Control system, control method, and control program for construction machine

Abstract

To satisfy both productivity and safety properties at a construction site where an unmanned machine and a manned machine are mixed.SOLUTION: In a control system 1 of a construction machine 20, a computer selects an approach detection sensor to be used for determining an approach of another vehicle depending on an operation state of another construction machine when a computer detects the construction machine 20 approaching another construction machine 20; and the computer changes the corresponding processing upon approach depending on the operation state. In the corresponding processing during the approach, the computer changes a threshold value for stopping or speed-reducing of the construction machine 20 depending on the operation state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a control system, a control method, and a control program for controlling construction machinery.

Background Art

[0002] There is a problem of a shortage of operators for operating construction machinery. In response to this problem, the development of unmanned construction machinery that performs traveling and construction work without a driver has been carried out (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] At a construction site using unmanned construction machinery (hereinafter referred to as unmanned machines), there are assumed scenes where only unmanned machines perform construction work and scenes where both unmanned machines and manned construction machinery (hereinafter referred to as manned machines) perform construction work. In particular, at a construction site where both unmanned and manned machines perform construction work, it is necessary to consider ensuring the safety of manned machines while increasing productivity by introducing unmanned machines, but a system that takes these into account has not been established.

Means for Solving the Problems

[0005] A control system for construction machinery that solves the above problems determines the operating status of another construction machinery approaching the construction machinery when a computer detects the other construction machinery, and changes the response process at the time of approach according to the operating status.

Effects of the Invention

[0006] According to the present invention, it is possible to achieve both productivity and safety at a construction site where unmanned and manned machines coexist.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0008] <First Embodiment> Hereinafter, with reference to FIGS. 1 to 7, a first embodiment of a control system, a control method, and a control program for a construction machine will be described.

[0009] <Overview of the Control System> The control system controls a drone that operates at a construction site. The drone is a construction machine that performs autonomous operation at the construction site. The drone is a construction machine that does not have an operator on board and automatically performs operations such as movement, stop, and construction work at the construction site. The drone may be monitored by a manager at a remote location.

[0010] The manned aircraft is operated by an operator who rides in it and performs driving operations such as moving, stopping, and construction work. In this embodiment, both unmanned aircraft and manned aircraft are present at the construction site. At such a construction site, the unmanned aircraft can perform construction work while maintaining an appropriate relative distance (inter-vehicle distance) from other vehicles regardless of whether the surrounding other vehicles are unmanned aircraft or manned aircraft. On the other hand, for the manned aircraft, the operator visually checks other vehicles and performs construction work while adjusting the relative distance from the confirmed other vehicles. The relative distance between the manned aircraft and other vehicles varies according to the operator who drives the manned aircraft. Therefore, it is desirable for the unmanned aircraft to perform different collision avoidance controls when approaching another unmanned aircraft and when approaching a manned aircraft.

[0011] When the unmanned aircraft and the manned aircraft approach each other, the control system of the unmanned aircraft performs either an operation of stopping the manned aircraft and giving priority to the unmanned aircraft to drive, or an operation of giving priority to the manned aircraft over the unmanned aircraft. Whether to give priority to the unmanned aircraft or not is preferably selected according to the functions of the unmanned aircraft and the reliability of the unmanned aircraft. Also, at the construction site, a restricted speed is set to ensure safety even in a situation where a plurality of construction machines approach. Under this premise, if the manned aircraft is always given priority, productivity may decrease. Also, giving priority to the unmanned aircraft in all situations is not preferable in terms of ensuring safety.

[0012] In this embodiment, the control system performs control on the premise of giving priority to the unmanned aircraft. Specifically, when the unmanned aircraft (own vehicle) that is the control target of the control system approaches a manned aircraft (other vehicle), the control system maintains a distance to avoid collision with the manned aircraft and basically continues the operation of the unmanned aircraft. Also, when the unmanned aircraft (own vehicle) that is the control target of the system approaches an unmanned aircraft (other vehicle), the control system gives priority to either one according to the driving situations of the own vehicle and the other vehicle.

