Planning device, work machine, transport vehicle, and planning method

Abstract

To provide a planning device, a work machine, a transport vehicle, and a planning method that can reduce labor.SOLUTION: A planning device plans a traveling position route of a work machine during a loading work in which objects are loaded onto a transport vehicle using a work machine, and is equipped with a route search section that searches for the traveling position route using an evaluation function based on the amount of objects to be loaded and information on the work machine and the transport vehicle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a planning device, a work machine, a transport vehicle, and a planning method.

Background Art

[0002] Patent Document 1 describes a control system for a work machine that sets a digging position, a loading position, or a dumping position as a target position that is the destination of the work machine according to the loading load. In the control system described in Patent Document 1, the digging position, the loading position, and the dumping position are input as work instructions using a personal computer, a tablet terminal, a smartphone, or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the control system described in Patent Document 1, since it is necessary to manually determine and input position information such as the digging position and the loading position, there is a problem that there is room for improvement in labor saving in automatic driving using a work machine.

[0005] The present disclosure has been made to solve the above problems, and an object thereof is to provide a planning device, a work machine, a transport vehicle, and a planning method that can automatically plan efficient digging, loading, and traveling operations of a work machine and achieve labor saving.

Means for Solving the Problems

[0006] The planning device of the present disclosure is a device that plans the traveling position path of the work machine in the loading operation of loading an object onto a transport vehicle using the work machine, and includes a path search unit that searches for the traveling position path using an evaluation function based on the amount of the object to be loaded and information on the work machine and the transport vehicle.

[0007] The work machine of the present disclosure includes the above planning device.

[0008] The work machine of the present disclosure automatically travels based on the above traveling position path.

[0009] The transport vehicle of the present disclosure automatically travels based on the loading position path planned by the planning device of the present disclosure.

[0010] The work machine of the present disclosure is remotely operated based on the above traveling position path.

[0011] The planning method of the present disclosure is a method for planning the traveling position path of a work machine in a loading operation of loading an object onto a transport vehicle using the work machine, and includes a step of searching for the traveling position path using an evaluation function based on the amount of the object to be loaded and information on the work machine and the transport vehicle.

Effect of the Invention

[0012] The planning device, work machine, transport vehicle, and planning method of the present disclosure can achieve labor saving.

Brief Description of the Drawings

[0013]

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Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each figure, the same or corresponding components are denoted by the same reference numerals, and the description thereof will be omitted as appropriate.

[0015] (Overview of the Automated Driving System) FIG. 1 is a schematic diagram showing a configuration example of an automated driving system according to an embodiment of the present disclosure. The automated driving system 1 shown in FIG. 1 includes a working machine 100, a transport vehicle 200, and a planning device 300. The automated driving system 1 shown in FIG. 1 automatically executes a loading operation of loading an object 401 onto the transport vehicle 200 using the working machine 100 based on the traveling position route of the working machine 100 and the loading position route of the transport vehicle 200 planned by the planning device 300. In this embodiment, as an example, it is assumed that the loading operation is an operation in which the working machine 100 excavates the object 401 and the working machine 100 loads the excavated object 402 onto the transport vehicle 200. However, the object to be loaded onto the transport vehicle 200 is not limited to the object excavated by the working machine 100. The object to be loaded may be, for example, something other than the excavated material such as waste, or something that has been excavated by the working machine 100 in the past, or something that has been excavated and deposited by another working machine different from the working machine 100.

[0016] (Configuration of the Working Machine 100) The working machine 100 shown in FIG. 1 is, for example, automatically driven at a construction site and constructs a construction target such as earth and sand. The working machine 100 may be an unmanned vehicle under remote driving control or may be operated by an onboard operator. The working machine 100 according to the embodiment of the present disclosure is, for example, a hydraulic excavator. However, the working machine of the present disclosure is not limited as long as it is a working machine that can load a predetermined object onto a transport vehicle, and may be other working machines such as a face shovel or an electric shovel. The working machine 100 includes a traveling body 110, a slewing body 120, and a working device 130.

[0017] The traveling body 110 supports the working machine 100 so as to be able to travel. The traveling body 110 includes two crawlers 111 provided on the left and right and two traveling motors 112 for driving each crawler 111. The slewing body 120 is supported by the traveling body 110 so as to be slewed around a slewing center.

[0018] The working machine 130 is hydraulically driven. The working machine 130 is supported at the front part of the revolving body 120 so as to be vertically drivable.

[0019] The revolving body 120 includes an engine, a hydraulic pump, an EPC (Electromagnetic Proportional Control) valve, a main valve, a slewing motor, a work machine automatic control device 150, etc. The engine is a prime mover that drives the hydraulic pump. The engine is an example of a power source. A cell motor is provided in the engine. The EPC valve controls the hydraulic oil flowing into the main valve based on a predetermined control signal output by the work machine automatic control device 150. The hydraulic pump is a variable displacement pump driven by, for example, the engine. The hydraulic pump supplies hydraulic oil to each actuator via the main valve. Each actuator includes a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a traveling motor 112, a slewing motor, etc. The main valve controls the flow rate of the hydraulic oil supplied from the hydraulic pump. The slewing motor is driven by the hydraulic oil supplied from the hydraulic pump via the main valve, and slews the revolving body 120 around the slewing axis 120C (slewing center).

[0020] (Configuration of the working machine 130) The working machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C.

[0021] The base end portion of the boom 131 is attached to the revolving body 120 via a boom pin. The arm 132 connects the boom 131 and the bucket 133. The base end portion of the arm 132 is attached to the tip end portion of the boom 131 via an arm pin. The bucket 133 includes a blade 133T for excavating earth and sand, etc., and a storage portion for storing the excavated earth and sand. The base end portion of the bucket 133 is attached to the tip end portion of the arm 132. In FIG. 1, the object 402 excavated from the object 401 is stored in the bucket 133.

[0022] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. The base end portion of the boom cylinder 131C is attached to the slewing body 120. The tip end portion of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end portion of the arm cylinder 132C is attached to the boom 131. The tip end portion of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. The base end portion of the bucket cylinder 133C is attached to the arm 132. The tip end portion of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

[0023] (Sensor, etc.) The working machine 100 is equipped with various sensors. The working machine 100 is equipped with a three-dimensional shape sensor, an attitude angle sensor, a GNSS (Global Navigation Satellite System) sensor, an IMU (Inertial Measurement Unit), measurement means for measuring the amount of the object to be loaded (or the loaded object), and the like.

