Work machine control device, work machine, external device, work machine system, program and sediment moving amount determination method

Abstract

To provide a work machine control device for supplying an adequate amount of sediment to a construction object from an excavation object, a work machine, an external device, a work machine system, a program and a sediment moving amount determination method.SOLUTION: A work machine control device 50 is a control device 40 for a work machine 100 for automatically performing sediment supply work of repeating a series of operations of excavating sediment in an excavation object ET by a bucket 6, moving the bucket 6 on which the sediment is held toward a construction object WT, and releasing the sediment from the bucket 6 to the construction object WT. The work machine control device 40 includes a controller 50 for converting a target construction volume V1 which is a target value of the volume of sediment in the construction object WT into a target moving total amount V3 which is a total amount of the volume of the sediment to be moved from the excavation object ET toward the construction object WT in the sediment supply work, using a change rate of the sediment.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to technology for work machines such as hydraulic excavators. [Background technology]

[0002] Patent Document 1 discloses an excavator capable of automatically carrying out the work of piling up earth and sand and the work of burying with earth and sand, and this excavator automatically performs at least one of the work of piling up earth and the work of burying with earth and sand. Patent Document 2 and Patent Document 3 disclose technology related to the automatic operation of construction machinery. Chapter 2, 2-1(4) of Non-Patent Document 1 discloses that the rate of change in earth volume is taken into consideration when manipulating earth volume in construction work. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 162428 [Patent Document 2] Japanese Patent Publication No. 2022-41683 [Patent Document 3] Japanese Patent Publication No. 2022-168730 [Non-Patent Document 1] Guidelines for Calculating the Quantity of Land Improvement Works in FY2022 (Draft), Chapter 2, 2-1(4), [online], Ministry of Agriculture, Forestry and Fisheries, Rural Development Bureau, Construction Planning and Coordination Office, Design Division, [Retrieved February 6, 2024], Internet<URL:https: / / www.maff.go.jp / j / nousin / seko / suryo / h2012 / attach / pdf / index-174.pdf> Summary of the Invention [Problem to be solved by the invention]

[0004] When a work machine automatically and repeatedly performs a series of operations that involve excavating soil and sand at an excavation target with a bucket, moving the bucket holding the soil toward the construction target, and releasing the soil and sand from the bucket onto the construction target, it is desirable that an appropriate amount of soil and sand be supplied from the excavation target to the construction target.

[0005] The present disclosure aims to provide a work machine control device, a work machine, an external device, a work machine system, a program, and a method for determining the amount of soil movement, for supplying an appropriate amount of soil from an excavation target to a construction target. [Means for solving the problem]

[0006] The work machine control device of the first aspect is a work machine control device for a work machine that automatically performs soil supply work, which involves repeating a series of actions: excavating soil and sand at an excavation target with a bucket, moving the bucket holding the soil and sand toward the construction target, and releasing the soil and sand from the bucket onto the construction target.The work machine control device is equipped with a controller that uses the soil change rate to convert a target construction volume, which is a target value for the volume of soil and sand at the construction target, into a target total movement amount, which is the total volume of soil and sand that should be moved from the excavation target toward the construction target during the soil supply work.

[0007] In the construction machine control device according to the first aspect, the controller converts the target construction volume into the target total movement amount using the rate of change, and therefore it is possible to supply an appropriate amount of earth and sand from the excavation target to the construction target based on the converted target total movement amount. This reduces the frequency of additional operations after the supply of earth and sand to the construction target is completed, such as a replenishment operation to replenish the shortage of earth and sand to the construction target, or a removal operation to remove excess earth and sand from the construction target, thereby improving the efficiency of the entire work, including the earth and sand supplying operation which repeats the series of operations, and the subsequent post-process.

[0008] In a second aspect, it is preferable that the construction machine control device according to the first aspect further comprises the following configuration. That is, in the construction machine control device according to the second aspect, it is preferable that the controller determines the target construction volume using three-dimensional data of the construction object before construction (before-construction shape data) and three-dimensional data relating to a target shape of the construction object (target shape data). In this case, the controller may, for example, determine as the target construction volume the volume of a space enclosed by the surface of soil and sand in the target shape specified by the target shape data and the before-construction shape specified by the before-construction shape data.

[0009] In a third aspect, it is preferable that the work machine control device according to the first or second aspect further comprises the following configuration: That is, in the work machine control device according to the third aspect, the rate of change of soil and sand includes a soil loosening rate and a soil compaction rate, and the controller may calculate a target total excavation amount, which is the total amount of an excavation volume of soil and sand to be excavated by the bucket in the excavation target, by dividing the target construction volume by the compaction rate, and calculate the target total movement amount by multiplying the target total excavation amount by the loosening rate.

[0010] In a fourth aspect, it is preferable that the work machine control device according to any one of the first to third aspects further comprises the following configuration. That is, in the work machine control device according to the fourth aspect, it is preferable that the controller sets an operation plan including a target number of times to repeat the series of operations using the target total movement amount and a standard value for the volume of earth and sand to be held in the bucket (standard bucket holding volume). It is more preferable that the controller displays the operation plan on a specified display. In this case, people involved in the work can understand the operation plan displayed on the display.

[0011] In a fifth aspect, it is preferable that the work machine control device according to the fourth aspect further comprises the following configuration. That is, in the work machine control device according to the fifth aspect, it is preferable that the controller compares the operation plan with the progress of actual operation and corrects the operation plan. Specifically, for example, correcting the operation plan may include increasing or decreasing the target number of times, may include increasing or decreasing the target time spent on the series of operations (the one cycle time), or may include increasing or decreasing the standard value (the standard bucket holding volume).

[0012] In a sixth aspect, it is preferable that the work machine control device according to any one of the first to fifth aspects further comprises the following configuration: That is, in the work machine control device according to the sixth aspect, it is preferable that the soil change rate includes a soil loosening rate, and the controller sets the loosening rate using three-dimensional data of the excavation target acquired by an imager (excavation target three-dimensional data) and three-dimensional data of the soil held in the bucket acquired by the imager (bucket soil three-dimensional data). In this sixth aspect, the loosening rate set based on the three-dimensional data acquired by the imager is a value that reflects the actual excavation situation.

[0013] A seventh aspect is preferably the construction machine control device according to any one of the first to sixth aspects, further comprising the following configuration: That is, in the construction machine control device according to the seventh aspect, the controller may use three-dimensional data of the excavation target (three-dimensional data of the excavation target) acquired by an imaging device to set a target excavation trajectory of the bucket when excavating the excavation target.

[0014] In an eighth aspect, it is preferable that the construction machine control device according to any one of the first to seventh aspects further comprises the following configuration: That is, in the construction machine control device according to the eighth aspect, it is preferable that the controller uses three-dimensional data of the construction target acquired by an imaging device to determine a release position on the construction target where earth and sand is to be released from the bucket.

[0015] In a ninth aspect, it is preferable that the construction machine control device according to any one of the first to eighth aspects further comprises the following configuration: That is, in the construction machine control device according to the ninth aspect, it is preferable that the controller uses three-dimensional data of the work target before the forming operation acquired by an imaging device to determine whether or not to proceed to the forming operation.

[0016] In a tenth aspect, it is preferable that the work machine control device according to the ninth aspect further comprises the following configuration: That is, in the work machine control device according to the tenth aspect, it is preferable that the controller uses three-dimensional data of the processing target after the forming operation acquired by the image capture device to determine whether or not an additional operation is required to fine-tune the processing target.

[0017] An eleventh aspect is preferably the construction machine control device according to any one of the first to tenth aspects, further comprising the following configuration: That is, in the construction machine control device according to the eleventh aspect, the rate of change of soil and sand includes a soil loosening rate and a soil compaction rate, and the controller may correct at least one of the loosening rate and the compaction rate using past operation data of the construction machine and actual operation data of the construction machine (operation data acquired during the soil supply work). In this eleventh aspect, at least one of the loosening rate and the compaction rate is a value that reflects past operation data.