[0013] <Control System> Referring to FIG. 1, the control system 1 will be described. The control system 1 includes an unmanned driving control device 10, a vehicle control device 11, a sensor group 2, a communication unit 3, an input unit 4, and an output unit 5.

[0014] At the construction site 30, both unmanned aircraft and manned aircraft exist. The construction machine 20 equipped with the control system 1 is capable of switching between unmanned operation and manned operation. When the construction machine 20 performs unmanned operation, it becomes an "unmanned aircraft", and when it performs manned operation, it becomes a "manned aircraft".

[0015] The unmanned operation control device 10 is a device mounted on the construction machine 20 and controls unmanned operation. When the unmanned operation control device 10 detects another construction machine 20 approaching the construction machine 20, it determines the operation status of the other construction machine 20 and changes the corresponding processing during approach according to the operation status. The operation status indicates either unmanned operation or manned operation. The type of the construction machine 20 is not particularly limited. The construction machine 20 includes shovels such as backhoes, bulldozers, transport machines such as dump trucks, or crawler cranes, etc. There may be multiple types of construction machines 20 at the construction site 30.

[0016] The vehicle control device 11 controls each vehicle mechanism 6 based on the command output by the unmanned operation control device 10. The vehicle control device 11 may be, for example, an ECU (Electronic Control Unit). The construction machine 20 is provided with a plurality of vehicle control devices 11. Each vehicle control device 11 controls the vehicle mechanism 6 to be controlled respectively. For example, the vehicle mechanism 6 includes a drive source including at least one of an engine and an electric motor, a transmission mechanism that transmits the power of the drive source to wheels etc., a braking mechanism that generates braking force, a steering mechanism, an operating mechanism that operates a working member such as a bucket or a blade, and other devices mounted on the construction machine 20.

[0017] The sensor group 2 includes proximity detection sensors used for determining the approach to other vehicles. For example, the sensor group 2 includes a GNSS sensor 13, a LiDAR 14, a camera 15, and a radar 16 as proximity detection sensors. The proximity detection sensors are used in both manned operation and unmanned operation. In addition, the sensor group 2 includes an IMU 17, a vehicle speed sensor 18, etc.

[0018] The GNSS (Global Navigation Satellite System) sensor 13 receives positioning signals from the satellite positioning system to identify the position (absolute position) of the host vehicle, including its latitude and longitude. The LiDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging) 14 irradiates the target object with laser light to detect the distance to the target object (relative distance) and the shape of the target object. The camera 15 performs identification of the target object and determination of the relative distance to the target object, etc., based on the imaging data obtained by imaging the target object. The camera 15 is, for example, a stereo camera. The radar 16 detects the distance to the target object, the relative angle, the speed of the target object, etc. The IMU (Inertial Measurement Unit) 17 detects the inertial motion of the host vehicle. For example, the IMU 17 detects three-dimensional acceleration and angular velocity. The vehicle speed sensor 18 detects the speed of the host vehicle. Also, in a construction machine 20 that transports a load, such as a dump truck, a load sensor that detects the weight of the load on the loading platform or a sensor that estimates the volume of the load may be provided. The construction machine 20 also includes components other than the sensors shown, such as a steering angle sensor.

[0019] The communication unit 3 communicates with each device by wireless communication according to commands from the driverless control device 10 or the like. The communication unit 3 performs wireless communication with other construction machines 20 present at the construction site 30. Further, the communication unit 3 may communicate with the management server 19 that manages the unmanned aerial vehicle via a communication network such as the Internet. The management server 19 is an information processing device used by an administrator or the like located at a remote location away from the construction site 30. The administrator can view the imaging data captured by a camera installed at the construction site 30 or the camera 15 mounted on the construction machine 20, and may stop the unmanned aerial vehicle in case of an emergency.

