Construction system

Abstract

To enable a controller to operate a work machine in a state where an external device has grasped the target information to actually operate the work machine.SOLUTION: A construction system 1 has a work machine 10 that performs work, a controller 50 that outputs commands to operate the work machine 10, and an external device 70 that outputs target information related to the target of the work to the controller 50. The controller 50 determines whether or not the target information needs to be corrected, and if the target information needs to be corrected, outputs correction information about the correction to the external device 70. The external device 70 outputs final target information based on the correction information to the controller 50.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a construction system having a work machine and an external device that issues instructions to the work machine. [Background technology]

[0002] For example, Patent Document 1 describes a target trajectory changing system that enables an operator to change the target trajectory of an attachment of an automatically operated work machine to one that is suited to the work site. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-34650 Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is a problem in that the controller moves the work machine without the external device knowing the target information for actually moving the work machine.

[0005] Therefore, an object of the present invention is to provide a construction system that allows a controller to operate a work machine while an external device grasps target information for actually operating the work machine. [Means for solving the problem]

[0006] The construction system has a work machine that performs work, a controller, and an external device. The controller outputs commands to operate the work machine. The external device outputs target information that is a target for the work to the controller. The controller determines whether or not the target information needs to be corrected. If the target information needs to be corrected, the controller outputs correction information regarding the correction to the external device. The external device outputs final target information based on the correction information to the controller. [Effects of the Invention]

[0007] With the above construction system, the controller can operate the work machine while the external device grasps the target information for actually operating the work machine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 2 is a side view of the work machine 10 and other components of the construction system 1. [Figure 2] 2 is a block diagram of the construction system 1 shown in FIG. 1. FIG. [Figure 3] 3 is a flowchart of the processing of the controller 50 and the like shown in FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[0009] The construction system 1 will be described with reference to the drawings.

[0010] The construction system 1 is a system that, when the target motion of a work machine 10 (see FIG. 1) is modified, moves the work machine 10 in accordance with the target motion, with the modified target motion being grasped by an external device 70 (see FIG. 2). As shown in FIG. 2, the construction system 1 includes the work machine 10, a detection unit 31 (see FIG. 2), an input unit 35, a controller 50 (computer), an output unit 60, and the external device 70.

[0011] As shown in FIG. 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 10 may be, for example, a shovel or a crane. The work machine 10 may be a bulldozer or a wheel loader. The following description will be given of the case where the work machine 10 is a shovel.

[0012] The work machine 10 may be one that operates in response to operation by a worker (operator). The work machine 10 may be configured to be operable by automatic control. The automatic control may be automatic operation or semi-automatic operation (machine control, described later). The work machine 10 may also operate in response to operation by a worker (operator) without using automatic control. For example, the work machine 10 may be operated by an operator in a cab 13a (described later), or may be remotely operated from outside the work machine 10.

[0013] The work machine 10 comprises a machine body 10a, an attachment 15, a drive control unit 17, an actuator 21, and an engine (not shown). The machine body 10a is the main body portion of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0014] The lower body 11 rotatably supports the upper rotating body 13. The lower body 11 may be a lower traveling body that can travel on a traveling surface (such as the ground). When the lower body 11 is capable of traveling, the lower body 11 may be provided with crawlers or wheels.

[0015] The upper rotating body 13 is mounted on the lower main body 11 so as to be able to rotate. A boom 15b (described later) and other components are attached to the upper rotating body 13. The upper rotating body 13 is equipped with a cab 13a, a rotating frame (not shown), and a counterweight (not shown). The cab 13a is the section where an operator can operate the work machine 10. When the work machine 10 operates in response to the operator's operation, the work machine 10 may be operated by the operator in the cab 13a, or may be remotely operated from outside the work machine 10. The rotating frame is a structure to which the boom 15b and other components are attached. The counterweight is a weight used to balance the work machine 10 in the fore-and-aft direction.

[0016] (direction) The direction in which the rotation axis of the upper rotating body 13 extends relative to the lower main body 11 is defined as the up-down direction Z. In the up-down direction Z, the side (facing) from the lower main body 11 toward the upper rotating body 13 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. The up-down direction Z may be a vertical direction. The direction in which the upper rotating body 13 rotates relative to the lower main body 11 is defined as the rotation direction. The direction perpendicular to both the up-down direction Z and the rotation direction of the upper rotating body 13 is defined as the front-to-rear direction X. When viewed from the up-down direction Z, the front-to-rear direction X is the direction in which the central axis of the attachment 15 extends in the longitudinal direction of the attachment 15 (the front-to-rear direction X of the attachment 15). In the front-to-rear direction X, the side from which the attachment 15 protrudes relative to the upper rotating body 13 is defined as the rear side X1, and the opposite side is defined as the front side X2.

[0017] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a. For example, the attachment 15 includes a boom 15b, an arm 15c, and a tip attachment 15d (specific parts). The boom 15b is attached to the upper rotating body 13 so as to be rotatable (able to be raised and lowered, and rotatable in the forward / backward direction X and the upward / downward direction Z). The arm 15c is attached to the boom 15b so as to be rotatable (able to be rotatable in the forward / backward direction X and the upward / downward direction Z).

[0018] The tip attachment 15d is provided at the tip of the attachment 15. The tip attachment 15d is rotatably attached to the arm 15c (rotatable in the forward / backward direction X and the upward / downward direction Z). The tip attachment 15d may be a bucket capable of scooping and digging a work object. The tip attachment 15d may be equipped with a device for clamping a work object (grapple, nibbler, rotating fork, etc.), a device for crushing a work object (breaker, etc.), or a magnet for attracting a metal work object.

[0019] The work object is an object that is the target of work by the work machine 10. The work object may be soil or sand, rock, a magnetic material (metal, etc.), resin, waste, wood (logs, etc.), or a structure (block, etc.). If the work object is soil or sand, the work object may be in soil, granules, chips, powder, etc.