[0018] A work machine according to a twelfth aspect includes the work machine control device according to any one of the first to eleventh aspects.

[0019] An external device according to a thirteenth aspect includes the work machine control device according to any one of the first to eleventh aspects.

[0020] A work machine system according to a fourteenth aspect includes a work machine and an external device, and the work machine system includes the work machine control device according to any one of the first to eleventh aspects.

[0021] The program of the 15th aspect is a program for a work machine that automatically performs soil supply work by repeating a series of actions: excavating soil and sand at an excavation target with a bucket, moving the bucket holding the soil and sand toward the construction target, and releasing the soil and sand from the bucket onto the construction target.The program causes the computer to realize the function of using the soil change rate to convert a target construction volume, which is a target value for the volume of soil and sand at the construction target, into a target total movement amount, which is the total volume of soil and sand that should be moved from the excavation target toward the construction target during the soil supply work.

[0022] A method for determining the amount of soil movement according to a 16th aspect is a method for determining the amount of soil movement for a work machine that automatically performs soil supply work by repeating a series of actions: excavating soil with a bucket at an excavation target, moving the bucket holding the soil toward the construction target, and releasing the soil from the bucket into the construction target, and includes a controller using a soil change rate to convert a target construction volume, which is a target value for the volume of soil at the construction target, into a target total movement amount, which is the total volume of soil that should be moved from the excavation target toward the construction target during the soil supply work. [Effects of the Invention]

[0023] According to the present disclosure, a technique is provided for supplying an appropriate amount of soil and sand from an excavation target to a construction target. [Brief explanation of the drawings]

[0024] [Figure 1] 1 is a side view showing a work machine system including a work machine control device according to an embodiment. [Figure 2] 3 is a diagram for explaining a series of operations performed by a work machine in the work machine system. FIG. [Figure 3] 3A and 3B are diagrams for explaining a series of operations and subsequent processes performed by the work machine. [Figure 4] FIG. 2 is a block diagram showing the configuration of the work machine system. [Figure 5] 1 is a block diagram showing the configuration of a work machine control device according to a first embodiment. [Figure 6] 3 is a flowchart showing the calculation process performed by a controller of the work machine control device according to the first embodiment. [Figure 7] 3 is a flowchart showing the calculation process performed by a controller of the work machine control device according to the first embodiment. [Figure 8] FIG. 1 is a diagram for explaining a construction target. [Figure 9] FIG. 5 is a block diagram showing the configuration of a work machine control device according to a second embodiment. [Figure 10] 6 is a flowchart showing the calculation process performed by a controller of a work machine control device according to a second embodiment. [Figure 11] 10 is a flowchart showing an operation planning process performed by a controller of a work machine control device according to a second embodiment. [Figure 12] 10 is a flowchart showing a forming process performed by a controller of a work machine control device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0025] A work machine control device 40 according to an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a side view showing a work machine system 300 including a work machine control device 40 according to this embodiment. Fig. 2 is a diagram for explaining a series of operations performed by a work machine 100 in the work machine system 300. Fig. 3 is a diagram for explaining a series of operations and subsequent processes performed by the work machine 100.

[0026] In the specific example shown in Fig. 1, the work machine system 300 includes a work machine 100 and an external device 200. The work machine 100 and the external device 200 are configured to be able to communicate with each other. In this embodiment, the work machine control device 40 is provided in the work machine 100 as shown in Fig. 1. Note that in the work machine system 300, the external device 200 is not an essential component and may be omitted.

[0027] The work machine 100 is deployed at a work site WS and performs predetermined work on a work target WT set up at the work site WS. The predetermined work includes a soil supplying work for supplying soil to the work target WT. The predetermined work may further include a post-process that is performed after the soil supplying work.

[0028] The construction target WT may include a recessed portion WT1 that is recessed downward from the surrounding ground, as shown in Figure 2. The construction target WT may include ground that is the same height as the surrounding ground, or may include a protruding portion that is higher than the surrounding ground. The soil supplying work may be, for example, filling the recessed portion WT1 in the construction target WT with soil, or piling soil on the construction target WT.

[0029] If the soil supplying work is work to fill a recessed portion WT1 in the construction target WT with soil, the subsequent process may include a shaping operation to shape the surface of the soil in the construction target WT after soil has been supplied to the recessed portion WT1 in the construction target WT in the soil supplying work. The shaping operation may include a rolling operation (compaction operation) to compact the surface of the soil in the construction target WT. If the soil supplying work is work to pile soil into the construction target WT, the subsequent process may include a shaping operation to shape the surface of the soil in the construction target WT after soil has been piled into the construction target WT in the soil supplying work. The shaping operation may include a rolling operation (compaction operation) to compact the surface of the soil in the construction target WT.

[0030] As shown in Figures 2 and 3, the work machine 100 according to this embodiment performs the soil supplying operation and the post-process. The soil supplying operation includes a series of operations. The series of operations may include, for example, an excavation operation shown in Figure 2(A), an earth moving operation shown in Figure 2(B), a release operation (earth discharging operation) shown in Figure 2(C) and Figure 3(A), and a return operation shown in Figure 2(D). The excavation operation, earth moving operation, release operation, and return operation are performed in this order. Figure 2(C) shows the release operation in the initial stage of the soil supplying operation, and Figure 3(A) shows the release operation in the final stage of the soil supplying operation. The post-process includes the shaping operation shown in Figure 3(B).

[0031] The excavation operation is an operation for excavating an excavation target ET at the work site WS. The excavation operation may include, for example, a boom raising operation in which the boom 4 is raised, an arm pulling operation in which the arm 5 approaches the boom 4, and a bucket pulling operation in which the bucket 6 approaches the boom 4. The excavation target ET may be, for example, a pile of earth and sand as indicated by a triangle in FIG. 2, a not-shown earth and sand pit for storing earth and sand, or the ground at the work site WS.

[0032] The earth moving operation is an operation for moving the bucket 6 holding the excavated earth from the area of ​​the excavation target ET to the area of ​​the construction target WT (for example, directly above the construction target WT). The earth moving operation may include the rotation operation of the upper rotating body 2, the traveling operation of the lower traveling body 1, or the operation of the work implement 3.

[0033] The release operation (the earth discharging operation) is an operation for releasing (discharging) earth and sand from the bucket 6 to the work target WT. The release operation may include a bucket pushing operation in which the bucket 6 moves away from the boom 4. The release operation may further include an arm pushing operation in which the arm 5 moves away from the boom 4.

[0034] The return operation is an operation for returning the bucket 6 from the area of ​​the construction target WT to the area of ​​the excavation target ET. The return operation may include a rotation operation of the upper rotating body 2, a traveling operation of the lower traveling body 1, or an operation of the work implement 3.

[0035] The shaping operation may include a rolling operation for leveling the top surface of the work target WT by, for example, pressing the top surface of the soil supplied to the work target WT by the soil supplying work with the outer surface of the bucket 6. The rolling operation may be performed using a rolling machine (not shown) separate from the work machine 100.

[0036] The work machine control device 40 is a control device for a work machine 100 that automatically performs earth supplying work by repeating a series of operations: excavating earth and sand at an excavation target ET with a bucket 6, moving the bucket 6 holding the earth and sand toward the work target WT, releasing the earth and sand from the bucket 6 toward the work target WT, and then moving the bucket 6 toward the excavation target ET. The work machine control device 40 is equipped with a controller 50. The controller 50 uses the soil change rate to convert a target work volume V1, which is a target value for the volume of earth and sand at the work target WT, into a target total movement amount V3, which is the total volume of earth and sand to be moved from the excavation target ET toward the work target WT during the earth supplying work. The soil change rate may include a soil loosening rate L and a soil compaction rate C. In this case, the controller 50 converts the target work volume V1 into a target total movement amount V3 using the soil loosening rate L and the soil compaction rate C.