[0024] Examples of the three-dimensional shape sensor include a stereo camera, a LiDAR (Light Detection and Ranging) device, a millimeter-wave radar, or a combination of one or more of these sensors. These sensors identify the three-dimensional position of the object 401 in a coordinate system based on the positions of the respective sensors. The three-dimensional shape sensor outputs, for example, depth information indicating the three-dimensional positions of a plurality of points within the detection range. Examples of the depth information include a depth image composed of a plurality of pixels representing the depth and point cloud data composed of a plurality of points expressed in a rectangular coordinate system (x, y, z).

[0025] The posture angle sensor includes, for example, each stroke sensor attached to each cylinder, and the posture angles of the boom 131, the arm 132, and the bucket 133 are calculated based on the cylinder lengths measured by each stroke sensor. In addition to the stroke sensor, an IMU may be attached to each of the revolving body 120, the boom 131, the arm 132, and the bucket 133 to measure the posture angles of each axis.

[0026] The GNSS sensor calculates the position of the revolving body 120 and the azimuth angle in which the revolving body 120 faces. The GNSS sensor includes, for example, two receivers that receive positioning signals from artificial satellites constituting the GNSS. In this case, the two receivers are installed at different positions of the revolving body 120 respectively. The GNSS sensor detects the position of the representative point (the origin of the excavator coordinate system) of the revolving body 120 in the site coordinate system based on the positioning signals received by the receivers. The GNSS sensor calculates the azimuth angle in which the revolving body 120 faces as the relationship of the installation position of one receiver with respect to the installation position of the other receiver using the positioning signals received by the two receivers. The azimuth angle in which the revolving body 120 faces is the front direction of the revolving body 120. The azimuth angle in which the revolving body 120 faces is equal to the horizontal component of the extending direction of the straight line extending from the boom 131 to the bucket 133 of the work implement 130.

[0027] The IMU measures the acceleration and angular velocity of the revolving body 120, and detects the posture (for example, roll angle and pitch angle) of the revolving body 120 based on the measurement results. The IMU is installed, for example, on the lower surface of the revolving body 120.

[0028] As the measuring means for measuring the quantity of the object, for example, means for estimating the weight of the object to be loaded from the measured value of the cylinder pressure sensor of the work machine 100 and the work machine posture information, means for estimating the weight from the payload meter on the side of the transport vehicle 200, or means for estimating the weight of the object loaded from the volume information of the object from the three-dimensional shape sensor and the soil specific gravity information obtained from the prior ground survey can be used.

[0029] In addition, the working machine 100 is provided with, for example, a short-range communication device for performing vehicle-to-vehicle communication with other vehicles in the vicinity such as a transport vehicle 200, a mobile communication device for communication connection with a server at a remote location, and the like. For example, the working machine 100 according to another embodiment may be operated based on an operation command signal or the like generated and transmitted based on the traveling position route of the working machine 100 planned by the planning device 300 by remote operation of an operator who is operated by a remote operation device outside the working machine 100.

[0030] (Configuration of the transport vehicle 200) The transport vehicle 200 shown in FIG. 1 is automatically driven at a construction site, for example, and transports an object 401 such as earth and sand loaded by the working machine 100. The transport vehicle 200 according to the embodiment of the present disclosure is, for example, a dump truck. However, the transport vehicle of the present disclosure is not limited as long as it is a vehicle that can transport an object loaded by a working machine, and may be, for example, a work vehicle equipped with a storage container for the object. Also, there may not be only one transport vehicle 200. For example, a plurality of transport vehicles 200 can be operated simultaneously at the same site. The transport vehicle 200 shown in FIG. 1 includes a driver's cab 201, a loading platform 202, a steering wheel 203, drive wheels 204, and a transport vehicle automatic control device 250. The transport vehicle 200 is provided with an engine, a transmission, a hydraulic mechanism, various actuators, and various sensors such as, for example, a GNSS sensor and an imaging device, and controls the engine, the transmission, the steering wheel 203, the drive wheels 204, etc. under the control of the transport vehicle automatic control device 250 to automatically travel, or tilts the loading platform 202 to automatically unload the load. In addition, the transport vehicle 200 transmits and receives a predetermined signal to and from the working machine 100 and the like. Further, the transport vehicle 200 may be an unmanned vehicle under remote operation control or may be operated by a boarding operator.

[0031] (Configuration example of the planning device 300, etc.) FIG. 2 is a block diagram showing a configuration example of a planning device and the like according to an embodiment of the present disclosure. The planning device 300 can be configured using a computer such as a microcontroller or an embedded system, and is composed of a combination of hardware such as a computer, a peripheral device of the computer, and a peripheral circuit, and software such as a program executed by the computer. As a functional configuration, it includes a route search unit 301, an excavation plan unit 302, a plan transmission unit 303, and a communication unit 304.

[0032] In the present embodiment, the planning device 300 is a device that plans a travel position route of the work machine 100 passing through a plurality of intermediate travel positions and a loading position route of the transport vehicle 200 passing through a plurality of intermediate loading positions corresponding to any one of the plurality of intermediate travel positions in the loading operation of loading the object 401 onto the transport vehicle 200 using the work machine 100. The intermediate travel position refers to a position where the work machine 100 stops traveling and performs excavation and loading operations. The intermediate loading position is a loading position of the transport vehicle 200 where the object 402 excavated by the work machine 100 located at the intermediate travel position is loaded, and the transport vehicle 200 is stopped. Details regarding the intermediate travel position, the travel position route, the intermediate loading position, and the loading position route will be described later. Further, the planning device 300 may be a device that plans either the travel position route or the loading position route.