[0020] The drive control unit 17 (see FIG. 2) controls the actuator 21. The drive control unit 17 may include a hydraulic circuit that controls a hydraulic actuator that is operated by hydraulic pressure. The drive control unit 17 may include an electric circuit that controls an electric actuator that is operated by electricity. The drive control unit 17 controls the actuator 21 that moves the work machine 10.

[0021] The drive control unit 17 (see FIG. 2) controls the travel of the lower body 11. The drive control unit 17 controls the swing motor 21a that swings the upper swing body 13 relative to the lower body 11. The drive control unit 17 controls the boom cylinder 21b that rotates (raises and lowers) the boom 15b relative to the upper swing body 13. The drive control unit 17 controls the arm cylinder 21c that rotates the arm 15c relative to the boom 15b. The drive control unit 17 controls the tip attachment cylinder 21d that rotates the tip attachment 15d relative to the arm 15c.

[0022] The actuator 21 is a device that moves the work machine 10. The actuator 21 may be a hydraulic actuator that is powered by hydraulic pressure, or an electric actuator that is powered by electricity. The actuator 21 may be a motor that drives rotation, or a cylinder that drives extension and retraction (telescopic cylinder).

[0023] The actuator 21 includes a travel motor (not shown), a swing motor 21a, a boom cylinder 21b, an arm cylinder 21c, and a tip attachment cylinder 21d. The travel motor moves the lower body 11. For example, if the lower body 11 has left and right crawlers, a travel motor for driving the left crawler and a travel motor for driving the right crawler are provided. The travel motors may be, for example, hydraulic motors or electric motors (the same applies to the swing motor 21a). The swing motor 21a swings the upper swing body 13 relative to the lower body 11. The boom cylinder 21b raises and lowers the boom 15b relative to the upper swing body 13. The boom cylinder 21b is, for example, a hydraulic cylinder (the same applies to the arm cylinder 21c and the tip attachment cylinder 21d). The arm cylinder 21c rotates the arm 15c relative to the boom 15b. The tip attachment cylinder 21d rotates the tip attachment 15d relative to the arm 15c. If the tip attachment 15d itself is drivable, for example, as a device for clamping an object, an actuator 21 for driving the tip attachment 15d may be provided.

[0024] The detection unit 31 (see FIG. 2) detects various conditions. Part or all of the detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10. The detection unit 31 may be mounted on the work machine 10, or may be located outside the work machine 10, and this also applies to the input unit 35, controller 50, and output unit 60, which will be described later.

[0025] 2, the detection unit 31 includes a position detection unit 311, an imaging device 312, a direction detection unit 313, an attitude detection unit 314, and a load detection unit 315. The position detection unit 311 detects the position of an object to be measured. The position detection unit 311 detects the position of a specific part of the work machine 10. For example, the position detection unit 311 may detect the position of a specific part of the upper rotating body 13, or may detect the position of a specific part of the attachment 15.

[0026] The position detection unit 311 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 311 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). The position detection unit 311 may use a (terrestrial) transmitter and receiver without using a satellite, or may use reflection of light (e.g., laser light) (e.g., a total station, etc.). The position detection unit 311 may calculate the position of the measurement object based on position information detected by multiple types of devices.

[0027] The imaging device 312 captures an image of an object to be imaged. The object to be imaged may include the work machine 10 (see FIG. 1), or may include the surroundings of the work machine 10. The imaging device 312 may detect a two-dimensional image, or may detect a three-dimensional image (distance image) having depth information. If the coordinate system of the spatial information detected by the imaging device 312 differs from the coordinate system of the work machine 10 (machine coordinates), these coordinates are unified (converted). The imaging device 312 may be of a passive type or an active type. Specifically, the imaging device 312 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 312 may be equipped with a stereo camera that detects three-dimensional information.

[0028] The imaging device 312 may detect three-dimensional information of an object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 312 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from when the waves are emitted until the reflected waves return, or may be equipped with a sensor that detects distance based on the frequency of the reflected waves. The imaging device 312 may be equipped with a device that detects three-dimensional information using light (e.g., laser light), such as a LiDAR (Light Detection and Ranging). The imaging device 312 may be equipped with a device that detects three-dimensional information using radio waves (e.g., millimeter-wave radar).

[0029] Only one imaging device 312 may be provided, or multiple imaging devices 312 may be provided. Only one type (such as one system) of imaging device 312 may be used, or multiple types of imaging devices 312 may be combined. The imaging device 312 may detect three-dimensional information of the imaging target based on a three-dimensional image (distance image) and a two-dimensional image. The imaging device 312 may be mounted on the work machine 10, or may be located outside the work machine 10 (for example, at the work site). If the imaging device 312 is located outside the work machine 10, it may be able to detect positions that cannot be detected when the imaging device 312 is mounted only on the work machine 10 (for example, areas shaded by the attachment 15 (see FIG. 1)).

[0030] The direction detection unit 313 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 313 detects the direction of a specific part of the work machine 10 (see FIG. 1). For example, the direction detection unit 313 may detect the direction of a specific part of the upper rotating body 13, or may detect the direction of a specific part of the attachment 15. The direction detection unit 313 may detect the orientation of the object to be measured using geomagnetism. The direction detection unit 313 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0031] The attitude detection unit 314 detects the attitude of the work machine 10. The attitude detection unit 314 may be mounted on the work machine 10 (see FIG. 1 ) or may be arranged outside the work machine 10 (for example, at a work site, etc.). The attitude detection unit 314 may be mounted on the work machine 10 or arranged outside the work machine 10.