[0037] In the construction machine control device 40 according to this embodiment, the controller 50 converts the target work volume V1 into a target total movement amount V3 using the soil change rate (for example, the loosening rate L and the compaction rate C), making it possible to supply an appropriate amount of soil from the excavation target ET to the construction target WT based on the converted target total movement amount V3. This reduces the frequency of additional operations after the soil has been supplied to the construction target WT, such as replenishing operations to make up for any shortage of soil and removing excess soil from the construction target WT, thereby improving the efficiency of the entire work process, including the soil supplying operation, which involves repeating the above-described series of operations, and the subsequent post-processing, including the shaping operation.

[0038] The method for determining the amount of sediment movement according to this embodiment includes the controller 50 converting a target work volume V1, which is a target value for the volume of sediment in the work target WT, into a target total movement amount V3, which is the total volume of sediment to be moved from the excavation target ET to the work target WT during the sediment supply work, using the sediment change rates (e.g., the sediment loosening rate L and the sediment compaction rate C). This method for determining the amount of sediment movement enables the controller 50 to convert the target work volume V1 into the target total movement amount V3 using the sediment change rates (e.g., the sediment loosening rate L and the sediment compaction rate C), and enables an appropriate amount of sediment to be supplied from the excavation target ET to the work target WT based on the converted target total movement amount V3.

[0039] The main features of the work machine control device 40 according to this embodiment are as described above. The features of the work machine control device 40 according to this embodiment will be explained in more detail below, but the work machine control device according to the present disclosure is not limited to the specific example below.

[0040] 1 and 4, the work machine 100 includes a lower running structure 1 including a traveling device, an upper rotating structure 2 supported on the lower running structure 1 so as to be rotatable relative to the lower running structure 1 about a vertically extending rotation axis Z, a work device 3 supported on the upper rotating structure 2, a plurality of actuators, an imager 20, an attitude detector 30, and a work machine control device 40. The work machine 100 according to this embodiment is a shovel.

[0041] The forward / backward and left / right directions shown in the figure may be directions based on the orientation of the upper rotating body 2, may be directions based on the orientation of the lower running body 1, or may be directions based on any of the various coordinate systems (e.g., a reference coordinate system) described below.

[0042] The upper rotating body 2 includes a rotating frame 2A, a cab 2B, and a rear outer wall 2C. The rotating frame 2A is a frame that is rotatably supported on the lower traveling body 1, and forms a base portion of the upper rotating body 2.

[0043] The cab 2B is disposed, for example, at the left front portion of the revolving frame 2A. A driver's seat, operating devices, etc. are disposed inside the cab 2B. The operating devices include operating devices that receive various operations from the operator, such as boom operation for raising and lowering the boom 4, arm operation for rotating the arm 5, bucket operation for rotating the bucket 6, swing operation for swinging the upper revolving structure 2 relative to the undercarriage 1, and travel operation for traveling the undercarriage 1. The operating devices may be configured with at least one of an operating lever, an operating pedal, and an operating button. The operating devices are used when the operator operates the work machine 100 while riding in the cab 2B.

[0044] The rear outer wall 2C is disposed behind the cab 2B and is an outer wall that defines the machinery room. Various devices are disposed in the machinery room, including power equipment such as an engine, a battery, and a generator, hydraulic equipment such as a hydraulic pump, and electrical equipment. The hydraulic pump is driven by the power equipment. A counterweight may be disposed at the rear or behind the rear outer wall 2C. The counterweight is a weight used to balance the work machine 100.

[0045] The work device 3 includes a boom 4 attached to the upper rotating body 2 so as to be able to rise and fall, an arm 5 attached to the boom 4 so as to be able to turn, and a bucket 6 attached to the arm 5 so as to be able to turn.

[0046] Each of the multiple actuators operates by receiving a supply of hydraulic oil discharged from the hydraulic pump. The multiple actuators include a boom cylinder 7 for raising and lowering the boom 4, an arm cylinder 8 for rotating the arm 5, a bucket cylinder 9 for rotating the bucket 6, a swing motor 11 for rotating the upper swing structure 2 relative to the lower traveling structure 1, and a traveling motor 12 for traveling the lower traveling structure 1.

[0047] The image capture device 20 acquires work site information, which is information about the work site WS. The image capture device 20 may be attached to, for example, the cab 2B. Specifically, the image capture device 20 may be attached to the front part of the top surface of the cab 2B as shown in FIG. 1. The image capture device 20 may also be mounted on, for example, an unmanned vehicle such as a drone (not shown) that flies over the work site WS.

[0048] The imager 20 acquires three-dimensional data relating to the work site WS and inputs the acquired three-dimensional data to the controller 50. The imager 20 is configured to acquire three-dimensional data (e.g., point cloud data) of objects such as the ground, soil, and obstacles present at the work site WS. The imager 20 can acquire three-dimensional data of the excavation target ET, three-dimensional data of the soil held in the bucket 6, and three-dimensional data of the construction target WT. Specific examples are as follows:

[0049] The image capture device 20 may be a distance measurement sensor that acquires distance information regarding the distance to an object by irradiating light such as laser light. The distance measurement sensor may be, for example, a LiDAR (Light Detection and Ranging). The image capture device 20 may also be a stereo camera, an ultrasonic sensor, a total station, or other sensor capable of acquiring three-dimensional data. The image capture device 20 may also be a combination of two or more of these devices.

[0050] The attitude detector 30 acquires attitude information, which is information relating to the attitude of the work machine 100. The attitude detector 30 may include multiple attitude sensors. As shown in FIG. 1 , the multiple attitude sensors may include a boom attitude sensor 31, an arm attitude sensor 32, and a bucket attitude sensor 33. The multiple attitude sensors may further include a rotating bed attitude sensor 34.

[0051] The boom attitude sensor 31 may be a sensor that detects the attitude of the boom 4, or may be a sensor that detects the state of the boom cylinder 7 that correlates with the attitude of the boom 4. The arm attitude sensor 32 may be a sensor that detects the attitude of the arm 5, or may be a sensor that detects the state of the arm cylinder 8 that correlates with the attitude of the arm 5. The bucket attitude sensor 33 may be a sensor that detects the attitude of the bucket 6, or may be a sensor that detects the state of the bucket cylinder 9 that correlates with the attitude of the bucket 6. The rotating structure attitude sensor 34 may be a sensor that detects the attitude of the upper rotating structure 2, or may be a sensor that detects the state of the swing motor 11 that correlates with the attitude of the upper rotating structure 2.

[0052] Each of the plurality of attitude sensors may include, for example, an inertial measurement unit (IMU), a sensor that detects the degree of extension / contraction of a cylinder (e.g., a stroke sensor), or other sensors. The rotating body attitude sensor 34 may include a sensor that detects the rotation angle of the upper rotating body 2 relative to the lower running body 1, or a sensor that detects the inclination angle of the upper rotating body 2 relative to the horizontal plane.

[0053] The attitude detector 30 inputs the acquired attitude information to the controller 50 of the work machine control device 40. The controller 50 can calculate the attitude of the work machine 100 using the attitude information input from the attitude detector 30. Specifically, the controller 50 can calculate the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information. The controller 50 may represent at least one of the attitude of the boom 4, the attitude of the arm 5, the attitude of the bucket 6, and the attitude of the upper rotating body 2 based on the attitude information, for example, in coordinates in any one of various coordinate systems (e.g., a reference coordinate system) described below.

[0054] The controller 50 of the work machine control device 40 controls the operation of the work machine 100. The controller 50 performs control for automatic operation (automatic operation control) that automates the operation of the work machine 100, using three-dimensional data (e.g., point cloud data) of the work site WS input from the image capture device 20 and attitude information input from the attitude detector 30. The controller 50 may output a control command to the control target 70 so that the work machine 100 performs an operation corresponding to the automatic operation data stored in a specified memory device.