[0020] The input unit 4 is a device operated by an operator during manned driving. The input unit 4 is a touch panel, a switch, or the like. The output unit 5 is a display, instruments, a speaker, or the like. The screen of the display is viewed by the operator.

[0021] <Hardware Configuration> Referring to FIG. 2, the hardware configurations of the driverless control device 10 and the vehicle control device 11 will be described. The driverless control device 10 and the vehicle control device 11 are each configured from an information processing device H10.

[0022] The information processing device H10 includes a processor H11, a communication device H12, and a storage device H13. Note that this hardware configuration is an example, and it is also possible to be realized by other hardware.

[0023] The storage device H13 (computer-readable medium) stores data for executing various functions and various programs. Examples of the storage device H13 include a ROM, a RAM, a hard disk, etc. The storage device H13 includes any available recording medium that can be accessed by a general-purpose or dedicated computer. The storage device H13 stores a control program and various data used for the execution of the program.

[0024] The processor H11 reads out programs and data stored in the storage device H13 via a bus H14 or the like, and performs control using these. Examples of the processor H11 include, for example, a CPU or an MPU. This processor H11 expands the program in the RAM and executes various processes for each process. The processor H11 is not limited to performing software processing for all processes it executes. For example, the processor H11 may include a dedicated hardware circuit (for example, an application-specific integrated circuit: ASIC) that performs hardware processing for at least a part of the processes it executes. That is, the processor H11 can be configured by any of the following.

[0025] (1) One or more processors H11 that operate according to a computer program (software) (2) One or more dedicated hardware circuits that execute at least a part of various processes 〔3〕A circuit / circuitry including those combinations The communication device H12 is an interface that establishes a communication path with other devices via a network and performs data transmission and reception through wireless communication or wired communication. For example, the communication device H12 may include an interface for performing LAN communication for vehicles, such as CAN communication (Controller Area Network). Further, the communication unit 3 described above controls wireless communication with other construction machines 20 and the like using the communication device H12.

[0026] <Data stored in the driverless control device> With reference to FIG. 3, the data stored in the storage device H13 of the driverless control device 10 will be described. Vehicle information 21 is recorded in the storage device H13. The vehicle information 21 is information about the host vehicle on which the driverless control device 10 is mounted.

[0027] The vehicle information 21 includes vehicle body information, braking information, and operation status. The vehicle body information includes the body weight of the construction machine 20 in a state without a load. When the construction machine 20 has a load sensor for detecting the loading platform and the loading weight of the loading platform, the vehicle body information may include the loading weight detected by the load sensor. For example, the total weight of the vehicle is calculated based on the body weight and the loading weight of the construction machine 20.

[0028] The braking information is information for the host vehicle to perform control to automatically generate braking. The braking information is a threshold value for determining the start of the generation of braking force, or information (such as a map) that can specify the threshold value. This parameter may be the relative distance between the host vehicle and other vehicles or the remaining time to collision (TTC: Time To Collision) obtained by dividing the relative distance by the relative speed. TTC is also referred to as the collision margin time, and is the result of dividing the relative distance (ΔL) between the host vehicle and other vehicles by the relative speed (ΔV) between the host vehicle and other vehicles (ΔL / ΔV). When the driverless control device 10 or the vehicle control device 11 that controls the braking mechanism determines that the relative distance or TTC is less than the threshold value, the host vehicle is decelerated by applying the brakes.

[0029] The operation status indicates the status of the driving operation of the host vehicle. The operation status includes "driverless operation" when the host vehicle is in driverless operation and "human-driven operation" when it is in human-driven operation. The operation status is updated according to the driving status.

[0030] <Operation of this Embodiment> Referring to FIGS. 4 to 7, the operation of the control system 1 will be described. In the following operations, the order of each step may be changed within a range where no contradiction occurs.

[0031] (Selection of Sensors) As shown in FIG. 4, the driverless control device 10 determines the operation status of the host vehicle (step S1). Specifically, the driverless control device 10 determines whether driverless operation or human-driven operation is set based on the vehicle information 21.