[0032] The attitude detection unit 314 may detect the position and orientation of the work machine 10 (see FIG. 1) relative to the work site. The attitude detection unit 314 may detect the position and orientation of a reference position of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position of the upper rotating body 13 (see FIG. 1) or the lower body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b (see FIG. 1) to the upper rotating body 13 (see FIG. 1), or a specific position on the rotation center axis of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect the inclination of the work machine 10 with respect to the horizontal plane. The attitude detection unit 314 may detect rotation information (angle, angular velocity, angular acceleration, etc.) of the upper rotating body 13 relative to the lower body 11. The attitude detection unit 314 may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the boom 15b relative to the upper rotating body 13. The attitude detection unit 314 may detect information about the rotation of the arm 15c relative to the boom 15b. The attitude detection unit 314 may detect information about the rotation of the bucket relative to the arm 15c.

[0033] The attitude detection unit 314 may be equipped with one or more types of detection devices. The attitude detection unit 314 may be equipped with a detection device (e.g., a rotary encoder, etc.) that detects information about the angle of a certain element of the work machine 10 (see FIG. 1) relative to other elements. The attitude detection unit 314 may be equipped with a stroke sensor that detects the stroke of a cylinder that moves the attachment 15 (see FIG. 1). The attitude detection unit 314 may be equipped with an inclination sensor that detects an angle (inclination) relative to the horizontal direction. The attitude detection unit 314 may be equipped with a sensor (e.g., a gyro sensor) that detects angular velocity relative to the work site, or may be equipped with a sensor that detects acceleration relative to the work site. The attitude detection unit 314 may be equipped with an inertial measurement unit or the like. The attitude detection unit 314 may be equipped with the position detection unit 311 described above. In this case, the attitude detection unit 314 may detect the attitude of a specific part (one or more parts) of the work machine 10 based on position information detected by the position detection unit 311. The attitude detection unit 314 may include a direction detection unit 313 that detects the direction of a particular part of the work machine 10 .

[0034] The attitude detection unit 314 may be equipped with the above-mentioned imaging device 312. The attitude detection unit 314 may detect the attitude of the work machine 10 (see FIG. 1) based on image recognition of a two-dimensional image. The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image). The attitude detection unit 314 may detect the attitude of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image.

[0035] Specifically, the attitude detection unit 314 includes a reference position detection unit 314a, an inclination detection unit 314b, a rotation detection unit 314c, a boom detection unit 314d, an arm detection unit 314e, and a tip attachment detection unit 314f.

[0036] The reference position detection unit 314a detects the position and orientation of a reference position (reference position) of the work machine 10 (see FIG. 1) relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper rotating body 13 (see FIG. 1) or the lower main body 11 (see FIG. 1). The reference position of the work machine 10 may be the attachment portion (boom foot) of the boom 15b to the upper rotating body 13, or may be a specific position on the rotation center axis of the upper rotating body 13 relative to the lower main body 11. The reference position detection unit 314a detects the position and orientation relative to the work site based on information detected by, for example, one or more of the position detection unit 311, direction detection unit 313, and image capture device 312.

[0037] In Figure 1, the position of the GNSS antenna is marked with the symbol of the reference position detection unit 314a (and the position detection unit 311) when the reference position detection unit 314a (and the position detection unit 311) performs detection using a positioning system using GNSS.

[0038] The inclination detection unit 314b detects the inclination of the work machine 10 (see FIG. 1) relative to the horizontal direction. The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the ground. The inclination detection unit 314b may detect the inclination of the work machine 10 based on information detected by a device that detects inclination relative to the horizontal direction (such as a gyro sensor, an acceleration sensor, or an inertial measurement unit). The inclination detection unit 314b may detect the inclination of the work machine 10 relative to the horizontal direction based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312, for example.

[0039] The rotation detection unit 314c detects the rotation angle of the upper rotating body 13 (see FIG. 1) relative to the lower body 11 (see FIG. 1). The rotation detection unit 314c may detect information (such as angle, angular velocity, and angular acceleration) about the rotation of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the angle of rotation (rotation angle) of the upper rotating body 13 relative to the lower body 11, the angular velocity (rotation angular velocity), or the angular acceleration (rotation angular acceleration). The rotation detection unit 314c may detect the rotation information based on information detected by an angle sensor attached to the rotation axis or rotation support part (such as a rotation bearing) of the upper rotating body 13 relative to the lower body 11. The rotation detection unit 314c may detect the rotation information based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0040] The boom detection unit 314d detects the attitude of the boom 15b (see FIG. 1). The boom detection unit 314d detects the angle (tilt, rotation angle) of the boom 15b with respect to the horizontal direction or with respect to the upper rotating body 13 (see FIG. 1). The arm detection unit 314e and the tip attachment detection unit 314f may also detect the angle with respect to the horizontal direction or with respect to the components of the work machine 10 (see FIG. 1). The boom detection unit 314d may detect the attitude of the boom 15b based on information detected by one or more of the position detection unit 311, the direction detection unit 313, and the imaging device 312.

[0041] The arm detector 314e detects the posture of the arm 15c (see FIG. 1). The tip attachment detector 314f detects the posture of the tip attachment 15d (see FIG. 1). Specific examples of the arm detector 314e and the tip attachment detector 314f are similar to the specific example of the boom detector 314d.

[0042] The load detection unit 315 detects a load (load, excavation load) acting on the attachment 15 (see FIG. 1). The load detection unit 315 detects a load acting on the tip attachment 15d (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on a load acting on the actuator 21 (specifically, the cylinder) (see FIG. 1). The load detection unit 315 may detect the load acting on the attachment 15 based on distortion (deformation) of the attachment 15 or distortion of the cylinder. The load detection unit 315 may utilize a function (payload function) of detecting the mass of a work object captured by the tip attachment 15d.