[0055] The automatic driving data may be used, for example, to calculate control commands that the controller 50 outputs to the controlled object 70 so that the work machine 100 performs the series of operations. The automatic driving data may include teaching data corresponding to the earth and sand supply work including the series of operations. The teaching data may be stored in the controller 50 of the work machine 100, or may be stored in an external device 200 that is separate from the work machine 100. The teaching data may be, for example, data related to the operation of the work machine 100 that is stored in the controller 50 or the external device 200 when the work machine 100 actually operates in response to operations given by the operator to the operating device in the cab 2B or a remote operating device. The teaching data may be data created by people involved in the work using various information terminals.

[0056] Each of the various positions required for automatic operation control, such as the position of the work machine 100, the position of the imager 20, the position of the excavation target ET, and the position of the construction target WT, may be information represented by coordinates in a coordinate system based on the imager 20 (imager coordinate system), may be information represented by coordinates in a coordinate system based on the work machine 100 (machine coordinate system), may be information represented by coordinates in a coordinate system based on a specific position at the work site WS (site coordinate system), or may be information represented by coordinates in a global coordinate system. The controller 50 may be configured to be able to convert position information in any of these coordinate systems into position information in another coordinate system.

[0057] In the following specific example, the controller 50 is configured to convert point cloud data in the imager coordinate system input from the imager 20 into point cloud data in a predefined reference coordinate system. The reference coordinate system may be the machine coordinate system, the site coordinate system, the global coordinate system, or another coordinate system.

[0058] The origin O of the reference coordinate system may be set at a specific position with the work machine 100 as the reference, for example. Specifically, the origin O of the reference coordinate system may be, for example, any position on the rotation axis Z. More specifically, the origin O of the reference coordinate system may be the intersection of the rotation axis Z and the ground. Furthermore, the origin O of the reference coordinate system may be, for example, a position on the rotation axis Z and between the lower traveling body 1 and the upper rotating body 2 (the origin O shown in FIG. 1 ).

[0059] In this embodiment, the reference coordinate system is a three-dimensional coordinate system. In this case, the reference coordinate system may be, for example, an orthogonal coordinate system defined by an x-axis parallel to the left-right direction, a y-axis parallel to the front-rear direction, and a z-axis parallel to the vertical direction. However, the reference coordinate system is not limited to the above specific example, and various other aspects can be adopted.

[0060] The coordinates of the imager 20 may be, for example, the coordinates of the viewpoint of the imager 20, or the coordinates of another part of the imager 20. The controller 50 may store in advance information relating to the relative position of the imager 20 with respect to a specific position (e.g., origin O) of the work machine 100. Specifically, for example, the controller 50 may store the coordinates of the imager 20 in the reference coordinate system in which the specific position of the work machine 100 is set as origin O.

[0061] The controlled object 70 is an object controlled by the controller 50. The output of the controlled object 70 changes in accordance with a control operation amount (control input), which is an operation amount input from the controller 50. The controlled object 70 may include a flow rate regulator and at least one of the plurality of actuators. The flow rate regulator adjusts the direction and flow rate of hydraulic oil supplied to at least one of the plurality of actuators in accordance with the control operation amount input from the controller 50. In other words, when the controller 50 inputs a control operation amount to the flow rate regulator, the flow rate regulator operates in accordance with the control operation amount input from the controller 50, and thereby hydraulic oil from the hydraulic pump is supplied to at least one of the plurality of actuators, and the actuator is operated.

[0062] The flow rate regulator may include, for example, a boom controller 71, an arm controller 72, a bucket controller 73, a swing controller 74, and a travel controller 75, as shown in FIG.

[0063] The boom controller 71 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the boom cylinder 7. The arm controller 72 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the arm cylinder 8. The bucket controller 73 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the bucket cylinder 9. The swing controller 74 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the swing motor 11. The travel controller 75 may include a spool, a pair of pilot ports, and a pair of proportional valves for adjusting the direction and flow rate of hydraulic oil supplied to the travel motor 12. Each spool is operated by inputting pilot pressure to the pilot port corresponding to that spool, allowing hydraulic oil to be supplied to the actuator corresponding to that spool.

[0064] Each proportional valve is disposed in an oil passage connecting the pilot port of the spool corresponding to that proportional valve with a pilot pump (not shown), and adjusts the pilot pressure input to the pilot port. In other words, each proportional valve outputs a secondary pressure corresponding to a control operation amount (e.g., a current value) input from the controller 50, and that secondary pressure is input as a pilot pressure to the pilot port corresponding to that proportional valve. Each proportional valve adjusts the pilot pressure input to the pilot port corresponding to that proportional valve to a magnitude corresponding to the control operation amount input from the controller 50.

[0065] The work machine 100 is equipped with a communicator 83, and the external device 200 is equipped with a communicator 203, so the work machine 100 and the external device 200 can send and receive data to and from each other by wireless communication or wired communication via a network.

[0066] The external device 200 may be an information terminal such as a tablet computer (a so-called tablet), a smartphone, a laptop personal computer, or a desktop personal computer. The external device 200 may include an input device 201 and a display device 202 such as a display. The input device 201 may be a keyboard, a mouse, a touch panel, or other input means.

[0067] The external device 200 may be a remote control device for remotely controlling the work machine 100 at a remote location away from the work machine 100. The external device 200 may also be a management device such as a server for managing work performed by the work machine 100. The external device 200 may also be an external storage device that stores data such as the teaching data. The external device 200 may also be a computer in a cloud service provided as a service over a network such as the Internet. The work machine system 300 may be equipped with multiple external devices 200.

[0068] [First embodiment] Fig. 5 is a block diagram showing the configuration of a work machine control device 40 according to the first embodiment. In the first embodiment shown in Fig. 5, the controller 50 of the work machine control device 40 includes a target total movement amount calculation unit 51, an operation plan setting unit 52, a work time calculation unit 53, a machine control unit 54, a data storage unit 55, and a display control unit 56.

[0069] The controller 50 has a computer including a memory and an arithmetic processing unit. The functions of the target total movement amount calculation unit 51, the operation plan setting unit 52, the work time calculation unit 53, the machine control unit 54, the data storage unit 55, and the display control unit 56 in the controller 50 are realized by the arithmetic processing unit executing a program stored in the memory (for example, a non-transitory tangible recording medium).

[0070] The target total movement amount calculation unit 51 uses the soil loosening rate L and the soil compaction rate C to convert the target construction volume V1, which is the target value of the volume of soil in the construction target WT, into a target total movement amount V3, which is the total volume of soil that should be moved from the excavation target ET to the construction target WT during the soil supply work.

[0071] The loosening ratio L is the ratio of the volume of soil held in the bucket 6 to the volume of soil in the excavation target ET. When soil in the excavation target ET is excavated with the bucket 6, the volume of soil held in the bucket 6 increases compared to the volume of soil in the excavation target ET, so the loosening ratio L is a value greater than 1.

[0072] The compaction ratio C is the ratio of the volume of soil in the construction target WT after the compacting operation to the volume of soil in the excavation target ET. When the compacting operation is performed on the soil supplied to the construction target WT by the soil supply work, the volume of soil in the construction target WT after the compacting operation is smaller than the volume of soil in the excavation target ET, so the compaction ratio C is a value smaller than 1.

[0073] The loosening rate L and the compaction rate C may each be stored in advance in the data storage unit 55 of the controller 50 before the soil supplying work, or may be calculated by the controller 50 during the soil supplying work and stored in the data storage unit 55, as described below. The controller 50 may, for example, store in the data storage unit 55 values ​​corresponding to input operations performed by persons involved in the work on the input unit 81 of the work machine 100 or the input unit 201 of the external device 200 as the loosening rate L and the compaction rate C. The loosening rate L and the compaction rate C may each be set based on the results of a soil survey performed before the soil supplying work, for example.

[0074] The operation plan setting unit 52 sets an operation plan including a target number of times Nt to repeat the series of operations using the target total movement amount V3 and the standard value Vs of the volume of soil and sand held in the bucket 6 (standard bucket holding volume Vs).