[0032] When the driverless control device 10 determines that driverless operation is set, it selects the proximity detection sensors necessary for detecting obstacles in driverless operation (step S2). The proximity detection sensors are, for example, the GNSS sensor 13, the LiDAR 14, the camera 15, and the radar 16. The number of sensors used in driverless operation is larger than the number of sensors used in human-driven operation.

[0033] When the driverless control device 10 determines that human-driven operation is set, it selects the proximity detection sensors necessary for detecting obstacles in human-driven operation (step S3). These proximity detection sensors are, for example, the radar 16 and the camera 15. That is, since human-driven operation is performed under the guidance of the operator, the sensors for human-driven operation are used as an aid to the operator. Also, in human-driven operation, the GNSS sensor 13 may be used to transmit the position of the host vehicle to other vehicles.

[0034] (Corresponding Processing at Approach) Referring to FIG. 5, the corresponding processing when the drone (host vehicle) approaches another construction machine 20 (other vehicle) will be described. The following operations are the operations when the construction machine 20 performs driverless operation.

[0035] Based on the proximity detection sensor, the driverless control device 10 determines whether the host vehicle is in a state of approaching another vehicle (step S11). The driverless control device 10 may determine the approach of another vehicle by combining the GNSS sensor 13, the LiDAR 14, the camera 15, and the radar 16. In addition to or instead of this, the driverless control device 10 may determine the approach of another vehicle by communication performed with the other vehicle.

[0036] When the driverless control device 10 determines that the relative distance or TTC between the host vehicle and another vehicle is equal to or less than the threshold value Tc for proximity determination, it determines that it is approaching the other vehicle. The driverless control device 10 may set the threshold value Tc for proximity determination to different values according to the type of the construction machine 20 such as a backhoe. Note that when construction machines 20 approach each other to perform work, such as the loading work of a backhoe on a bulldozer, the driverless control device 10 may not execute the approach handling process.

[0037] When the driverless control device 10 determines that the host vehicle has approached another vehicle (step S11: YES), it acquires vehicle information 21 (step S12). At this time, the driverless control device 10 acquires at least a part of the vehicle information 21 from the approaching other vehicle by communication, and acquires at least a part of the vehicle information 21 of the host vehicle from the storage device H13.

[0038] The driverless control device 10 acquires environmental information (step S13). The environmental information includes the weather information at the construction site 30 at that time. The environmental information is acquired from at least one of the management server 19, an external server (not shown) that provides environmental information, and the measurement sensors installed at the construction site. The weather information included in the environmental information includes at least one of clear sky, rainfall, snowfall, temperature, humidity, wind speed, illuminance, and visibility. Further, the environmental information may be information other than the weather and indicating the visibility of the construction site 30.

[0039] The driverless control device 10 sets the priority of the host vehicle based on the vehicle information 21 and the environmental information acquired in each step (step S14). Details of this process will be described later. The driverless control device 10 determines whether the host vehicle should stop or avoid other vehicles based on the priority set in step S14 (step S15).

[0040] As an example of determining whether to stop or avoid based on the priority, the driverless control device 10 may set a threshold Th for automatically stopping or decelerating based on the priority of the host vehicle. The threshold Th is smaller than the threshold Tc for proximity determination. Also, the threshold Th is the relative distance or TTC between the host vehicle and other vehicles. The driverless control device 10 acquires a reference threshold based on the braking information included in the vehicle information 21. Further, the driverless control device 10 adjusts the acquired threshold according to the priority to obtain the threshold Th. The higher the priority of the host vehicle, the more the host vehicle should be prioritized, and the driverless control device 10 sets the threshold Th to the same value as the reference threshold or makes the threshold Th smaller. Also, the lower the priority, the more the driverless control device 10 corrects the threshold Th to make it easier to automatically apply the brakes or make it easier to change the moving path of the host vehicle to a path that avoids other vehicles. The threshold Th at this time is larger than the threshold for collision avoidance included in the braking information. When it is determined that another vehicle with a relatively low priority is stopped while approaching, the driverless control device 10 may move the host vehicle to avoid the other vehicle.