[0043] The input unit 35 is used to input information (input device). The input unit 35 is used to input information used for control. The input unit 35 is operated by an operator and outputs a signal in accordance with the operation. The input unit 35 outputs information to the controller 50. The input unit 35 may include a touch panel, a mouse, a keyboard, or a switch. The input unit 35 may be provided on a tablet, a smartphone, or a personal computer. The input unit 35 may be provided on a client device or a server device. The input unit 35 may be provided on the work machine 10 (see FIG. 1), and may be provided, for example, in the cab 13a (see FIG. 1). The input unit 35 may be provided on a remote control device (not shown) for remotely controlling the work machine 10. The input unit 35 may be provided on an operation unit (e.g., an operation lever) (not shown) provided on the cab 13a or the remote control device, or may be provided on the operation unit or a display (e.g., a cluster gauge). The operation unit is operated by an operator. Operations for moving the work machine 10 are input to the operation unit. The operation unit may be provided in the driver's cab 13a, or may be provided in a remote control device for remotely operating the work machine 10.

[0044] The operation unit (not shown) outputs a command according to the operation. The operation unit may output a command according to the operation amount. The command output by the operation unit may be pilot hydraulic pressure or an electrical signal. The operation unit may include a hydraulic remote control valve or an angle sensor (e.g., a variable resistor). An operation (travel operation) for traveling the lower body 11 (see FIG. 1) may be input to the operation unit. An operation (swing operation) for rotating the upper rotating body 13 (see FIG. 1) relative to the lower body 11 may be input to the operation unit. An operation (attachment operation) for moving the attachment 15 (see FIG. 1) may be input to the operation unit. An operation (boom operation) for rotating the boom 15b (see FIG. 1) relative to the upper rotating body 13 may be input to the operation unit. An operation (arm operation) for rotating the arm 15c (see FIG. 1) relative to the boom 15b may be input to the operation unit. An operation (tip attachment operation) for rotating tip attachment 15d (see FIG. 1) relative to arm 15c may be input to the operation unit.

[0045] The controller 50 is a computer that inputs and outputs signals, performs calculations (processing), stores information, and so on. The functions of the controller 50 are realized by executing a program stored in a memory unit (not shown) of the controller 50 in a calculation unit (not shown). The controller 50 may be connected to other devices via wireless communication or wired communication. The components of the controller 50 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, information is input to the controller 50 from the detection unit 31. For example, the controller 50 outputs a command (signal) to the drive control unit 17 to operate the work machine 10 (see FIG. 1). For example, the controller 50 outputs information to the output unit 60. The controller 50 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 50 may be distributed across multiple units (a distributed system may be configured). Specific processing performed by the controller 50 will be described later.

[0046] The controller 50 comprises a calculation unit and a memory unit. The calculation unit calculates (processes) information. The memory unit stores information. Focusing on the functions of the controller 50, the controller 50 comprises a work plan setting unit 51, an operation control unit 53, a correction necessity determination unit 55, a corrected target information determination unit 57, and an application unit 59. Below, the components of the work machine 10 will be described mainly with reference to FIG. 1, and the components of the controller 50 will be described with reference to FIG. 2. Furthermore, the steps of the flowchart shown in FIG. 3 will be described with reference to FIG. 3.

[0047] The work plan setting unit 51 sets a work plan for the work machine 10 (see Figure 1). The work plan is information related to the work target of the work machine 10. The work plan may include information on the target route for travel of the work machine 10. The work plan may include information on the target range (e.g., target capture range, target release range) in which the attachment 15 (see Figure 1) will perform work. The work plan may include information on the target path of a specific part of the attachment 15. The target path is information including, for example, information on the positions (coordinates) of multiple target points and information on the order of each target point. The work plan may include information on the target trajectory of the specific part. The target trajectory is information in which time information is added to the target path information. The time information may be the time between two points, or may be information on time, etc. The time between two points is the target value for the movement time of the specific part between two adjacent (sequential) target points. The time information is information such as the time at which the specific part arrives at the target point. By adjusting the time information, the target moving speed of the specific part is adjusted.

[0048] The work plan setting unit 51 sets a work plan based on target information from an external device 70 (described later). The target information may include the work plan information itself, such as that described above. The target information may be information necessary for determining a work plan. For example, the target information may be information indicating one of a plurality of work plans stored in the controller 50. For example, the target information may be information including a reference position for performing teaching, which will be described later. For example, the target information may include information including parameters for setting a target route for the work. The target information (work plan) may include information that serves as a guide for the worker when operating the work machine 10 (see FIG. 1). The target information (work plan) may include information that causes the controller 50 to automatically operate the work machine 10.

[0049] Parameters representing positions in a work plan can be set in various ways. In a work plan, parameters representing the position of specific parts of the attachment 15 (see FIG. 1) may be set in any way as long as they are parameters from which the attitude of the work machine 10 (see FIG. 1) can be derived. Coordinate axes of parameters representing positions in a work plan may be set in any way. These parameters may be represented by coordinate axes (absolute coordinates) based on the work site. The origins (reference positions) of these coordinate axes may be set at the work site. Parameters representing positions in a work plan may be represented by coordinate axes (machine coordinates) based on the work machine 10. The origins of these coordinate axes may be set at specific parts of the work machine 10, for example, at specific parts of the upper rotating body 13 (see FIG. 1). Specifically, for example, the origin of these coordinate axes may be set at the attachment portion (boom foot pin) of the boom 15b (see FIG. 1) to the upper rotating body 13, or at the center of rotation of the upper rotating body 13 with respect to the lower body 11 (see FIG. 1). Specifically, the work plan may include information on the forward / backward direction X, the up / down direction Z, the swing angle, and the angle (posture) of the tip attachment 15d (see FIG. 1). The information on the forward / backward direction X may be, for example, information on the distance from the origin of the coordinate axes to a specific part of the attachment 15 (e.g., the tip of the tip attachment 15d). The information on the up / down direction Z may be, for example, information on the height from the origin of the coordinate axes to the specific part of the attachment 15. The information on the angle of the tip attachment 15d may be, for example, information on the angle of the tip attachment 15d relative to the horizontal direction, or information on the angle of the tip attachment 15d relative to the arm 15c. The parameters representing the position in the work plan may include the position of the actuator 21 that moves the work machine 10 (e.g., the stroke position of a cylinder, the rotation angle of a motor, etc.).