[0075] The standard value Vs is a standard volume that is held in the bucket 6 when soil is excavated with the bucket 6 in the excavation target ET. The standard value Vs is a value that is determined to some extent depending on the characteristics of the bucket 6, such as the volume and shape. The standard value Vs may be stored in advance in the data storage unit 55 of the controller 50 before the soil supplying work, or may be calculated by the controller 50 during the soil supplying work and stored in the data storage unit 55. The controller 50 may, for example, store in the data storage unit 55 as the standard value Vs a value that corresponds to an input operation performed by a person involved in the work on the input unit 81 of the work machine 100 or the input unit 201 of the external device 200.

[0076] The work time calculation unit 53 calculates the expected work time te required to move the target total movement amount V3 of earth and sand based on the operation plan.

[0077] The machine control unit 54 may output a control command to the controlled object 70 according to the automatic driving data stored in the data storage unit 55.

[0078] The data storage unit 55 may store the loosening rate L, the compaction rate C, and the standard value Vs. The data storage unit 55 may store the automatic driving data.

[0079] The display control unit 56 performs control to display information on a predetermined display device such as a display. The predetermined display device may be, for example, the display device 202 of the external device 200 or the display device 82 of the work machine 100.

[0080] Figure 6 is a flowchart showing the calculation process performed by the controller 50 of the work machine control device 40 according to the first embodiment. The controller 50 may perform the calculation process shown in Figure 6, for example, before the start of the soil supplying work.

[0081] The controller 50 acquires various information such as initial setting information (step S11 in FIG. 6). The information may include excavation target information on the excavation target ET, construction target information on the construction target WT, target shape information on the target shape SA (see FIG. 2A), information on the loosening rate L, information on the compaction rate C, and information on the volume of soil that can be excavated by the bucket.

[0082] The excavation target information, the construction target information, the target shape information, the loosening rate L, the compaction rate C, and the bucket excavable soil volume may be stored in advance in the data storage unit 55 of the controller 50 before the soil supply work. Specifically, for example, the controller 50 may store values ​​corresponding to input operations performed by persons involved in the work on the input unit 81 of the work machine 100 or the input unit 201 of the external device 200 in the data storage unit 55 as the excavation target information, the construction target information, the target shape information, the loosening rate L, the compaction rate C, and the bucket excavable soil volume.

[0083] The excavation target information may include data on the position of the excavation target ET and the shape of the excavation target ET (excavation target shape). The controller 50 may acquire, as the excavation target information, three-dimensional data (e.g., point cloud data) of the excavation target ET captured by the image capture device 20 and input to the controller 50.

[0084] The controller 50 may acquire the excavation target information as follows. The controller 50 may set the position of the excavation target ET by identifying a plurality of reference points that represent the position of the excavation target ET. The positions of the plurality of reference points may be identified, for example, by the operator using an operation device in the cab 2B of the work machine 100 or an external device 200 (e.g., a remote control device) to position the tip of the bucket 6 at a position corresponding to the reference point, and then by the operator making a predetermined input to the input device 81 of the work machine 100 or the input device 201 of the external device 200 (e.g., a remote control device). The controller 50 can calculate the position of the tip of the bucket 6 based on the attitude information input from the attitude detector 30. Furthermore, the position of each of the plurality of reference points may be identified, for example, by a person involved in the work inputting the coordinates of the reference point into the external device 200.

[0085] The construction target information may include data regarding the position of the construction target WT and the shape of the construction target WT (construction target shape). The controller 50 may acquire, as the construction target information, three-dimensional data (e.g., point cloud data) of the construction target WT captured by the image capture device 20 and input to the controller 50.

[0086] 2A shows a pre-construction shape SB, which is the shape of the construction target WT before earth and sand are supplied to the construction target WT. The controller 50 may acquire three-dimensional data (pre-construction shape data) of the pre-construction shape SB captured by the image capture device 20. The pre-construction shape data may be, for example, point cloud data for identifying the shape of the recessed portion WT1 in the construction target WT shown in FIG. 2A.

[0087] The controller 50 may acquire the work target information as follows. For example, if the work target WT is a rectangle in a plan view as shown in FIG. 8 , the controller 50 may set the position of the work target WT by identifying the positions of three or more of the four corners Pa, Pb, Pc, and Pd of the rectangle. The position of a corner may be identified, for example, by the operator using an operation device in the cab 2B of the work machine 100 or an external device 200 (e.g., a remote control device) to position the tip of the bucket 6 at a position corresponding to the corner, and then performing a predetermined input into the input device 81 of the work machine 100 or the input device 201 of the external device 200 (e.g., a remote control device). The controller 50 can calculate the position of the tip of the bucket 6 based on the attitude information input from the attitude detector 30. The position of a corner may also be identified, for example, by a person involved in the work inputting the coordinates of the corner into the input device 81 of the work machine 100 or the input device 201 of the external device 200.

[0088] The target shape information may include three-dimensional data (target shape data) related to the target shape SA of the work target WT. The target shape SA may be the target shape of the surface of the work target WT that is formed by supplying soil to the recessed portion WT1 of the work target WT through the soil supplying work and then performing a rolling operation to compact the surface of the soil. In the specific example shown in FIG. 2A, the target shape SA is a surface shape that is flush with the ground surface surrounding the work target WT, as indicated by the dashed dotted line. However, the target shape SA is not limited to the specific example shown in FIG. 2A. The target shape data may be specified, for example, by a person involved in the work inputting information related to the target shape SA (e.g., multiple coordinates specifying the target shape SA) to the input device 81 of the work machine 100 or the input device 201 of the external device 200. That is, the controller 50 may specify the target shape data based on the information related to the target shape SA input to the input device 81 or the input device 201.

[0089] The bucket excavable soil volume is a value determined according to the characteristics of the bucket 6, such as the volume and shape, and is the maximum volume of soil that the bucket 6 can hold by excavating. The standard value Vs may be set to the bucket excavable soil volume, or may be set to a value obtained by multiplying the bucket excavable soil volume by a predetermined coefficient (a coefficient smaller than 1).

[0090] Next, the controller 50 calculates the target total movement amount V3 (step S12 in FIG. 6). Specifically, the controller 50 may first determine a target work volume V1 using the before-work shape data and the target shape data. In this case, as shown in FIG. 2A and FIG. 3B, the controller 50 may calculate the volume of the space enclosed by the target shape SA specified by the target shape data and the before-work shape SB specified by the before-work shape data, and determine this volume as the target work volume V1. In other words, the controller 50 may determine the volume of the space enclosed by the surface of the soil of the target shape SA and the recessed portion WT1 in the work target WT before the soil supply work is performed as the target work volume V1. Next, the controller 50 may calculate a target total excavation volume V2, which is the total volume of soil and sand to be excavated by the bucket 6 in the excavation target ET, by dividing the target construction volume V1 by the compaction rate C (V2 = V1 / C), and may calculate a target total movement volume V3 by multiplying the target total excavation volume V2 by the loosening rate L (V3 = V2 × L).

[0091] Next, the controller 50 calculates an operation plan (step S13 in FIG. 6). Specifically, the controller 50 may set an operation plan including a target number of times Nt to repeat the series of operations, using a target total movement amount V3 and a standard value Vs of the volume of soil and sand held in the bucket 6 (standard bucket holding volume Vs). The controller 50 may calculate the target number of times Nt by dividing the target total movement amount V3 by the standard value Vs.

[0092] Next, the controller 50 calculates the estimated work time required to move the target total movement amount V3 of earth and sand (step S14 in FIG. 6). The controller 50 may calculate the estimated work time by multiplying the target time required for the series of operations (the time required for one cycle of the series of operations) by the target number of times Nt. The controller 50 may set the target time based on an input for setting the target time made by a person involved in the work to, for example, the input device 201 of the external device 200 before the start of the earth and sand supply work, or may set the target time based on the time required for the series of operations measured during the earth and sand supply work.