[0033] The route search unit 301 evaluates the traveling position route and the loading position route using an evaluation function based on the amount of the object 401 excavated by the working machine 100 and loaded onto the transport vehicle 200, and the information of the working machine 100 and the transport vehicle 200. The information of the working machine 100 and the transport vehicle 200 is information including at least one of, for example, the moving distances of the working machine 100 and the transport vehicle 200, the relative distance between the working machine 100 and the transport vehicle 200, and the turning angle from the working machine 100 to the transport vehicle 200. For example, the route search unit 301 evaluates the excavation amount using an evaluation function that evaluates the excavation amount with respect to the moving distances of the working machine 100 and the transport vehicle 200, the relative distance between the working machine 100 and the transport vehicle 200, and the turning angle from the working machine 100 to the transport vehicle 200. That is, in the set of each intermediate traveling position and the corresponding each intermediate loading position, for example, the route search unit 301 sets the amount of the excavated object 402, which is the object to be loaded, as a variable that increases the evaluation function, and sets at least one of the length of the moving route of the transport vehicle 200, the relative distance between the transport vehicle 200 and the working machine 100, the relative angle between the transport vehicle 200 and the working machine 100, and the length of the moving route of the working machine 100 as a variable that decreases the evaluation function, and searches for the traveling position route and the loading position route that maximize the evaluation function. Alternatively, in the set of each intermediate traveling position and the corresponding each intermediate loading position, the route search unit 301 sets the amount of the excavated object 402, which is the object to be loaded, as a variable that decreases the evaluation function, and sets at least one of the length of the moving route of the transport vehicle 200, the relative distance between the transport vehicle 200 and the working machine 100, the relative angle between the transport vehicle 200 and the working machine 100, or the length of the moving route of the working machine 100 as a variable that increases the evaluation function, and searches for the traveling position route and the loading position route that minimize the evaluation function. In the present embodiment, a plan showing the traveling position route of the working machine 100 and the loading position route of the transport vehicle 200 searched by the route search unit 301 is called an optimal traveling route plan. The method of creating the optimal traveling route plan will be described later.

[0034] In this embodiment, as described above, the loading operation is an operation in which the working machine 100 excavates the object 401 and the working machine 100 loads the excavated object 402 onto the transport vehicle 200. Further, the route search unit 301 can set the location where the working machine 100 excavates the object 401 as a travel position prohibition area (travel prohibition area) that prohibits the travel of the working machine 100, and search for a travel position route outside the travel position prohibition area. Further, the route search unit 301 can set the location where the working machine 100 excavates the object 401 as a spotting position prohibition area (loading position prohibition area) that prohibits it as the loading position of the transport vehicle 200, and search for a loading position route outside the spotting position prohibition area.

[0035] The excavation planning unit 302 plans the excavation direction of the working machine 100 at each intermediate travel position while sequentially moving the working machine 100 to each intermediate travel position searched by the route search unit 301. In this embodiment, the planning of the excavation direction at each intermediate travel position is also referred to as an optimal excavation plan. The excavation planning unit 302 is based on the position information of the working machine 100, the terrain information representing the terrain composed of the object 401, and the design surface information representing the design surface that is the target surface of the terrain formed by excavation. Based on the volume of the excavable area at the intermediate travel position calculated, it is possible to determine whether to move the working machine 100 to the next intermediate travel position. Further, the excavation planning unit 302 can determine whether to move the working machine 100 to the next intermediate travel position based on the amount of the loadable object 401 within the excavable range of the working machine 100 and the time required for excavating the object 401 at the intermediate travel position. The method of creating the optimal excavation plan by the excavation planning unit 302 will be described later.

[0036] The plan transmission unit 303 transmits the optimal travel route plan indicating the travel position route of the working machine 100 and the loading position route of the transport vehicle 200 searched by the route search unit 301, and the optimal excavation plan created by the excavation planning unit 302 to the working machine automatic control device 150 via the communication unit 304. For example, it may be transmitted to the transport vehicle automatic control device 250, or may be transmitted to the transport vehicle automatic control device 250 via the working machine automatic control device 150.

[0037] The communication unit 304 transmits and receives predetermined information to and from the communication unit 156 of the machine tool automatic control device 150. For example, it may transmit and receive predetermined information to and from the communication unit 254 of the transport vehicle automatic control device 250.

[0038] The machine tool automatic control device 150 can be configured using a computer such as a microcontroller or an embedded system, and is composed of a combination of hardware such as a computer, computer peripheral devices, and peripheral circuits, and software such as a program executed by the computer. As a functional configuration, it includes a plan acquisition unit 151, a travel control unit 152, an excavation control unit 153, a transport vehicle control unit 154, a measurement unit 155, and a communication unit 156.

[0039] The plan acquisition unit 151 receives, via the communication unit 156, the optimal travel route plan and the optimal excavation plan transmitted by the plan transmission unit 303 via the communication unit 304.

[0040] The travel control unit 152 automatically controls the travel position of the machine tool 100 based on the optimal travel route plan. That is, it controls to move the machine tool 100 to an intermediate travel position.

[0041] The excavation control unit 153 automatically controls the excavation, turning, and soil discharge operations of the machine tool 100 based on the optimal excavation plan. That is, the excavation control unit 153 automatically repeats the excavation, turning, and soil discharge operations at the intermediate travel position where the machine tool 100 is located until a sufficient excavation volume cannot be obtained.

[0042] The transport vehicle control unit 154 controls (a part of) the automatic driving of the transport vehicle 200 by transmitting a signal or the like instructing the loading position to the transport vehicle automatic control device 250. For example, the plan transmission unit 303 of the planning device 300 may transmit a signal or the like instructing the loading position to the transport vehicle automatic control device 250.

[0043] The measurement unit 155 acquires, for example, position information representing the position of the working machine 100, attitude information representing the attitude of the working machine 100, or terrain information of the object 401.

[0044] The communication unit 156 transmits and receives predetermined information to and from the communication unit 304 of the planning device 300, or transmits and receives predetermined information to and from the communication unit 254 of the transport vehicle automatic control device 250.

[0045] The transport vehicle automatic control device 250 can be configured using a computer such as a microcontroller or an embedded system, and is composed of a combination of hardware such as a computer, a peripheral device of the computer, and a peripheral circuit, and software such as a program executed by the computer. As a functional configuration, it includes a travel control unit 251, a unloading control unit 252, a measurement unit 253, and a communication unit 254.

[0046] The travel control unit 251 automatically controls the travel of the transport vehicle 200 based on an instruction from the transport vehicle control unit 154 or the like. That is, the travel control unit 251 performs control to automatically move the transport vehicle 200 to the loading position based on an instruction from the transport vehicle control unit 154.

[0047] The unloading control unit 252 tilts the loading platform 202 at a predetermined unloading position to automatically unload the load on the loading platform 202.