[0050] The work plan setting unit 51 sets a plurality of work phases (work contents) included in the work plan. Specifically, for example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase is a phase in which the tip attachment 15d (see FIG. 1) captures a work object within a target capture range (e.g., excavating earth and sand). For example, the target capture range is set to a location where the work objects have been collected (e.g., a pile of earth and sand). The lifting and swinging phase is a phase in which, after the tip attachment 15d has captured the work object, a specific part moves from the target capture range to a target release range. The release phase is a phase in which the tip attachment 15d releases the work object within a target release range (e.g., unloads earth). The target release range is set to, for example, a range above the bed of a transport vehicle. The return swing phase is a phase in which a specific part moves from the target release range to the target capture range. For example, a series of work phases including a capture phase, a lift-up swing phase, a release phase, and a return swing phase are repeatedly performed.

[0051] The work plan may be set by the worker operating the work machine 10 (see FIG. 1) (by teaching), or may be set by the worker operating the input unit 35 (by manual operation), or may be set automatically by the controller 50. The work plan may be corrected. The work plan may be corrected by the worker operating the input unit 35 (by manual operation). The work plan may also be corrected automatically by the controller 50 based on information detected by the detection unit 31 (for example, information about obstacles, etc.).

[0052] At least a part of the work plan may be set in the work plan setting unit 51 by teaching, or may be set in the work plan setting unit 51 by a method other than teaching (for example, numerical input, etc.). Teaching is performed as follows: A worker (operator) rides on the work machine 10 (see FIG. 1 ) and operates the work machine 10, or the worker remotely operates the work machine 10. For example, the worker operates the work machine 10 to place a specific part at a position (route, range) that is to be set as information about the work plan. The position where the specific part is placed is calculated based on the attitude of the work machine 10 detected by the attitude detection unit 314. The work plan setting unit 51 then sets the work plan based on the position where the specific part is placed. For example, the worker operates the work machine 10 to place a specific part at a specific position (for example, a position at a corner of the target capture range) in a range that is to be set as a target range (target capture range or target release range). The work plan setting unit 51 then sets the target range based on the position where the specific part is placed. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target path. For example, the worker operates the work machine 10 to move the specific part along the path that the worker wants to set as the target trajectory at a speed that the worker wants to set as the target trajectory. Then, the work plan setting unit 51 sets the path (trajectory) along which the specific part has moved as the target path (trajectory).

[0053] The operation control unit 53 automatically controls the work machine 10 (see FIG. 1) so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 outputs commands to the drive control unit 17 so that the work machine 10 moves in accordance with the work plan. The operation control unit 53 controls the movement of the work machine 10 based on the attitude detected by the attitude detection unit 314.

[0054] (Operation of work machine 10) As described above, the work machine 10 (see FIG. 1) may be operated by an operator in the cab 13a (see FIG. 1), may be remotely operated by an operator from outside the work machine 10 (by a remote control device), or may be automatically driven. The work machine 10 is a machine that utilizes information and communication technology (ICT) (e.g., ICT construction machinery). For example, the work machine 10 may be operated by an operator using the function of a machine guidance (MG) system. Specifically, a work plan is set in the controller 50. Then, guidance such as the position where work should be done is shown to the operator so that the work machine 10 can work according to the work plan. This guidance is output, for example, to an output device provided in the cab 13a of the work machine 10 or an output device provided in the remote control device. Then, the operator operates the work machine 10 according to the guidance. As a result, the work machine 10 moves according to the work plan.

[0055] Furthermore, for example, the work machine 10 (see FIG. 1) may be operated by a machine control (MC) system (semi-automatic operation). Specifically, a work plan is set in the controller 50. Then, for example, the worker operates only some of the elements of the attachment 15 (see FIG. 1) (for example, only the boom 15b (see FIG. 1)). At this time, the controller 50 automatically controls the elements not operated by the worker (for example, the arm 15c (see FIG. 1) and the tip attachment 15d (see FIG. 1)) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 50 controls the operation of the work machine 10 based on information detected by the attitude detection unit 314 (the same applies to automatic operation). As a result, the work machine 10 moves in accordance with the work plan. Furthermore, for example, the work machine 10 may be operated by automatic operation. In this case, the controller 50 controls the operation of the work machine 10 so that the work machine 10 automatically moves in accordance with the work plan.

[0056] The correction necessity determination unit 55 determines whether or not correction is necessary for the goal information from the external device 70 (described later). If correction of the goal information is necessary, the correction target information determination unit 57 determines correction information related to the correction. The application unit 59 outputs the correction information determined by the correction target information determination unit 57 to the external device 70. The processing related to the correction of these goal information will be described later.

[0057] The output unit 60 is a device that outputs information. The output unit 60 outputs information based on a signal output from the controller 50. The output unit 60 may output light (such as a display), sound, or vibration. The output unit 60 may be provided in a tablet, a smartphone, or a personal computer. The output unit 60 may be provided in the operator's cab 13a (see FIG. 1). The output unit 60 may be provided in a remote control device for remotely controlling the work machine 10 (see FIG. 1). When the output unit 60 outputs light, the output unit 60 may be provided with a display device (monitor). The output unit 60 may be provided with a projection device that projects onto an object such as the ground. The output unit 60 may be provided with a light source (light). The output unit 60 may be provided with a device that uses VR (Virtual Reality) technology (VR device) or a device that uses AR (Augmented Reality) technology (AR device). The output section 60 may change at least one of the hue, density (transparency), brightness, and saturation of the light it outputs.