[0041] As another example of determining whether to stop or avoid based on priority, the driverless control device 10 may compare the priority of the host vehicle with the priority of other vehicles. Specifically, the driverless control device 10 transmits the set priority to other vehicles. Further, the driverless control device 10 receives from other vehicles the priorities set by other vehicles equipped with the control system 1. The driverless control device 10 compares the priority of the host vehicle with the priority of other vehicles, and determines that when the priority of the host vehicle is high, it basically continues without changing the operation. Also, when the priority of other vehicles is high, the driverless control device 10 determines to automatically generate braking force or change the movement path of the host vehicle to a path for avoiding other vehicles. At this time, the driverless control device 10 may stop the host vehicle in an emergency when the relative distance (or TTC) from other vehicles becomes short based on the braking information. When the relative distance from other vehicles exceeds the threshold value Tc, the driverless control device 10 ends the approaching response process by stopping the transmission and reception of priorities.

[0042] When the driverless control device 10 determines based on the priority that the host vehicle does not stop and does not avoid other vehicles (step S15: NO), it returns to step S11. When the driverless control device 10 determines based on the priority that the host vehicle stops or avoids other vehicles (step S15: YES), it outputs a command for stopping or avoiding to each vehicle mechanism 6 (step S16). Thereby, for example, even if an unintended situation occurs, construction work can be performed while maintaining a safe distance between the construction machines 20.

[0043] The driverless control device 10 repeats steps S11 to S16, for example, until the start switch of the unmanned aircraft is turned off. Also, after the host vehicle has stopped, when the relative distance of the construction machine 20 exceeds the threshold value Tc for proximity determination in step S1, the driverless control device 10 can start the operation of the host vehicle.

[0044] (Priority setting process) Referring to FIGS. 6 and 7, the priority setting process (step S14) will be described. The driverless control device 10 determines whether the approaching construction machine 20 is manned based on the vehicle information 21 received from other vehicles (step S20).

[0045] When the driverless control device 10 determines that the approaching construction machine 20 is manned (step S20: YES), it determines whether the visibility is good based on the environmental information acquired in step S13 (step S21). When the environmental information includes the visibility range, which is the maximum distance at which a human can clearly visually recognize an object with the naked eye, it is determined that the visibility is good if the visibility range is equal to or greater than a predetermined distance. Also, when the environmental information includes rainfall, snowfall, etc., the driverless control device 10 may determine that the visibility is not good.

[0046] When the driverless control device 10 determines that the visibility is not good (step S21: NO), it sets a priority that gives precedence to the other vehicle (manned vehicle), which is the approaching construction machine 20 (step S23). For example, the driverless control device 10 sets the priority of its own vehicle to the smallest value, "1". The smaller the value of the priority of its own vehicle, the higher the degree to which other vehicles are prioritized. The larger the value of the priority of its own vehicle, the higher the degree to which its own vehicle is prioritized over other vehicles.

[0047] That is, even if it is detected in step S20 that the construction machine 20 is approaching, it may be difficult to accurately detect the relative positions of other surrounding vehicles by the sensors included in the sensor group 2 in a situation where the visibility is not good. In this case, compared with a drone that detects an approaching object only with an approach detection sensor, there is a high possibility that the operator of the manned vehicle can appropriately judge the surrounding situation. Therefore, in this case, safety is enhanced by giving precedence to the manned vehicle.

[0048] When the driverless control device 10 determines that the visibility is good (step S21: YES), it sets the priority with the vehicle itself (a drone) being prioritized (step S22). For example, the driverless control device 10 sets the priority of the vehicle itself to a value larger than the priority set in step S23, such as "3" or "2". That is, in an environment with good visibility, the vehicle itself (a drone) is more likely to be prioritized.