[0093] Next, the controller 50 may output information corresponding to the operation plan and information corresponding to the estimated work time to the external device 200 so that the operation plan and the estimated work time are displayed on, for example, the display 202 of the external device 200 (step S15). In this case, people involved in the work can understand the operation plan and the estimated work time displayed on the display 202 of the external device 200.

[0094] Figure 7 is a flowchart showing the calculation process performed by the controller 50 of the work machine control device 40 according to the first embodiment. Figure 7 shows an example of the calculation process for a task that includes the earth and sand supplying task, which includes the series of operations, and the subsequent molding operation. The calculation process shown in Figure 7 may be performed, for example, after the calculation process shown in Figure 6. Steps S21 and S22 in Figure 7 are calculation processes for the earth and sand supplying task, which repeats the series of operations, and step S23 in Figure 7 is calculation processes for the molding operation that is performed after the earth and sand supplying task.

[0095] The controller 50 controls the operation of the work machine 100 so that the series of operations is performed (step S21 in FIG. 7). Specifically, the machine control unit 54 of the controller 50 may control the earth and sand supply work, including the series of operations, based on the automatic driving data stored in the data storage unit 55.

[0096] The automatic driving data may include excavation operation data relating to the excavation operation as shown in (A) of Figure 2, earth moving operation data relating to the earth moving operation as shown in (B) of Figure 2, release operation data relating to the release operation as shown in (C) of Figure 2, and return operation data relating to the return operation as shown in (D) of Figure 2.

[0097] The excavation operation data may include operation data corresponding to a target excavation trajectory of the bucket 6 when excavating the excavation target ET. In this case, the machine control unit 54 uses the excavation operation data and attitude information input from the attitude detector 30 to calculate a control command for moving the bucket 6 along the target excavation trajectory, and outputs the control command to the control object 70. As a result, the work machine 100 performs the excavation operation such that the bucket 6 moves along the target excavation trajectory. Figure 2(A) shows an example of a target excavation trajectory Ta of the tip 6a of the bucket 6.

[0098] The earthmoving operation data may include operation data for moving the bucket 6 holding earth from the excavation target ET to directly above the construction target WT. In this case, the machine control unit 54 uses the earthmoving operation data and the attitude information input from the attitude detector 30 to calculate a control command for moving the bucket 6 from the excavation target ET to directly above the construction target WT, and outputs the control command to the control target 70. As a result, the work machine 100 performs the earthmoving operation for moving the bucket 6 from the excavation target ET to directly above the construction target WT.

[0099] The release operation data may include operation data for releasing earth and sand from the bucket 6 positioned directly above the work target WT onto the work target WT. In this case, the machine control unit 54 uses the release operation data and the posture information input from the posture detector 30 to calculate a control command for releasing earth and sand from the bucket 6 onto the work target WT, and outputs the control command to the control target 70. As a result, the work machine 100 performs the release operation for releasing earth and sand from the bucket 6 onto the work target WT.

[0100] The controller 50 may set in advance (for example, before the earth and sand supply work) a plurality of release positions within the work target WT from which earth and sand are released in the release operation. Each of the plurality of release positions may be specified, for example, by an x ​​coordinate and a y coordinate in a reference coordinate system. The controller 50 may also set in advance (for example, before the earth and sand supply work) the order in which the release operation is to be performed for the plurality of release positions. The controller 50 may set the plurality of release positions based on an input for setting the plurality of release positions by a work participant. The controller 50 may set the order based on an input for setting the plurality of release positions by a work participant. The input may be made to the external device 200 or to the input device 81 of the work machine 100.

[0101] The return operation data may include operation data for moving the bucket from directly above the construction target WT to the excavation target ET. In this case, the machine control unit 54 uses the return operation data and the attitude information input from the attitude detector 30 to calculate a control command for moving the bucket from directly above the construction target WT to the excavation target ET, and outputs the control command to the control target 70. As a result, the work machine 100 performs the return operation for moving the bucket 6 from directly above the construction target WT to the excavation target ET.

[0102] The controller 50 determines whether the actual number of times the series of operations has been performed in the soil supplying work has reached the target number of times Nt (step S22 in FIG. 7). If the actual number of times has not reached the target number of times Nt (NO in step S22), the controller 50 continues control of the soil supplying work (sand supply control). On the other hand, if the actual number of times has reached the target number of times Nt (YES in step S22), the controller 50 ends the soil supplying control and performs molding processing for the molding operation (step S23).

[0103] The shaping operation includes a rolling operation for leveling the top surface of the work target WT by pressing the top surface of the soil supplied to the work target WT by the soil supply work with the outer surface of the bucket 6, for example, as shown in Figure 3 (B). When the shaping operation is completed, the controller 50 ends control of the work target WT.

[0104] [Second embodiment] 9 is a block diagram showing the configuration of a work machine control device 40 according to the second embodiment. The controller 50 of the work machine control device 40 according to the second embodiment differs from the first embodiment in that, during the soil supplying operation, it performs at least one of the following: modifying the operation plan, setting the loosening rate, calculating the target release position, calculating the target excavation trajectory, determining whether to transition to a forming operation using three-dimensional data, and determining whether fine adjustment of the work target after the forming operation is necessary.

[0105] As shown in Figure 9, in the work machine control device 40 according to the second embodiment, during the soil supply operation, for example, the target excavation trajectory calculation unit 57 of the operation plan setting unit 52 may calculate the target excavation trajectory for each cycle, and the target release position calculation unit 58 of the operation plan setting unit 52 may calculate the target release position for each cycle.

[0106] In the work machine control device 40 according to the second embodiment, the controller 50 may set the operation plan before the start of the soil supplying operation (step S13 in FIG. 6 ), and may compare the operation plan with the progress of the actual operation during the soil supplying operation to revise the operation plan. Specifically, for example, the revision of the operation plan may include increasing or decreasing the target number of times Nt, the target time (the one-cycle time) required for the series of operations, or the standard value Vs (the bucket standard holding volume Vs). When a difference between the operation plan and the progress exceeds a preset threshold, the controller 50 may revise at least one of the target number of times Nt, the target time, and the standard value Vs. Furthermore, the controller 50 may revise the estimated work time based on the revised operation plan. The controller 50 may output information about the revised operation plan and the revised estimated work time to the external device 200 so that the revised operation plan and the revised estimated work time are displayed on, for example, the display 202 of the external device 200. In this case, the people involved in the work can grasp the revised operation plan and the estimated work time via the display 202 of the external device 200.

[0107] In the construction machine control device 40 according to the second embodiment, the controller 50 may correct the loosening rate L during the soil supply operation using three-dimensional data of the excavation target ET acquired by the imager 20 (excavation target three-dimensional data) and three-dimensional data of the soil held in the bucket 6 acquired by the imager 20 (bucket soil three-dimensional data). In this case, the loosening rate L corrected based on the three-dimensional data acquired by the imager 20 reflects the actual excavation situation. Specifically, for example, the controller 50 may determine the difference (shape change) between the shape of the excavation target ET before and after excavation based on the excavation target three-dimensional data, and determine the volume of the soil held in the bucket 6 (volume estimated value) based on the bucket soil three-dimensional data. The controller 50 may then update the loosening rate L based on the difference before and after excavation and the volume estimated value. This enables a more appropriate amount of soil to be supplied from the excavation target ET to the work target WT. Furthermore, the controller 50 may output information relating to the updated loosening rate L to the external device 200 so that the information is displayed on, for example, the display 202 of the external device 200. In this case, the people involved in the work can grasp the changes in the loosening rate L, i.e., the changes in the soil quality of the excavation target ET.

[0108] In the second embodiment, the controller 50 may also correct at least one of the loosening rate L and the compaction rate C using the following method.

[0109] That is, in the work machine control device 40 according to the second embodiment, the controller 50 may use operation data of the work machine 100 from earth and sand supplying work that the work machine 100 has performed in the past (past operation data) and operation data from when the work machine 100 is actually performing earth and sand supplying work (actual operation data) to correct at least one of the loosening rate L and the compaction rate C. In this case, at least one of the loosening rate L and the compaction rate C will have a value that reflects the past operation data.