[0058] The functions of the controller 50 may be realized by a client device (not shown) and a server device (not shown). Each of the client device and the server device is a computer. The input unit 35, the controller 50, and the output unit 60 may be provided in either the client device or the server device, or in both. For example, the memory unit (not shown) and the calculation unit (not shown) of the controller 50 may be provided in either the client device or the server device, or in both. Only one client device and one server device may be provided, or multiple client devices and one server device may be provided. The client device and the server device may be connected by wireless communication or by wired communication. For example, communication is performed using a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN.

[0059] The external device 70 is a device that is provided outside the work machine 10 (see FIG. 1). The external device 70 may be, for example, a server, a tablet, a smartphone, or a personal computer. Specifically, for example, the external device 70 may be a management system that manages work (including excavation work) by the work machine 10. In this case, the external device 70 may manage work by one work machine 10, or may manage work by multiple work machines 10, or may manage work at the entire work site where the work machines 10 are performing work.

[0060] The external device 70 includes an external device controller 71, an input unit 72, and an output unit 73. The external device controller 71 is a computer that performs signal input / output, calculation (processing), information storage, etc. The functions of the external device controller 71 are realized by a calculation unit (not shown) executing a program stored in a storage unit (not shown) of the external device controller 71. The external device controller 71 and other devices may be connected via wireless communication or wired communication. The components of the external device controller 71 may be connected to each other via wireless communication or wired communication. For example, communication is performed via a communication means such as a mobile phone line, an optical fiber line, a wireless LAN (Local Area Network), or a wired LAN. For example, information is input to the external device controller 71 from an input unit 72 (described later). For example, the external device controller 71 outputs information to an output unit 73 (described later). The external device controller 71 may be distributed across multiple parts (a distributed system may be configured).

[0061] The controller 50 outputs commands to the work machine 10 to operate the work machine 10, and directly controls the operation of the work machine 10. In contrast, the external device 70 (work command unit 711 of the external device-side controller 71) outputs targets (target information) for the operation of the work machine 10 to the controller 50, and does not directly control the work machine 10. The external device-side controller 71 comprises a calculation unit and a memory unit. The calculation unit calculates (processes) information. The memory unit stores information. Focusing on the functions of the external device-side controller 71, the external device-side controller 71 comprises a work command unit 711 and a permission determination unit 712. The work command unit 711 outputs target information related to the work targets of the work machine 10 (see Figure 1) to the work machine 10. The permission determination unit 712 decides whether to approve the correction information output from the controller 50.

[0062] The input unit 72 is an input device for inputting information. The input unit 72 is a device for inputting information used for control. The input unit 72 is operated by an operator and outputs a signal in response to the operation. The input unit 72 outputs information to the external device controller 71. The input unit 72 may include a touch panel, a mouse, a keyboard, or a switch. The output unit 73 is a device for outputting information. The output unit 73 outputs information based on a signal output from the external device controller 71. The output unit 73 may output light (such as a display), sound, or vibration. The output unit 73 may include a display device (monitor). The input unit 72 and / or the output unit 73 may be provided in a tablet, a smartphone, or a personal computer. The input unit 72 and / or the output unit 73 may be provided in a client device or a server device.

[0063] In this way, the external device 70 is able to grasp the work being performed by the work machine 10 by outputting target information relating to the work targets to the work machine 10 (see FIG. 1). Furthermore, when there are multiple work machines 10, the external device 70 is able to control the work machines 10 so that the work ranges of the work machines 10 do not overlap and interfere with each other. Furthermore, even when the controller 50 requests the external device 70 to revise the work plan, the external device 70 is able to revise the work plan so that it does not overlap with the work ranges of the other work machines 10.

[0064] (process) Next, an example of a flowchart of the processing executed in the construction system 1 will be described with reference to Fig. 3. The construction system 1 (mainly the controller 50 and the external device-side controller 71) is configured to perform the following processing. Programs stored in the controller 50 and the external device-side controller 71 cause the controller 50 and the external device-side controller 71 to execute the following operations. In the construction system 1, a method for performing the following operations is realized.

[0065] As will be described below, the controller 50 executes a process to propose to the external device 70 a correction to execute a command (target information) from the external device 70. The process includes three patterns. In the first pattern, the controller 50 proposes specific correction details (corrected target information), the external device 70 approves the proposal, and determines the final correction details (final target information). In the second pattern, the controller 50 proposes the cause of the correction (correction factor information), and the external device 70 creates specific correction details (final target information). In the third pattern, the controller 50 proposes specific correction details (corrected target information), and the external device 70 corrects the proposal and determines the final correction details (final target information). By executing these processes, the controller 50 can execute the revised work plan only after obtaining permission from the external device 70, which is aware of the surrounding conditions such as other work machines 10 and work-prohibited areas, rather than executing the revised work plan on its own.

[0066] First, the external device 70 (external device-side controller 71, see FIG. 2) generates target information including information on the work to be performed by the work machine 10 (see FIG. 1) (SA10). Here, if there is past learning data, the external device 70 may reflect this in the target information. The learning data is correction information previously received from the controller 50. In this way, the external device 70 can correct the target information to be output to the controller 50 from the next time onwards, based on the received correction information. For example, the target information may set the series of work phases described above. Then, the external device 70 may correct the target information for the series of work phases to be repeated from the next time onwards. Then, the external device 70 outputs the generated target information to the controller 50 (SA20).