[0048] The measurement unit 253 acquires, for example, position information representing the position of the transport vehicle 200.

[0049] The communication unit 254 transmits and receives predetermined information to and from the communication unit 156 of the working machine 150. Note that the communication unit 254 may transmit and receive predetermined information to and from the communication unit 304 of the planning device 300.

[0050] (Operation example of the automatic driving system) Hereinafter, with reference to FIGS. 3 to 18, an operation example of the automatic driving system 1 will be described. FIG. 3 is a schematic diagram showing an overview of a work area according to an embodiment of the present disclosure. As shown in FIG. 3, in the present embodiment, as the work area, a loading area A11 and an unloading area A13 are set. Further, a traveling route A12 between the loading area and the unloading area is set between the loading area A11 and the unloading area A13. Further, a construction range CR is set in the loading area A11.

[0051] The work machine 100 excavates the construction range CR set within the loading area A11 and loads the object 402 excavated by the work machine 100 onto the transport vehicle 200 within the loading area A11.

[0052] The transport vehicle 200 loads the object in the loading area A11, travels along the traveling route A12 between the loading area and the unloading area, moves to the unloading area A13, and unloads the loaded object within the unloading area A13.

[0053] FIG. 4 is a schematic diagram showing an example of a construction range according to an embodiment of the present disclosure. FIG. 4 shows an example of the construction range CR set in the loading area A11. The left figure is a plan view, and the right figure is a side sectional view. In the present embodiment, the XY plane is the horizontal plane and the Z direction is the vertical direction. The construction range CR is a hexahedral excavation range having a width Lx in the X direction, a depth Ly in the Y direction, and a depth Lz in the Z direction. Further, the construction range CR is defined by the design surfaces DS1 to DS5, which are the target surfaces of the terrain after excavation. The work machine 100 excavates the object 401 so that the terrain after excavation has a trough-shaped groove having the design surfaces DS1 to DS5.

[0054] FIG. 5 is a flowchart showing an outline of the process according to an embodiment of the present disclosure. In the process shown in FIG. 5, first, the planning device 300 (for example, the route search unit 301) acquires design surface information (for example, information representing design surfaces DS1 to DS5) (step S31). For example, it may be acquired online from another computer or the like according to an operator's operation, or design surface information stored in advance may be acquired. Further, the planning device 300 (for example, the route search unit 301) concurrently acquires current terrain information of the construction range CR (step S32). For example, it may be acquired online from another computer or the like according to an operator's operation. The current terrain information acquired online from another computer or the like is assumed to be prepared in advance by three-dimensional point cloud measurement or the like using, for example, LiDAR mounted on a drone. For example, it may be acquired by three-dimensional point cloud measurement or the like using LiDAR or the like mounted on the work machine 100.

[0055] Further, the planning device 300 (for example, the route search unit 301) generates a three-dimensional voxel map representing the current terrain information based on the current terrain information of the construction range CR (step S33). FIG. 6 is a schematic diagram showing an example of the three-dimensional voxel map according to an embodiment of the present disclosure. The three-dimensional voxel map MAP shown in FIG. 6 represents the terrain before construction in the construction range CR by a plurality of three-dimensional voxels (the smallest unit of the legislative body).

[0056] Next, the route search unit 301 creates an optimal driving route plan based on the design surface information and the terrain information (step S34). Next, the excavation planning unit 302 creates an optimal excavation plan based on the design surface information, the terrain information, and the optimal driving route plan (step S35). Next, the plan transmission unit 303 transmits the optimal driving route plan and the optimal excavation plan to the work machine automatic control device 150 (step S36), and the planning device 300 ends the process.

[0057] On the other hand, in the work machine automatic control device 150, the plan acquisition unit 151 receives the optimal travel route plan and the optimal excavation plan from the plan device 300 (step S11). Next, the travel control unit 152 performs travel control of the work machine 100 to move the work machine 100 to the next (or first) intermediate travel position based on the optimal travel route plan (step S12). Further, when the intermediate travel position is reached, the excavation control unit 153 performs excavation control of the work machine 100 until there is no loading target at the intermediate travel position based on the optimal excavation plan (step S13). Here, the excavation control includes, for example, control that repeats a series of flows of an excavation operation, a loading turning operation, an earth discharge operation, and a return turning operation, and control that repeats a series of flows again from the return turning operation after traveling to the next intermediate travel position after the earth discharge operation. Further, the transport vehicle control unit 154 controls the transport vehicle 200 as necessary (step S14). The work machine automatic control device 150 repeatedly executes the processes of steps S12 to S15 until the excavation work in the excavation range CR based on the optimal travel route plan is completed (until step S15 becomes Y). On the other hand, when the excavation work in the excavation range CR based on the optimal travel route plan is completed (step S15: Y), the transport vehicle control unit 154 gives an instruction at the time of work completion to the transport vehicle 200 (step S16), and the process ends.

[0058] Also, in the transport vehicle automatic control device 250, when the travel control unit 251 receives an instruction for travel related to the movement of the transport vehicle 200 from the transport vehicle control unit 154 to the loading position (step S21), the travel control unit 251 performs travel control of the transport vehicle 200 (step S22). Also, when receiving an instruction related to unloading from the transport vehicle control unit 154 (step S21), the unloading control unit 252 performs control related to unloading of the transport vehicle 200 (step S23). Also, when receiving an instruction at the end of work from the transport vehicle control unit 154 (step S21), for example, after the travel control unit 251 performs control at the end of work, the work is completed (step S24: Y), and the process ends. Also, when not receiving an instruction at the end of work from the transport vehicle control unit 154, the work is not completed (step S24: N), and the processes after step S21 are repeated. Also, after the transport vehicle 200 unloads in the unloading area, it may return to the loading position in the loading area, or another vehicle may come to the loading position.