[0049] In step S22, the driverless control device 10 may transmit notification information for notifying the approach of the vehicle itself (a drone) to the manned aircraft approaching. In this case, the other vehicle notifies the operator of the approach of the drone by outputting the notification information to the output unit 5 such as a display. Also, even when the operation of the vehicle itself is prioritized, if the relative distance or TTC between the vehicle itself and the other vehicle becomes less than the threshold value for collision avoidance, the driverless control device 10 may stop the vehicle itself.

[0050] On the other hand, when the driverless control device 10 determines that the approaching construction machine 20 is driverless (step S20: YES), it sets the priority of the vehicle itself with respect to the drone (step S24). Referring to FIG. 7, the details of setting the priority with respect to the drone will be described. When drones approach each other, the driverless control device 10 sets the priority according to the driving situation. When drones approach each other, the driverless control device 10 may make the threshold value Tc for approach determination smaller than when a drone and a manned aircraft approach each other. This is because when drones approach each other, coordinated operations are possible through communication or the like.

[0051] The driverless control device 10 determines whether the host vehicle is in a situation of traveling downhill (descending a slope) on a slope and whether another vehicle is in a situation of traveling uphill (ascending a slope) (step S30). The driverless control device 10 may determine whether the host vehicle is going downhill and whether another vehicle is going uphill based on mesh data (topographic information) and the like regarding the geographic information of the surrounding area of the construction site. When the host vehicle is going downhill and another vehicle is going uphill (step S30: YES), the driverless control device 10 sets a priority with the host vehicle being prioritized (step S31). That is, downhill vehicles have a higher priority because they often have a load and their acceleration increases. For example, the driverless control device 10 sets the priority of the host vehicle to "3".

[0052] On the other hand, when the driverless control device 10 determines that the host vehicle is going uphill or another vehicle is going downhill (step S30: NO), it determines whether the total weight of the host vehicle is greater than the total weight of the other vehicle based on the vehicle information 21 (step S32). The total weight is the value obtained by adding the loading weight and the body weight. Also, when the driverless control device 10 determines that the host vehicle and the other vehicle are located on flat ground (step S30: NO), it also proceeds to step S32.

[0053] When the driverless control device 10 determines that the total weight of the host vehicle is greater than the total weight of the other vehicle (step S32: YES), it sets a priority with the host vehicle being prioritized (step S33). That is, a vehicle with a larger total weight has a longer braking distance from when it generates braking force until it stops, so its priority is increased. For example, the driverless control device 10 sets the priority of the host vehicle to "3".

[0054] On the other hand, when the driverless control device 10 determines that the total weight of the host vehicle is less than or equal to the total weight of the other vehicle (step S32: NO), it sets a priority with the other vehicle being prioritized (step S34). For example, the driverless control device 10 sets the priority of the host vehicle to a value lower than the priority set in steps S31 and S32, such as "2".

[0055] When the relative distance between the drones is equal to or less than the threshold value Tc, both drones may stop. As described above, by increasing the priority of either drone, productivity can be increased by continuing the operation of one drone and stopping the operation of the other drone.

[0056] <Actions and Effects of this Embodiment> As described above, according to the above embodiment, the following effects can be obtained. (1-1) According to the above embodiment, the control system 1 changes the response process during approach according to the operation status of the approaching construction machine 20. According to this, it is possible to achieve both productivity and safety even at a construction site 30 where drones and manned aircraft are mixed.

[0057] (1-2) In the above embodiment, the control system 1 changes the threshold value for stopping or decelerating the construction machine according to the operation status. According to this, for example, when giving priority to the drone over the manned aircraft, it becomes difficult for the operation of the drone to stop or change due to the approach of other vehicles. Therefore, the working efficiency of the drone can be increased.

[0058] (1-3) In the above embodiment, the sensor used for detecting the approach of other vehicles is changed according to the set unmanned driving and manned driving. According to this, in the case of unmanned driving, the accuracy of detecting the approach of other vehicles can be improved by increasing the number of sensors used. Also, during manned driving, the processing load of the approach detection process of other vehicles can be reduced.