[0067] (Regarding Determination by the Controller 50 of Whether or Not to Modify Target Information) The controller 50 determines whether or not the target information received from the external device 70 needs to be corrected (SB100). For example, the controller 50 determines whether or not the operation of the work machine 10 (see FIG. 1) can achieve the target information (work plan). The determination of whether or not correction is necessary may be made by an operator. Specifically, the controller 50 may determine whether or not correction is necessary based on information input by the operator to the input unit 35. The determination of whether or not correction is necessary may also be made automatically by the controller 50. Specifically, the controller 50 may determine whether or not correction is necessary based on information detected by the detection unit 31 and / or specification information of the work machine 10. The specification information is information that indicates the performance, dimensions, etc. of the work machine 10.

[0068] (Regarding determination of correction information regarding correction by the controller 50) If the target information needs to be corrected (SB100: YES), the controller 50 determines correction information related to the correction (SB110). The correction information may be information on the cause of the need for correction (correction factor information), or may be a work plan reflecting the correction required to complete the work (corrected target information). The correction information may include both correction factor information and corrected target information. The correction information may be input by teaching by the worker. The controller 50 outputs the determined correction information to the external device 70 and requests permission for the correction information from the external device 70 (SB120). The correction factor information may include the reason why the correction is necessary. The correction factor information may also include information necessary for the external device 70 to create corrected target information.

[0069] When the external device 70 receives correction information from the controller 50, it judges the correction information (SA30). Here, if the correction information is correction target information indicating specific correction content, the external device 70 may approve the corrected target information (first pattern). Furthermore, if the correction information is correction factor information, the external device 70 may create corrected target information based on the correction factor information (second pattern). Furthermore, if further correction is required for the corrected target information from the controller 50, the external device 70 may make additional corrections (third pattern). Thereafter, the external device 70 outputs final target information based on the correction information to the controller 50 (SA40). Specifically, the final target information may be a judgment result of whether or not to approve the corrected target information (corrected work plan) created by the controller 50 (first pattern). Furthermore, specifically, the final target information may be corrected target information (corrected work plan) created by the external device 70 based on the correction factor information created by the controller 50 (second pattern). Furthermore, specifically, the final target information may be target information that has been modified by the external device 70 after modifying the modified target information created by the controller 50 (third pattern). The decision as to whether or not to approve the modified information may be made by the worker. Specifically, the external device 70 may decide whether or not modification is necessary based on information input by the worker to the input unit 72. The decision as to whether or not to approve the modified information may also be made automatically by the external device 70. For example, the external device 70 may decide whether or not to approve the modified target information based on one or more of the conditions of other work machines 10 around the work machine 10 (see FIG. 1 ) operated by this controller 50, predetermined work no-go zones, and zones through which other workers pass, etc.

[0070] Furthermore, in step SA30, the external device 70 may display the target information and the corrected target information on the output unit 73. This makes it possible to visualize how the target information has been corrected, allowing a person to visually confirm the corrections.

[0071] When the controller 50 receives final target information from the external device 70, it determines whether or not to actually modify the work plan (SB130). If the work plan is to be modified (SB130: YES), the controller 50 sets the work plan based on the final target information (SB140). For example, when modified target information is transmitted from the external device 70 as final target information, the controller 50 modifies the work plan based on the transmitted modified target information, assuming that approval from the external device 70 has been obtained (first pattern). Furthermore, when final target information created by the external device 70 is transmitted, the controller 50 modifies the work plan based on the final target information (second pattern, third pattern). If the work plan is not to be modified (SB130: NO), the controller 50 sets the work plan based on the target information transmitted from the external device 70 in step SA20 (SB150). Thereafter, the controller 50 performs an operation based on the set work plan (SB160). For example, the controller 50 performs a process such as displaying the contents of the work plan on the output unit 73 for the worker. For example, the worker operates the work machine 10 (see FIG. 1) by referring to the work plan displayed on the output unit 73. Also, for example, the controller 50 automatically operates the work machine 10 based on the work plan.

[0072] (Specific examples of modifications) For example, when a target trajectory including multiple target points to be worked on and time information is set as the target information, the controller 50 determines whether or not the target points can be reached. For example, the target points are positions on a target path that a specific portion of the end attachment 15d is targeted to pass through. If the controller 50 determines that the end attachment 15d will not reach any of the target points, it determines the cause.

[0073] For example, if the cause of the need for correction is the attitude (position) of the work machine 10, the corrected target information will be a change in the attitude of the work machine 10 (a work plan in which travel for changing the position has been added) and / or a change in the route using multiple target points. Specifically, it is conceivable that the target point may be set at a position that a specific part of the end attachment 15d cannot reach if the work machine 10 simply changes its attitude without traveling. In this case, the external device 70 sets, as the corrected target information, an operation target for traveling the work machine 10 so that the specific part can reach the position of the target point.

[0074] Furthermore, for example, if the reason for the need for correction is insufficient speed (for example, the traveling speed or the swing speed of the attachment 15, etc.), the corrected target information will be one in which the engine speed has been increased. Specifically, it is conceivable that a speed (traveling speed or speed of the attachment 15) that the work machine 10 cannot achieve with the engine speed in the target information before correction is set as the target information. In this case, the external device 70 sets an engine speed that will allow the work machine 10 to move at the target speed as the corrected target information.

[0075] Furthermore, for example, if the cause of the need for correction is the weight of the work object captured by the tip attachment 15d, the corrected target information will be information that gently changes the path of the tip attachment 15d and / or, for example, shallows the excavation depth to reduce the amount of soil. Specifically, it is conceivable that if the tip attachment 15d were to capture the work object according to the target information before correction, the load on the work machine 10 would be too high (for example, exceeding the load tolerance of the work machine 10). In this case, the external device 70 sets the corrected target information so that the load on the work machine 10 is lower (so that it is within the tolerance range). More specifically, for example, the corrected target information is set so that the amount of work object captured by the tip attachment 15d is reduced compared to before the target information was corrected. Also, more specifically, for example, the corrected target information is set so that the load acting on the tip attachment 15d is reduced compared to before the target information was corrected. Also, more specifically, for example, the corrected target information is set so that changes in the movement of the tip attachment 15d are gentler. Also, for example, when the load of excavation work is high, the corrected target information is information obtained by changing the insertion angle of the tip attachment 15d (bucket).