[0059] Here, with reference to FIGS. 7 and 8, the method of defining the position and orientation (azimuth angle) of the working machine 100 and the transport vehicle 200 used in this embodiment will be described. FIG. 7 is a schematic diagram showing an example of the method of defining the position and orientation of the working machine 100 and the transport vehicle 200 according to the embodiment of the present disclosure. FIG. 7 shows the method of defining the position and orientation (azimuth angle) of the working machine 100 and the transport vehicle 200 on the XY plane in the global coordinate system. As shown in FIG. 7, the position of the working machine 100 is represented by the x coordinate on the X axis and the y coordinate on the Y axis. Also, the orientation of the working machine 100 is represented by the angle θ with reference to the Y-axis direction. Also, the position of the transport vehicle 200 is represented by the distance r from the working machine 100 and the azimuth angle φ with reference to the position of the working machine 100. Note that the orientation of the transport vehicle 200 is a variable determined in the route search (the loading position route of the transport vehicle 200 searched by the route search unit 301, or the optimal travel route plan).

[0060] Also, in the present embodiment, in the loading operation, among the plurality of continuous traveling positions that constitute the traveling position path along which the working machine 100 travels as represented by the optimal traveling route plan, the traveling position at which the working machine 100 performs excavation and loading operations is referred to as the intermediate traveling position. Further, the loading position (hereinafter, also referred to as the spotting position) of the transport vehicle 200 at which the object 401 is loaded by the working machine 100 located at the intermediate traveling position is referred to as the intermediate loading position. Also, a structure representing a pair of the intermediate traveling position and the intermediate loading position is called a Waypoint (waypoint; location information on a path). In this case, the Waypoint is represented by the following 5-dimensional vector.

[0061]

Number

[0062] Here, as shown in FIG. 7, (x_t, y_t, θ_t) represents the position coordinates and azimuth angle of the working machine 100, r_t represents the distance between the transport vehicle 200 into which the object 401 is loaded and the working machine 100, and φ_t represents the azimuth angle of the transport vehicle 200. Note that “_” indicates that the following character is a subscript. Also, the subscript t represents a variable of the t-th Waypoint.

[0063] FIG. 8 is a schematic diagram for explaining an example of the optimal traveling route plan according to the embodiment of the present disclosure. FIG. 8 shows an example of four consecutive Waypoints 1 to 4. Waypoint 1 represents a pair of the intermediate traveling position TP1 and the intermediate loading position RP1, and is represented by the vector z_1 = (x_1, y_1, θ_1, r_1, φ_1). The next Waypoint 2 after Waypoint 1 represents a pair of the intermediate traveling position TP2 and the intermediate loading position RP2, and is represented by the vector z_2 = (x_2, y_2, θ_2, r_2, φ_2). The next Waypoint 3 after Waypoint 2 represents a pair of the intermediate traveling position TP3 and the intermediate loading position RP3, and is represented by the vector z_3 = (x_3, y_3, θ_3, r_3, φ_3). The next Waypoint 4 after Waypoint 3 represents a pair of the intermediate traveling position TP4 and the intermediate loading position RP4, and is represented by the vector z_4 = (x_4, y_4, θ_4, r_4, φ_4).

[0064] In this embodiment, in the optimal travel route plan, in the excavation work of the construction range CR, assuming that the work machine 100 moves a maximum of m times, m waypoints are optimized and determined using PSO (Particle Swarm Optimization). In PSO, one solution z is represented as a point in a 5m-dimensional space shown by the following equation (1).

[0065]

Equation

[0066] In the PSO of the optimal travel route plan, the evaluation function E used in the optimization calculation is expressed by the following equation (2) in consideration of maximizing the excavation amount with respect to the work amount. The work amount can be represented based on the moving distance of the work machine 100 and the transport vehicle 200, the relative distance between the work machine 100 and the transport vehicle 200, and the turning angle from the work machine 100 to the transport vehicle 200, etc., which are related to the excavation work and the loading work for loading the excavated object 402 onto the transport vehicle 200.

[0067]

Equation

[0068] Note that as the evaluation function, a form of linear sum as shown in the following equation (3) is also conceivable.

[0069]

Equation

[0070] In Equations (2) and (3), w_1, w_2, w_3, and w_4 are weight coefficients. v_t is the amount of soil excavated at the t-th Waypoint. l_t is the moving distance of the working machine 100 from the t-th Waypoint to the (t + 1)-th Waypoint. √(φ_t - θ_t)^2 or |φ_t - θ_t| is the azimuth of the transport vehicle 200 as seen from the working machine 100 at the t-th Waypoint. r_t is the relative distance of the transport vehicle 200 as seen from the working machine 100 at the t-th Waypoint. p_t is the moving distance of the transport vehicle 200 from the t-th Waypoint to the (t + 1)-th Waypoint. Also, in Equation (2), ε is a constant for preventing the denominator from becoming zero, and can be, for example, a small positive number (0.01).

[0071] Next, the details of the processes of Steps S31 to S35 shown in FIG. 5 will be described. FIG. 9 is a flowchart showing an operation example of the planning device 300 according to the embodiment of the present disclosure. FIG. 10 is a flowchart showing an example of creating an optimal travel route plan according to the embodiment of the present disclosure. FIGS. 11 to 13 are schematic diagrams showing examples of the preliminary excavation model according to the embodiment of the present disclosure. FIG. 14 is a schematic diagram showing an example of the spotting position prohibited area and the travel position prohibited area according to the embodiment of the present disclosure. FIG. 15 is a schematic diagram for explaining the spotting position prohibited area according to the embodiment of the present disclosure. FIG. 16 is a flowchart showing an example of creating an optimal excavation plan according to the embodiment of the present disclosure. FIG. 17 is a schematic diagram showing an example of the amount of excavable soil according to the embodiment of the present disclosure. FIG. 18 is a schematic diagram for explaining an operation example according to the embodiment of the present disclosure.

[0072] As shown in FIG. 9, in the overall flow, the planning device 300 first sets the initial position and the final position of the working machine 100 according to, for example, an operator's instruction (Step S101). FIG. 4 shows an example of setting the initial position ST1 and the final position EN1 of the working machine 100. For example, the initial position ST1 and the final position EN1 can be set at appropriate positions based on, for example, the operator's experience.

[0073] Next, the planning device 300 acquires the design surface information (step S102). Next, the planning device 300 acquires the terrain information of the excavation area (the excavation range CR and the surrounding area) (step S103). Next, the route search unit 301 creates an optimal travel route plan (step S104).

