to that orientation becomes the position defined by the feature point 2, and performs movement control towards the receiving port 41.

[0082] Specifically, as mentioned earlier in the description of the feature point 2, the control unit 15 drives the wheels 12 so that, until reaching the stop position 6, the working machine 1 faces the line between the feature points 2 and the center line of the working machine 1 substantially overlaps the central portion of that line, and performs movement control towards the receiving port 41.

[0083] Through the above control, the working machine 1 that has reached the stop position 6 stops moving. This stop position 6 is, as described earlier, an appropriate position for injecting the solid fuel 3 in the bucket 14 into the receiving port 41. Therefore, the control unit 15 drives the bucket 14 to inject the solid fuel 3 into the receiving port 41, and the first transportation operation of the solid fuel 3 is completed.

[0084] After the first transportation operation is completed, again, the working machine 1 returns to the position P1 and repeats the same operation as described above the required number of times.

[0085] In the above description, the case where the stop position 6 is set to a position where the solid fuel 3 can be injected into the receiving port 41 only by operating the bucket 14 has been described. However, the stop position 6 may be set to a position further away from the receiving port 41.

[0086] For example, at the stop position 6 away from the receiving port 41, once the working machine 1 is stopped, after adjusting the height of the bucket 14 or the like, while measuring the distance to the receiving port 41 with the 3D-LiDAR 17, the working machine 1 is advanced again. When it approaches a distance suitable for charging the solid fuel 3 into the receiving port 41, the movement of the working machine 1 may be stopped and the bucket 14 may be driven to charge the solid fuel 3. Thus, the stop position 6 itself may be determined according to the work procedure or the like to be performed on the working machine 1.

[0087] As described above, by performing control to stop the working machine 1 in an appropriate state using the feature point 2, compared with performing movement control only by GNSS, the accuracy of the orientation and position at the time of stopping can be significantly improved.

[0088] (Second Embodiment) Next, the automatic operation control system of the working machine 1 according to the second embodiment of the present invention will be described with reference to FIG. 5.

[0089] FIG. 5 is a diagram showing the feature point 2 of the second embodiment, and is a diagram corresponding to FIG. 2. Note that the second embodiment only differs in the configuration of the feature point 2, and the other configurations are the same as those of the first embodiment. Therefore, the description of the same configurations as those of the first embodiment will be omitted.

[0090] In the first embodiment, as shown in FIG. 2, the position where the working machine 1 is stopped is defined using two feature points 2. However, in the second embodiment, as shown in FIG. 5, another feature point 2 is added at the center between the two feature points 2, and the position where the working machine 1 is stopped is defined using three feature points 2.

[0091] In the first embodiment, the central portion of the line connecting two feature points 2 was used to define the position in the direction orthogonal to the orientation when the working machine 1 stops. However, in the second embodiment, a feature point 2 is also provided at the position corresponding to the central portion. Therefore, the position in the direction orthogonal to the orientation when the working machine 1 stops is defined by the feature point 2 provided at the position corresponding to the central portion.

[0092] On the other hand, regarding the definition of the orientation when the working machine 1 stops, it is also possible to use the line connecting two feature points 2 located on both sides of the three feature points 2, as in the first embodiment, or to use the line connecting all three feature points 2.

[0093] Thus, the number of feature points 2 does not necessarily have to be limited to the two cases shown in the first embodiment, and may be three or more.

[0094] (Third Embodiment) Next, the automatic driving control system of the working machine 1 according to the third embodiment of the present invention will be described with reference to FIG. 6.

[0095] FIG. 6 is a diagram showing the feature point 2 of the third embodiment and corresponds to FIG. 2. Note that the third embodiment only differs in the configuration of the feature point 2, and the other configurations are the same as those of the first embodiment. Therefore, the description of the same configurations as those of the first embodiment will be omitted.

[0096] As shown in FIG. 6, in the third embodiment, only one horizontally long feature point 2 is used to define the position where the working machine 1 stops.