[0059] (1-4) In the above embodiment, when the unmanned driving control device 10 determines that the visibility is not good based on the environmental information, it gives priority to manned driving. According to this, safety can be improved by giving priority to the judgment of the operator in an environment where the visibility is not good.

[0060] <Second Embodiment> Next, a second embodiment of the control system, control method, and control program for construction machinery will be described. In the second embodiment, driving is performed with priority given to manned vehicles over unmanned vehicles. Hereinafter, parts identical to those in the first embodiment will be denoted by the same reference numerals, and detailed descriptions thereof will be omitted.

[0061] In the second embodiment, when the other vehicle approaching the host vehicle is a manned vehicle, the unmanned driving control device 10 gives priority to the other vehicle by relatively reducing the priority of the host vehicle. As shown in FIG. 8, the storage device H13 may store operator information 25 for each operator who can operate the construction machinery 20. The operator information 25 includes an operator ID and a driving tendency. The driving tendency is information indicating the tendency of the operator's driving operation. The driving tendency includes, for example, the average inter-vehicle distance at which the operator starts to apply the brakes, the tendency of sudden braking, and the like. When performing manned driving, the unmanned driving control device 10 transmits the operator information 25 or information obtained by processing the operator information 25 to the approaching unmanned aerial vehicle. The unmanned driving control device 10 mounted on the unmanned aerial vehicle sets the priority based on the received information. For example, when approaching a manned vehicle in which an operator with a tendency to apply sudden brakes is riding, since it is necessary to stop earlier, the priority of the host vehicle is set to be low. Also, when approaching a manned vehicle in which an operator with a tendency to have a short inter-vehicle distance is riding, since it is necessary to stop earlier, the priority of the host vehicle is set to be low.

[0062] The priority setting process of the second embodiment will be described. As shown in FIG. 9, the unmanned driving control device 10 determines whether the approaching construction machinery 20 is under manned driving based on the vehicle information 21 received from the other vehicle (step S20).

[0063] When the driverless control device 10 determines that the approaching construction machine 20 is manned (step S20: YES), it sets a priority that gives precedence to other vehicles based on the operator information 25 (step S41). The driverless control device 10 sets the priority of the host vehicle to the smallest value, such as "1" or "2". For example, when the driverless control device 10 determines that the operator of another vehicle has a tendency to apply sudden brakes or that the inter-vehicle distance tends to be short, etc., it sets the priority of the host vehicle to "1". According to this, when it is presumed that it is better to increase the inter-vehicle distance from other vehicles, the host vehicle can stop or avoid other vehicles more easily. When the driverless control device 10 determines that the operator of another vehicle has no tendency to apply sudden brakes and the inter-vehicle distance has no tendency to be short, it sets the priority of the host vehicle to a value higher than that in the case where the operator of another vehicle has a tendency to apply sudden brakes, such as "2", etc.

[0064] On the other hand, when the driverless control device 10 determines that the approaching construction machine 20 is driverless (step S20: NO), it sets a priority for the unmanned aircraft (step S24). This step is the same as in the first embodiment. <Actions and Effects of this Embodiment> As described above, according to the above embodiment, the following effects can be obtained.

[0065] (2-1) In the above embodiment, when the approaching construction machine 20 is a manned aircraft, the manned aircraft is given precedence according to the operator of the manned aircraft. According to this, the safety can be particularly enhanced at the construction site 30 where unmanned aircraft and manned aircraft are mixed.

[0066] <Modification Example> The above embodiments can be implemented with the following modifications. The above embodiments and the following modification examples can be implemented in combination with each other within a technically non-conflicting range. (Priority) ·In each of the above embodiments, when the approaching construction machine 20 is manned and the visibility is good, the priority of the host vehicle is increased. Instead of or in addition to this, the priority of the host vehicle, which is a drone, may be set based on conditions other than the conditions related to visibility.