[0074] FIG. 10 shows an example of the process of step S104 in FIG. 9. In the process shown in FIG. 10, a plan is made for the excavation position / orientation of the series of work machines 100 and the spotting position / orientation of the transport vehicle 200 from the start of movement until the end of excavation. Here, the number of movements m is fixed. Also, at this stage, no trajectory planning is performed for the boom 131, arm 132, and bucket 133 of the work machine 100, and a virtual excavation model VDM is used, assuming that a certain area is excavated according to the excavation position of the work machine 100. FIGS. 11 to 13 show examples of the virtual excavation model VDM. FIG. 12 shows the virtual excavation model VDM as viewed from arrow A1 in FIG. 11, and FIG. 13 shows the virtual excavation model VDM as viewed from arrow A2 in FIG. 12. That is, the virtual excavation model VDM represents an area that can be excavated within the range reachable by the bucket 133 of the work machine 100. For example, the virtual excavation model VDM may set an area that is not excavated so that the work machine 100 can move to the next intermediate travel position after excavation by the work machine 100.

[0075] In the process shown in FIG. 10, the path search unit 301 sets the number of waypoints m and initializes the (m×n) particle swarm of PSO (step S201). Here, m is the required number of movements, and n is the number of moving particles each time. Finally, the evaluation function after m movements is calculated and used as the evaluation value of one particle of the PSO. Optimization calculation is performed by the PSO using n such particles. Next, the path search unit 301 initializes a variable i for counting the number of waypoints to "0" (step S202). Next, the path search unit 301 estimates the excavation amount at waypoint i and updates the terrain (3D voxel map MAP) based on the estimated excavation amount (step S203). Note that the assumed excavation volume in step S203 estimates the soil volume existing in the area (provisional excavation model VDM) shown in FIGS. 11 to 13 within the range that the bucket 133 of the working machine 100 can reach at the waypoint.

[0076] Next, the path search unit 301 determines whether the variable i is less than the variable m (step S204). If the variable i is less than the variable m (step S204: Y), the path search unit 301 creates a travel route plan from waypoint i to waypoint i + 1 using, for example, the A* method (A-star search algorithm), increments the variable i by "1" (step S205), and returns to step S203.

[0077] If the variable i is not less than the variable m (step S204: N), the path search unit 301 calculates the PSO evaluation function E and updates the PSO particle swarm (step S206). In step S206, finally, the evaluation function E after m movements is calculated and used as the evaluation value of one particle of the PSO. Optimization calculation is performed by the PSO using n such particles. Note that the update formula of the PSO is given by the following formula (4).

[0078]

Equation

[0079] Here, i is the individual number, z_i is the position of each individual, V_i is the speed of each individual, r_1 and r_2 are random numbers between 0 and 1, k is the number of search and update times, c_1, c_2, and w are constants, where c_1 and c_2 are acceleration coefficients, and w is the inertia coefficient for speed. pbest represents the best position of each individual in each iteration, and gbest represents the best position of the entire group.

[0080] Next, the path search unit 301 determines whether the driving position or the spotting position corresponds to a prohibited area (step S207). FIG. 14 shows an example of a spotting position prohibited area (prohibited area) and a driving position prohibited area (prohibited area). As shown in FIG. 14, the excavated range DAR, which is the already excavated range, is set as the driving position prohibited area of the work machine 100. Also, based on the azimuth angles A and B applied to the excavated range DAR based on the intermediate driving position of the work machine 100, a prohibited area for the spotting position (intermediate loading position) can be set for the transport vehicle 200. However, as shown in FIG. 15, when the reach range of the work machine 130 exceeds the excavated range DAR, a range exceeding the excavated range DAR within the reach range of the work machine 130 may be excluded from the prohibited area of the spotting position.

[0081] When the intermediate driving position or the spotting position corresponds to a prohibited area (step S207: Y), the path search unit 301 updates the PSO particle swarm again (step S208) and executes the determination process of step S207.

[0082] When the intermediate driving position or the spotting position does not correspond to a prohibited area (step S207: N), the path search unit 301 determines whether the maximum number of PSO iterations has been reached (step S209).

[0083] When the maximum number of PSO iterations has been reached (step S209: Y), the path search unit 301 determines the solution with the maximum evaluation function E as the optimal solution and ends the process shown in FIG. 10. On the other hand, when the maximum number of PSO iterations has not been reached (step S209: N), the path search unit 301 executes the processes after step S202 again.

[0084] Returning to FIG. 9, since the excavation position / orientation of the work machine 100 and the spotting position / orientation of the transport vehicle 200 are planned through the above processing (step S104), the excavation planning unit 302 moves the work machine 100 and the transport vehicle 200 to the initial excavation position and the spotting position (step S105). Next, the excavation planning unit 302 creates an optimal excavation plan including a detailed optimal trajectory plan for turning and excavation at the moved point (step S106).

[0085] FIG. 16 shows an example of the processing in step S106 of FIG. 9. In the processing shown in FIG. 16, the PSO is used to determine an optimal turning angle (excavation azimuth direction). That is, the excavation azimuth direction is the optimal direction in which the work machine 100 performs excavation. The following formula (5) is used for the evaluation of the solution.

[0086]

Equation

[0087] Note that as the evaluation function E, the following formula (6) in the form of a linear sum is also considered.

[0088]

Equation

[0089] However, V is the amount of excavated soil in one excavation operation, T_1 is the time required for excavation, and T_2 is the time required for turning. The trajectory of the excavation operation can be obtained, for example, by solving an optimal control problem considering the dynamics and movable range constraints of the boom 131, the arm 132, the bucket 133, and the constraints of the hydraulic system, etc. by the pseudo-spectral method.

[0090] In the processing shown in FIG. 16, the excavation planning unit 302 first initializes the particles of the PSO (step S301). Here, the particles are the turning angles DD1, DD2, DD3, etc. at each Waypoint shown in FIG. 6. For example, the turning angles DD1, DD2, DD3, etc. are the directions in which the work machine 100 excavates with the work implement 130.

[0091] Next, the excavation planning unit 302 creates an optimal excavation trajectory plan for each particle (step S302). Next, the excavation planning unit 302 calculates the PSO evaluation function E and updates the PSO particle swarm (step S303). Next, the excavation planning unit 302 determines whether the maximum number of PSO iterations has been reached (step S304).

[0092] When the maximum number of PSO iterations is reached (step S304: Y), the excavation planning unit 302 determines the solution (excavation azimuth direction) with the maximum evaluation function E as the optimal solution and ends the process shown in FIG. 16. On the other hand, when the maximum number of PSO iterations has not been reached (step S304: N), the excavation planning unit 302 executes the processes after step S302 again.