[0110] The past operation data may include data that is a set of operation data correlated with the loosening rate L and the loosening rate L. The operation data correlated with the loosening rate L may include, for example, data related to the cylinder pressure of at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 when the excavation target ET is excavated. The operation data correlated with the loosening rate L may include, for example, data related to three-dimensional data (e.g., point cloud data) of the excavation target ET. The operation data correlated with the loosening rate L may include, for example, data related to the angle of the bucket 6 that excavates the excavation target ET.

[0111] The past operation data may be a set of operation data correlated with the compaction rate C and the compaction rate C. The operation data correlated with the compaction rate C may include, for example, data on the cylinder pressure of at least one of the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 during the compaction operation. The operation data correlated with the compaction rate C may include, for example, data on three-dimensional data (e.g., point cloud data) of the work target WT.

[0112] The past operation data may be stored as a database in the data storage unit 55 of the work machine 100, for example, or may be stored as a database in the external device 200.

[0113] The controller 50 may acquire the actual operation data during the soil supplying work, extract the past operation data that is the same as the acquired actual operation data or the past operation data that is closest to the actual operation data, and correct (set) the loosening rate L and the compaction rate C to the values ​​of the past loosening rate L and the past compaction rate C that are stored together with the extracted past operation data. In this case, the loosening rate L and the compaction rate C can be corrected using highly reliable data from soil supplying work that has been carried out in the past, thereby improving the estimation accuracy of the loosening rate L and the compaction rate C.

[0114] In the work machine control device 40 according to the second embodiment, the controller 50 may use three-dimensional data of the excavation target ET acquired by the image capture device 20 during the earth and sand supply operation to set a target excavation trajectory of the bucket 6 when excavating the excavation target ET. Specifically, for example, the controller 50 may set the target excavation trajectory between the upper and lower ends of the excavation target ET based on the three-dimensional data of the excavation target so that the excavation operation by the bucket 6 is smooth. The controller 50 may set the target excavation trajectory based on the three-dimensional data of the excavation target so that the volume of earth and sand held in the bucket 6 becomes a standard value Vs (bucket standard holding volume Vs).

[0115] In the work machine control device 40 according to the second embodiment, the controller 50 may use three-dimensional data of the work target WT acquired by the imager 20 to determine a release position in the work target WT where soil is released from the bucket 6. Specifically, as shown in FIG. 8, for example, the controller 50 may determine the release position (target release position TP) to be a position that reduces uneven distribution of soil in the work target WT. More specifically, the controller 50 may determine the target release position TP in the area with the least amount of soil among a plurality of areas (16 areas in the specific example of FIG. 8) that have been previously divided in the work target WT. The controller 50 may also determine the target release position TP in the area with the least amount of soil and that is closest to the center of the work target WT among a plurality of areas that have been previously divided in the work target WT. The controller 50 may also determine the target release position TP in the area with the lowest soil height among the plurality of areas. The controller 50 may also determine the target release position TP in the area with the lowest soil height among the plurality of areas that are closest to the center of the work target WT.

[0116] In the construction machine control device 40 according to the second embodiment, the controller 50 may compare, during the soil supplying operation, three-dimensional data of the work target WT before the forming operation acquired by the imager 20 with three-dimensional data relating to the target shape of the work target WT (target shape data) to determine whether to proceed to the forming operation. If the controller 50 determines not to proceed to the forming operation, the controller 50 may control the operation of the construction machine 100 so that a replenishment operation to replenish soil to the work target WT or a removal operation to remove some of the soil from the work target WT is performed. The controller 50 may estimate the volume of soil supplied to the work target WT based on the three-dimensional data of the work target WT before the forming operation, and control the operation of the construction machine so that the replenishment operation or the removal operation is performed based on the estimated volume.

[0117] In the work machine control device 40 according to the second embodiment, the controller 50 may determine whether or not an additional operation for fine-tuning the work target WT is required, using three-dimensional data of the work target WT after the shaping operation acquired by the image capture device 20. Specifically, for example, the controller 50 may determine whether or not the additional operation is required, using three-dimensional data regarding the target shape of the work target WT (the target shape data) and three-dimensional data of the work target WT after the shaping operation (post-shaping operation shape data). More specifically, the controller 50 may determine that the additional operation is required if the volume corresponding to the shape difference between the target shape corresponding to the target shape data and the post-shaping operation shape corresponding to the post-shaping operation shape data exceeds a predetermined threshold (fine-adjustment necessity determination threshold), or may determine that the additional operation is not required if the volume corresponding to the shape difference is equal to or less than the predetermined threshold. If the controller 50 determines that the additional operation is necessary, it may control the operation of the work machine 100 to perform, for example, a replenishing operation to replenish soil to the work target WT or a removal operation to remove some of the soil from the work target WT, and may perform a shaping operation on the work target WT after the additional operation, which further improves the degree of completion of the work target WT.

[0118] 10 to 12 are flowcharts showing an example of the calculation process performed by the controller 50 of the work machine control device 40 according to the second embodiment.

[0119] The processes in steps S31 and S32 in FIG. 10 are the same as the processes in steps S11 and S12 in FIG.

[0120] In the second embodiment, the controller 50 calculates an action plan in step S33. Fig. 11 is a flowchart showing an example of the action plan processing.

[0121] The controller 50 acquires three-dimensional data of the excavation target ET (three-dimensional data of the excavation target) acquired by the imager 20 (step S51 in Figure 11), and based on the acquired three-dimensional data of the excavation target, determines a target excavation trajectory of the bucket 6 when excavating the excavation target ET (step S52).

[0122] The controller 50 acquires three-dimensional data of the work target WT acquired by the image capture device 20 (step S53), and determines a target release position TP based on the acquired three-dimensional data of the work target WT (step S54).

[0123] The controller 50 determines a target movement trajectory of the bucket 6 from the excavation target ET to the target release position TP of the work target WT based on the target excavation trajectory and the target release position TP (step S55).

[0124] In the operation planning process of step S33, the controller 50 may calculate the target number of times Nt by dividing the target total movement amount V3 by the standard value Vs.

[0125] The controller 50 calculates the predicted work time required to move the target total movement amount V3 of earth and sand in step S34 shown in Fig. 10. The controller 50 may calculate the predicted work time by multiplying the target time required for the series of operations (one cycle time required to perform the series of operations once) by the target number of times Nt.

[0126] The controller 50 outputs information corresponding to the operation plan and information corresponding to the expected work time to the external device 200 so that the operation plan and the expected work time are displayed, for example, on the display 202 of the external device 200 (step S35 in Figure 10).

[0127] The controller 50 controls the operation of the work machine 100 so that the series of operations is performed (step S36 in FIG. 10). Specifically, the machine control unit 54 of the controller 50 controls the operation of the work machine 100 by outputting control commands to the control object 70 so that the series of operations is performed based on the target excavation trajectory, the target movement trajectory, and the target release position determined in the operation planning process.

[0128] When the series of operations is completed, the controller 50 determines whether the actual number of times the series of operations has been performed in the soil supplying work has reached the target number of times Nt (step S37 in FIG. 10). If the actual number of times has not reached the target number of times Nt (NO in step S37), the controller 50 performs the operation planning process again in step S33 as shown in FIG. 11, and repeats the processes from step S34 onwards. On the other hand, if the actual number of times has reached the target number of times Nt (YES in step S37), the controller 50 performs the process of step S38.

[0129] In step S38, the controller 50 acquires the three-dimensional data of the work target WT acquired by the imager 20 before the forming operation, compares this three-dimensional data of the work target WT with three-dimensional data relating to the target shape of the work target WT (target shape data), and determines whether to proceed to the forming operation (step S39). If the difference between the target shape data and the three-dimensional data of the actual work target WT exceeds a preset threshold, the controller 50 does not proceed to the forming operation (NO in step S39) and performs control for an additional operation (step S41). On the other hand, if the difference between the target shape data and the three-dimensional data of the actual work target WT is equal to or less than the threshold, the controller 50 proceeds to the forming operation (YES in step S39).