[0067] ·In each of the above embodiments, when drones are approaching each other, the unmanned driving control device 10 sets the priority based on the condition that the host vehicle is going downhill and the condition of the total weight. However, these conditions can be changed as appropriate. ·In the first embodiment, the unmanned driving control device 10 performs control to increase the priority of the drone when the visibility is good, and performs control to increase the priority of the manned aircraft when the visibility is poor. Instead of this, depending on the accuracy of the approach detection sensor, control to increase the priority of the drone may be performed when the visibility is poor. In addition to this, when giving priority to the manned aircraft, the unmanned driving control device 10 may set the priority in consideration of the driving tendency of the operator as in the second embodiment.

[0068] (Drone and Manned Aircraft) ·In each of the above embodiments, the control system 1 is assumed to include an unmanned driving control device 10, a sensor group 2, a vehicle control device 11, a communication unit 3, an input unit 4, and an output unit 5. Instead of this, the control system 1 only needs to include at least the unmanned driving control device 10. The unmanned driving control device 10 communicates with a vehicle control device or the like previously mounted on the construction machine 20 in accordance with the protocol of the in-vehicle network. · In the above embodiment, the unmanned aircraft is a construction machine that performs autonomous operation. Instead of or in addition to this, the unmanned aircraft may be one that performs autonomous driving and is assisted by an operator located at a remote location. In this case, although no operator rides on the unmanned aircraft, one operator will perform remote operation for each unit. However, since the operator does not go to the construction site, productivity can be improved. In this mode, in order to perform remote operation, the operator may have a narrower visible range or it may be more difficult to grasp the surrounding situation such as sound and light than when riding on a construction machine to perform work. As in each of the above embodiments, the unmanned driving control device 10 can achieve both productivity and safety at the construction site by determining the priority between the own vehicle and other vehicles approaching it. · In the above embodiment, the operation situation is assumed to be either manned operation or unmanned operation. In addition to or instead of this, remote operation, the presence or absence of monitoring by a manager at a remote location, etc. may be used as the operation situation.

[0069] · In the above embodiment, the unmanned aircraft is a machine that can switch between unmanned operation and manned operation. Instead of this, the unmanned aircraft may be a construction machine that only performs unmanned operation. · The manned aircraft is assumed to be a construction machine operated by an operator. Instead of or in addition to this, the manned aircraft may be a construction machine that supports the operation of the operator. In this manned aircraft, the operator operates only in an emergency.

[0070] Next, the technical ideas that can be grasped from the above embodiment and alternative examples are added below. [A] The control system for a construction machine according to claim 1, wherein the computer acquires environmental information including information regarding the field of view and sets the priority of the own vehicle based on the environmental information.

[0071] [B] The control system for a construction machine according to claim 1, wherein the computer selects an approach detection sensor used for determining the approach of other vehicles according to the operation situation.

[0072] [C]The control system of the construction machine according to claim 1, wherein the operating condition includes whether it is manned operation or not.

Explanation of reference numerals

[0073] 1... Control system, 2... Sensor group, 3... Communication unit, 4... Input unit, 5... Output unit, 6... Vehicle mechanism, 10... Unmanned operation control device, 11... Vehicle control device, 19... Management server, 20... Construction machine, 21... Vehicle information, 25... Operator information, 30... Construction site.

Claims

1. When a computer detects another construction machine approaching a construction machine, it determines the operating status of the other construction machine, and changes the response process during approach according to the operating status, a control system for a construction machine characterized by this.

2. The control system for a construction machine according to Claim 1, wherein the computer changes a threshold value for stopping or decelerating the construction machine according to the operating status.

3. When a computer detects another construction machine approaching a construction machine, it determines the operating status of the other construction machine, and changes the response process during approach according to the operating status, a control method for a construction machine characterized by this.

4. A computer is caused to function as means for when detecting another construction machine approaching a construction machine, determining the operating status of the other construction machine, and changing the response process during approach according to the operating status, a control program for a construction machine characterized by this.

Images