[0093] Returning to FIG. 9, in the process of creating the optimal trajectory plan in step S106, since the optimal turning angle in the next excavation operation is specified, the excavation planning unit 302 compares the excavation amount in that excavation operation with the predetermined threshold value ξ + W_1 × t_p (step S107). When the excavation amount is equal to or greater than (threshold value ξ + W_1 × t_p) (step S107: Y), the excavation planning unit 302 updates the terrain (3D voxel map MAP) based on the excavation amount by that excavation operation (step S108). After step S108, the excavation planning unit 302 executes the process of step S106 again. Note that the threshold value ξ is a value corresponding to the excavation amount at which it is determined that the object 401 should be left without excavation at the current Waypoint and move to the next Waypoint. W_1 is a weight coefficient, and t_p is the time required for one excavation.

[0094] On the other hand, when the excavation amount is less than (threshold value ξ + W_1 × t_p) (step S107: N), the excavation planning unit 302 determines whether the Waypoint is the end point (step S109). When the Waypoint is the end point (step S109: Y), the excavation planning unit 302 ends the process shown in FIG. 9. When the Waypoint is not the end point (step S109: N), the excavation planning unit 302 executes the processes after step S105 again.

[0095] Through the processes of steps S106 and S107, the excavation planning unit 302 performs a detailed optimal trajectory planning for turning and excavation at each Waypoint. Also, the excavation trajectory is repeatedly planned until sufficient excavation volume cannot be obtained at that position. FIG. 17 schematically shows a state in which excavation targets 401-1, 401-2, and 401-3 remain within the reach range RAR of the working machine 130, which is the range where the working machine 100 can excavate. In the determination process of step S107, the excavation volume on the left side is the value obtained by the excavation operation in the optimal excavation direction estimated to have the largest excavation volume at that time. Therefore, no further excavation volume can be expected even if the excavation operation is further performed. Also, the value on the right side (ξ + W_1 × t_p) is a value determined based on a constant corresponding to the excavation volume and the excavation time. In this case, for example, considering the time and the excavation volume, it is possible to determine whether to perform the next excavation at the same Waypoint. In the determination of step S107, for example, when there is a difficult-to-excavate location (for example, a location where the time required for excavation is long), it is possible to obtain a determination result of moving to the next Waypoint without trying to excavate forcibly. For example, in the example shown in FIG. 17, it can be determined that the targets 401-1 and 401-2 are to be excavated, and the target 401-3 is not to be excavated.

[0096] In step S107, the excavation planning unit 302 may determine whether to move the working machine 100 to the next Waypoint based on, for example, the volume of the excavable area at the Waypoint calculated based on the position information of the working machine 100, the terrain information representing the terrain composed of the object 401, and the design surface information representing the target surface of the terrain to be formed by excavation. In this case, the timing of the movement of the working machine 100 can be determined based on the amount of the excavation target objects around the working machine 100. Alternatively, the excavation planning unit 302 may determine whether to move the working machine 100 to the next Waypoint based on the amount of the loadable object 401 within the excavable range of the working machine 100 and the time required for the excavation of the object 401 at the Waypoint. In this case, the timing of the movement can be determined based on the amount of the excavation target objects around the working machine 100 and the time information required for the excavation.

[0097] Note that regarding the loading operation onto the transport vehicle 200, the planning device 300 divides the area 202s of the loading platform 202 as viewed from above into five slots 202s-1 to 5 as shown in FIG. 18, and preferentially loads from the slot 202s-1 close to the driver's seat of the transport vehicle 202. Further, when the loading platform 202 is fully loaded, the transport device control unit 154 can instruct the transport vehicle 200 to move to the unloading point and then return to the spotting position again.

[0098] (Function and Effect) According to this embodiment, the planning device 300 includes a route search unit 301. In the loading operation of loading the object 401 onto the transport vehicle 200 using the working machine 100, it is a device that plans the traveling position route of the working machine 100 passing through a plurality of intermediate traveling positions TP1 to TP4 and the loading position route of the transport vehicle 200 passing through a plurality of intermediate loading positions RP1 to RP4 corresponding to any of the plurality of intermediate traveling positions. The route search unit 301, in each set (Waypoint1 to 4) of each intermediate traveling position TP1 to TP4 and the corresponding intermediate loading position RP1 to RP4, takes the quantity (v_t) of the object 401 to be loaded as a variable that increases the evaluation function E, the length (p_t) of the moving route of the transport vehicle 200, the relative distance (r_t) between the transport vehicle 200 and the working machine 100, the relative angle (|φ_t - θ_t|) between the transport vehicle 200 and the working machine 100, and the length (l_t) of the moving route of the working machine 100 as variables that decrease the evaluation function E, and searches for the traveling position route and the loading position route that maximize the evaluation function E. According to this embodiment, since the position information such as the excavation position and the loading position can be automatically determined, labor saving can be achieved. Also, since the optimal route is searched using the above evaluation function, a route that enables efficient work can be specified.

[0099] (Modification example) As described above, the embodiments of the present invention have been described with reference to the drawings. However, the specific configuration is not limited to the above embodiments, and also includes design changes and the like within the scope that does not depart from the gist of the present invention.

[0100] For example, the planning device 300 may be provided in the working machine 100. Also, for example, terrain information is measured for each excavation operation using a three-dimensional shape sensor or the like provided in the working machine 100, and in the process of step S108 in FIG. 9, for example, the terrain information used for calculating the optimal excavation plan may be updated based on the terrain information measured using the three-dimensional shape sensor.

[0101] Also, part or all of the program executed by the computer in the above embodiment can be distributed via a computer-readable recording medium or a communication line.

[0102] Aspects of the present disclosure can be understood as follows.

[0103] (Appendix 1) An apparatus for planning a travel position path of a work machine in a loading operation of loading an object onto a transport vehicle using the work machine, a path search unit that searches for the travel position path using an evaluation function based on the amount of the object to be loaded and information between the work machine and the transport vehicle A planning apparatus comprising the same.

[0104] (Appendix 2) The travel position path includes a plurality of intermediate travel positions, while planning the travel position path, a loading position path of the transport vehicle passing through a plurality of intermediate loading positions corresponding to any of the plurality of intermediate travel positions is planned, The path search unit searches for the loading position path using the evaluation function The planning apparatus according to (Appendix 1).