[0097] Since the 3D-LiDAR 17 functioning as the detection unit can detect this horizontally long shape itself, in the same manner as in the first embodiment, this detected shape itself may be treated in the same way as the line connecting the two feature points 2 described in the first embodiment. That is, the working machine 1 may be opposed to the detected horizontally long-shaped surface, and the center line of the working machine 1 may be overlapped with the central portion in the width direction of the horizontally long-shaped surface.

[0098] In the third embodiment, the feature point 2 has a certain horizontal width and vertical width and is recognized as a surface. However, even if it is recognized as a thin line extending in the horizontal direction with a small vertical width, there is no problem.

[0099] Thus, as long as the shape can define the direction in which the working machine 1 faces and the position in the direction orthogonal to that direction, there may be only one feature point 2. Therefore, the feature point 2 is not limited to being provided in plural.

[0100] The present invention has been described based on the specific embodiments above, but the present invention is not limited to the above embodiments.

[0101] For example, when the working machine 1 performs an operation of transporting earth and sand, gravel, etc., there may be a case where it is desired to place the earth and sand, gravel, etc. on the loading platform of the dump truck. In such a case, if the feature point 2 is provided at the position where the working machine 1 on the loading platform of the dump truck should face for the operation, the working machine 1 can be made to perform the operation of automatically loading the earth and sand, gravel, etc. onto the loading platform of the dump truck by using the automatic driving control system described in the embodiment.

[0102] Particularly, for those involving the movement of a dump truck or the like, it is not always parked at exactly the same position every time, and it may be parked at a slightly deviated position. Therefore, the appropriate position to stop the working machine 1 is not always the same every time.

[0103] However, if the feature point 2 is provided on the dump truck itself, even if the dump truck is parked at a deviated parking position, the position to stop the appropriate working machine 1 with respect to the dump truck parked at the deviated parking position is defined. Therefore, there is an advantage that the working machine 1 can be made to perform the operation automatically without any problem.

[0104] Thus, the present invention includes those obtained by making changes and improvements to the embodiments within the technical scope of the invention, which is obvious to those skilled in the art from the description of the claims.

Description of Reference Numerals

[0105] 1... Working machine, 1a... User interface, 11... Body part, 11a... Cab, 12... Wheels, 13... Arm, 14... Bucket, 15... Control unit, 15a... Control panel, 15b... Input / output control panel, 16... Inclinometer, 17... 3D-LiDAR17, 18... Gyro, 19... GNSS, 2... Feature point, 3... Solid fuel, 31... Fuel storage, 4... Silo, 41a... Opening, 41... Inlet, 42... Conveyor, 5... Actuator, 51... Motor, 52... Gear, 53... Connecting arm, 53a... Fixed part, 53b... Gear part, 6... Stop position, 61... One end, 62... The other end, D... Distance, FV... Forward view, L1... Operating lever, L11... Base, L2... Operating lever, L21... Base, P1... Position, P2... Position, P3... Position, P4... Position, WF... Antenna

Claims

1. An automatic driving control system for a working machine, a feature point that defines the orientation when the working machine stops, a control unit provided on the working machine to control movement, a detection unit provided on the working machine to detect the feature point, comprising: when the working machine stops at a stop position, the control unit controls the movement of the working machine so that the working machine faces in a direction according to the orientation defined by the feature point detected by the detection unit. The automatic driving control system is characterized by this.

2. When the working machine stops at a stop position, the feature point also defines the position in a direction orthogonal to the orientation, When the working machine stops at a stop position, the control unit controls the movement of the working machine so that it is located at a position in a direction orthogonal to the orientation defined by the feature point. The automatic driving control system according to claim 1 is characterized by this.

3. The detection unit is a 3D-LiDAR, The feature point is a member having a reflectivity distinguishable from the surroundings. The automatic driving control system according to claim 1 or claim 2 is characterized by this.

4. The working machine further comprises a position detection unit for detecting a position, When the working machine moves towards the stop position, the control unit also uses the position detection result of the position detection unit to control the movement of the working machine. The automatic driving control system according to claim 1 or claim 2 is characterized by this.

5. The working machine is a construction machine or a transport machine having a bucket. The automatic driving control system according to claim 1 or claim 2 is characterized by this.

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