[0076] In this way, the controller 50 executes a process of proposing to the external device 70 a correction for carrying out a command (target information) from the external device 70. The controller 50 does not execute the corrected work plan on its own, but executes the corrected work plan after obtaining permission from the external device 70, which grasps the surrounding conditions such as other work machines 10 and no-work areas. This makes it possible to improve safety at the work site.

[0077] (Effects of the first invention) The effects of the construction system 1 shown in Fig. 2 are as follows: The construction system 1 has a work machine 10 that performs work, a controller 50 that outputs commands to operate the work machine 10, and an external device 70 that outputs target information related to the target of the work to the controller 50.

[0078] [Configuration 1] The controller 50 determines whether or not the target information needs to be corrected, and if so, outputs correction information regarding the correction to the external device 70. The external device 70 outputs final target information based on the correction information to the controller 50.

[0079] In the above [Configuration 1], the external device 70 outputs target information (final target information) for actually moving the work machine 10 to the controller 50. Therefore, there is no problem in that the controller 50 moves the work machine 10 on its own based on correction information without outputting correction information to the external device 70. Therefore, the controller 50 can move the work machine 10 with the external device 70 grasping the target information (final target information) for actually moving the work machine 10.

[0080] (Effects of the second invention) 2, the controller 50 outputs, as correction information, corrected target information indicating how the target information should be corrected to the external device 70. The external device 70 determines whether or not to permit the corrected target information, and outputs information based on the result of the determination to the controller 50 as final target information.

[0081] In the above [Configuration 2], the controller 50 can create (calculate) corrected target information based on information that the controller 50 knows but the external device 70 does not know (for example, detailed specifications of the work machine 10, etc.).

[0082] (Effect of the third invention) [Configuration 3] The external device 70 determines whether or not to permit the corrected target information based on the situation around the work machine 10.

[0083] In the above [Configuration 3], even if the surrounding conditions grasped by the controller 50 are less information than the surrounding conditions grasped by the external device 70, the external device 70 can appropriately determine whether or not to permit the corrected target information based on the surrounding conditions. For example, even if the controller 50 does not grasp the conditions around the work machine 10 (surrounding conditions), the external device 70 can appropriately determine whether or not to permit the corrected target information based on the surrounding conditions.

[0084] (Effect of the fourth invention) [Configuration 4] The work machine 10 has a machine body 10a and an attachment 15 attached to the machine body 10a. When the attachment 15 does not reach a target point that is the object of work, the controller 50 outputs information indicating that the position of the machine body 10a should be moved to the external device 70 as correction information.

[0085] In the above [Configuration 4], if the attachment 15 cannot reach the target point of the work object, the position of the machine body 10a can be moved to a position where the attachment 15 can reach the target point, with permission from the external device 70.

[0086] (Effect of the fifth invention) [Configuration 5] The controller 50 outputs, as correction information, correction factor information indicating factors for correcting the target information to the external device 70. The external device 70 outputs, as final target information, the target information corrected based on the correction factor information to the controller 50.

[0087] In the above [Configuration 5], the target information that the controller 50 has determined to require correction can be corrected by the external device 70.

[0088] (Effect of the sixth aspect of the invention) [Configuration 6] The external device 70 corrects the target information to be output to the controller 50 from the next time onwards based on the correction information.

[0089] In the above [Configuration 6], learning can be performed to eliminate the need for the same corrections from the next time onwards, thereby improving productivity.

[0090] (Effect of the seventh invention) [Configuration 7] The external device 70 displays the goal information and the final goal information.

[0091] In the above [Configuration 7], the goal information and final goal information are visualized, allowing a person to visually check the correction points.

[0092] (Variation) The above-described embodiments may be modified in various ways. For example, various examples (including modified examples) of the above-described embodiments may be combined in various ways. For example, the connections of the components shown in FIG. 1 and the like may be changed. For example, the number of components (including modified examples) of the above-described embodiments may be changed, or some of the components may not be provided. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, each component may have only some of its features (functions, arrangement, shape, operation, etc.). [Explanation of symbols]

[0093] 1: Construction system 10: Work machinery 10a: Machine body 15: Attachment 50: Controller 70: External device

Claims

1. A construction system having a work machine that performs work, a controller that outputs commands to operate the work machine, and an external device that outputs target information related to a target of the work to the controller, The controller determining whether the target information needs to be modified; If the target information needs to be corrected, output correction information regarding the correction to the external device; The external device is outputting final target information based on the correction information to the controller; Construction system.

2. The construction system according to claim 1, The controller outputting, as the correction information, correction target information indicating how the target information should be corrected to the external device; The external device is determining whether the correction target information is permitted; outputting information based on the result of the determination to the controller as the final target information; Construction system.

3. The construction system according to claim 2, The external device is determining whether or not to permit the corrected target information based on the surrounding conditions of the work machine; Construction system.

4. The construction system according to claim 1, The work machine has a machine body and an attachment attached to the machine body, When the attachment does not reach the target point that is the object of the work, the controller outputs information indicating that the position of the machine body is to be moved to the external device as the correction information. Construction system.

5. The construction system according to claim 1, The controller outputting, as the correction information, correction factor information indicating a factor for correcting the target information to the external device; The external device is outputting the target information corrected based on the correction factor information to the controller as the final target information; Construction system.

6. The construction system according to any one of claims 1 to 5, the external device corrects the target information to be output to the controller from the next time onwards based on the correction information. Construction system.

7. The construction system according to any one of claims 1 to 5, the external device displays the goal information and the final goal information. Construction system.

Images