[0105] (Appendix 3) In a set of each intermediate travel position and the corresponding each intermediate loading position, the path search unit sets the amount of the object to be loaded as a variable that increases the evaluation function, and sets at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that decreases the evaluation function, and searches for the travel position path and the loading position path that maximize the evaluation function, or sets the amount of the object to be loaded as a variable that decreases the evaluation function, and sets at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that increases the evaluation function, and searches for the travel position path and the loading position path that minimize the evaluation function The planning apparatus according to (Appendix 2).

[0106] (Appendix 4) The loading operation is an operation in which the work machine excavates the object and the work machine loads the excavated object onto the transport vehicle. The route search unit sets the location where the work machine excavates the object as a travel prohibited area of the work machine, and searches for the travel position route outside the travel prohibited area. The planning device according to (Appendix 3).

[0107] (Appendix 5) The route search unit sets the location where the work machine excavates the object as a loading position prohibited area of the transport vehicle, and searches for the loading position route outside the loading position prohibited area. The planning device according to (Appendix 2), (Appendix 3) or (Appendix 4).

[0108] (Appendix 6) It includes an excavation planning unit that plans the excavation direction of the work machine at each intermediate travel position while sequentially moving the work machine to each intermediate travel position. Based on the volume of the excavable area at the intermediate travel position calculated based on the position information of the work machine, the terrain information representing the terrain composed of the object, and the design surface information representing the design surface that is the target surface of the terrain formed by excavation, the excavation planning unit determines whether to move the work machine to the next intermediate travel position. The planning device according to (Appendix 2) to (Appendix 5).

[0109] (Appendix 7) It includes an excavation planning unit that plans the excavation direction of the work machine at each intermediate travel position while sequentially moving the work machine to each intermediate travel position. Based on the amount of the loadable object within the excavable range of the work machine and the time required for excavating the object at the intermediate travel position, the excavation planning unit determines whether to move the work machine to the next intermediate travel position. The planning device according to (Appendix 2) to (Appendix 5).

[0110] (Appendix 8) While sequentially moving the work machine to each of the intermediate traveling positions, it includes an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate traveling positions. The excavation planning unit determines whether to move the work machine to the next intermediate traveling position based on the maximum possible load capacity of the transport vehicle. The planning device according to (Appendix 2) to (Appendix 5).

[0111] (Appendix 9) It includes the planning device according to (Appendix 1) to (Appendix 9). Work machine.

[0112] (Appendix 10) It automatically travels based on the traveling position route according to (Appendix 1) to (Appendix 9). Work machine.

[0113] (Appendix 11) It automatically travels based on the loading position route according to (Appendix 2), (Appendix 3) or (Appendix 5). Transport vehicle.

[0114] (Appendix 12) It is remotely operated based on the traveling position route according to (Appendix 1) to (Appendix 9). Work machine.

Explanation of reference numerals

[0115] 100... Work machine, 110... Traveling body, 120... Slewing body, 130... Working machine, 133... Bucket, 150... Work machine automatic control device, 200... Transport vehicle, 202... Loading platform, 250... Transport vehicle automatic control device, 300... Planning device, 301... Route search unit, 302... Excavation planning unit

Claims

1. In a loading operation of loading an object onto a transport vehicle using a work machine, an apparatus for planning a travel position path of the work machine, comprising: a path search unit that searches for the travel position path using an evaluation function based on the amount of the object to be loaded and information on the work machine and the transport vehicle A planning apparatus comprising:

2. The travel position path includes a plurality of intermediate travel positions, while planning the travel position path, a loading position path of the transport vehicle passing through a plurality of intermediate loading positions corresponding to any of the plurality of intermediate travel positions is planned, and the path search unit searches for the loading position path using the evaluation function The planning apparatus according to claim 1.

3. In a set of each of the intermediate travel positions and the corresponding intermediate loading positions, the path search unit sets the amount of the object to be loaded as a variable that increases the evaluation function, and at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that decreases the evaluation function, and searches for the travel position path and the loading position path that maximize the evaluation function, or sets the amount of the object to be loaded as a variable that decreases the evaluation function, and at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that increases the evaluation function, and searches for the travel position path and the loading position path that minimize the evaluation function The planning apparatus according to claim 2.

4. The loading operation is an operation in which the work machine excavates the object and the work machine loads the excavated object onto the transport vehicle, and the path search unit sets the location where the work machine excavates the object as a travel prohibited area of the work machine, and searches for the travel position path outside the travel prohibited area The planning apparatus according to claim 3.

5. The path search unit sets the location where the work machine excavates the object as a loading position prohibited area of the transport vehicle, and searches for the loading position path outside the loading position prohibited area The planning apparatus according to claim 4.

6. comprising a digging plan unit that plans a digging direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the volume of the excavable area at the intermediate travel position calculated based on the position information of the work machine, the terrain information representing the terrain composed of the object, and the design surface information representing the design surface which is the target surface of the terrain to be formed by excavation. The planning device according to claim 5.

7. It includes an excavation planning unit that plans the excavation direction of the work machine at each intermediate travel position while sequentially moving the work machine to each intermediate travel position. The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the amount of the object that can be loaded within the excavable range of the work machine and the time required for excavating the object at the intermediate travel position. The planning device according to claim 5.

8. It includes an excavation planning unit that plans the excavation direction of the work machine at each intermediate travel position while sequentially moving the work machine to each intermediate travel position. The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the maximum possible load capacity of the transport vehicle. The planning device according to claim 5.

9. A work machine comprising the planning device according to any one of claims 6, 7, or 8. Work machine.

10. A work machine that automatically travels based on the travel position route according to any one of claims 6, 7, or 8. Work machine.

11. A transport vehicle that automatically travels based on the loading position route according to any one of claims 6, 7, or 8. Transport vehicle.

12. A work machine that is remotely operated based on the travel position route according to any one of claims 6, 7, or 8. Work machine.

13. A method for planning the travel position route of a work machine in a loading operation of loading an object onto a transport vehicle using the work machine, the method comprising: a step of searching for the travel position route using the amount of the object to be loaded and an evaluation function based on the information of the work machine and the transport vehicle. A planning method including this.

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