[0130] In step S41, the controller 50 controls the operation of the work machine 100 so that an additional operation (a replenishment operation for replenishing earth and sand in the work target WT or a removal operation for removing a portion of earth and sand from the work target WT) is performed.

[0131] In step S40, the controller 50 performs a molding process for the molding operation. Fig. 12 is a flowchart showing an example of the molding process.

[0132] The controller 50 outputs a control command for the shaping operation to the control object 70 (step S61 in FIG. 12). The shaping operation includes a rolling operation for leveling the top surface of the construction object WT by pressing the top surface of the soil and sand supplied to the construction object WT by the soil and sand supply work with the outer surface of the bucket 6, for example, as shown in FIG. 3(B).

[0133] The controller 50 acquires three-dimensional data of the WT to be worked on after the forming operation from the imager 20 (step S62), compares this three-dimensional data of the WT to be worked on with three-dimensional data (target shape data) regarding the target shape of the WT to be worked on, and determines whether additional operations are required to fine-tune the WT to be worked on (step S63).

[0134] If the controller 50 determines that an additional operation is necessary (YES in step S63), it controls the operation of the work machine 100 so that the additional operation (a replenishment operation to replenish soil to the work target WT or a removal operation to remove some of the soil from the work target WT) is performed (step S64). On the other hand, if the controller 50 determines that an additional operation is not necessary (NO in step S63), it ends the forming process.

[0135] [Variations] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and includes, for example, the following modified examples.

[0136] (A) External devices The work machine control device 40 may be provided in the external device 200 instead of the work machine 100. In other words, the external device 200 may be provided with the work machine control device 40. In this external device 200, the controller 50 converts the target work volume V1 into a target total movement amount V3 using the loosening rate L and the compaction rate C, so that an appropriate amount of earth and sand can be supplied from the excavation target ET to the work target WT based on the converted target total movement amount V3. Also, part of the work machine control device 40 may be provided in the work machine 100, and the other part of the work machine control device 40 may be provided in the external device 200.

[0137] (B) About the Program The program according to the modified example of the embodiment is a program for a construction machine 100 that automatically performs sediment supplying operations by repeating a series of operations: excavating soil from an excavation target ET with a bucket 6, moving the bucket 6 holding the soil toward the work target WT, and releasing the soil from the bucket 6 into the work target WT. The program causes a computer to realize a function of converting a target work volume V1, which is a target value for the volume of soil in the work target WT, into a target total movement amount V3, which is the total volume of soil to be moved from the excavation target ET to the work target WT during the sediment supplying operation, using a soil loosening rate L and a soil compaction rate C. This program enables the conversion of the target work volume V1 into the target total movement amount V3 using the soil loosening rate L and the soil compaction rate C, and enables the supply of an appropriate amount of soil from the excavation target ET to the work target WT based on the converted target total movement amount V3. This program may be provided via a communication means (e.g., a network such as the Internet) or may be provided stored on various recording media (e.g., non-transitory tangible recording media).

[0138] (C) Rate of change of sediment In the above embodiment, the rate of change of the soil and sand is composed of the loosening rate L of the soil and the compaction rate C of the soil and sand, but the rate of change of the soil and sand may further include other parameters in addition to the loosening rate L and the compaction rate C. Furthermore, the rate of change of the soil and sand may include other parameters in addition to one or both of the loosening rate L and the compaction rate C. [Explanation of symbols]

[0139] 1: Lower running body 2: Upper rotating body 3: Work equipment 6: Bucket 20: Imager 30: Attitude detector 40: Work machine control device 50: Controller 70: Control target 100: Work machines 200: External device 300: Work Machine System C: Compaction rate ET: Drilling target L: Loosening rate Nt: Target number of times SA: Target shape SB: Shape before construction TP:Target release position V1: Target construction volume V2: Target total excavation volume V3: Target total movement amount Vs: Standard value (standard bucket holding volume) WS: Work site WT: Construction target te: Estimated work time

Claims

1. A work machine control device for a work machine that automatically performs soil supply work by repeating a series of operations of excavating soil and sand at an excavation target with a bucket, moving the bucket holding the soil and sand toward the construction target, and releasing the soil and sand from the bucket onto the construction target, A work machine control device equipped with a controller that uses the rate of change of soil and sand to convert a target construction volume, which is a target value for the volume of soil and sand at the construction target, into a target total movement amount, which is the total volume of soil and sand that should be moved from the excavation target to the construction target during the soil supply work.

2. The work machine control device according to claim 1 , wherein the controller determines the target work volume using three-dimensional data of the work object before work is performed and three-dimensional data relating to a target shape of the work object.

3. The soil change rate includes a soil loosening rate and a soil compaction rate, 2. The work machine control device according to claim 1, wherein the controller calculates a target total excavation amount, which is a total volume of soil and sand to be excavated by the bucket in the excavation target, by dividing the target construction volume by the compaction rate, and calculates the target total movement amount by multiplying the target total excavation amount by the loosening rate.

4. The work machine control device according to claim 1 , wherein the controller uses the target total movement amount and a standard value for the volume of soil and sand held in the bucket to set an operation plan including a target number of times to repeat the series of operations.

5. The work machine control device according to claim 4 , wherein the controller compares the motion plan with the progress of an actual motion and modifies the motion plan.

6. The sediment change rate includes a sediment loosening rate, 2. The work machine control device according to claim 1, wherein the controller sets the loosening rate using three-dimensional data of the excavation target acquired by an imager and three-dimensional data of the soil held in the bucket acquired by the imager.

7. The work machine control device according to claim 1 , wherein the controller uses three-dimensional data of the excavation target acquired by an imager to set a target excavation trajectory of the bucket when excavating the excavation target.

8. The work machine control device according to claim 1 , wherein the controller determines a release position at the construction target where earth and sand are released from the bucket, using three-dimensional data of the construction target acquired by an imager.

9. The work machine control device according to claim 1 , wherein the controller determines whether to proceed to the forming operation using three-dimensional data of the work target before the forming operation, which data is acquired by an image capture device.

10. The work machine control device according to claim 9 , wherein the controller determines whether or not an additional operation for fine-tuning the processing object is required, using the three-dimensional data of the processing object after the forming operation acquired by the imaging device.

11. The soil change rate includes a soil loosening rate and a soil compaction rate, The work machine control device according to claim 1 , wherein the controller corrects at least one of the loosening rate and the compaction rate using past operation data of the work machine and actual operation data of the work machine.

12. A work machine equipped with the work machine control device according to any one of claims 1 to 11.

13. An external device comprising the work machine control device according to any one of claims 1 to 11.

14. A work machine system including a work machine and an external device, A work machine system including the work machine control device according to any one of claims 1 to 11.

15. A program for a work machine that automatically performs soil supply work by repeating a series of operations of excavating soil and sand at an excavation target with a bucket, moving the bucket holding the soil and sand toward the construction target, and releasing the soil and sand from the bucket onto the construction target, A program for enabling a computer to realize the function of converting the target construction volume, which is the target value of the volume of soil and sand at the construction target, into the target total movement amount, which is the total volume of soil and sand that should be moved from the excavation target to the construction target during the soil supply work, using the soil and sand change rate.

16. A method for determining an amount of sediment movement for a work machine that automatically performs sediment supply work by repeating a series of operations of excavating sediment at an excavation target with a bucket, moving the bucket holding the sediment toward the construction target, and releasing the sediment from the bucket onto the construction target, A method for determining the amount of soil movement, which includes a controller converting a target construction volume, which is a target value for the volume of soil at the construction target, into a target total movement amount, which is the total volume of soil to be moved from the excavation target to the construction target during the soil supply work, using the soil change rate.

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