Control system for a work machine, method for controlling a work machine, and control device for a work machine.

Abstract

To prevent a decline in productivity at the work site. [Solution] The control system for the work machine includes a processor. Based on the arrival time of the conveying machine at the loading position, the processor plans the target operating conditions for the work machine in a series of cycle operations, including excavation work, which involves excavating the target to be excavated at the excavation position; movement work, which involves moving between the excavation position and the loading position; and loading work, which involves loading the excavated material onto the conveying machine upon arrival at the loading position.

Description

[[Technical Field]]

[0001] The present disclosure relates to a work machine control system, a work machine control method, and a work machine control device. [[Background Art]]

[0002] In the technical field related to work machines, automatically operated work machines as disclosed in Patent Document 1 are known. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2023-138009 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] As a work performed by a work machine, there is a loading work of loading excavated material onto a transport machine that is a loading target. If the work machine is automatically controlled without considering the status of the transport machine, waiting time of the transport machine may occur or the running cost of the work machine may increase, which may reduce the productivity of the work site.

[0005] An object of the present disclosure is to suppress a decrease in productivity of a work site. [[Means for Solving the Problem]]

[0006] According to the present disclosure, a control system for a work machine is provided. The control system for a work machine includes a processor. The processor plans target operating conditions of the work machine in a series of cyclic works including: an excavation work of excavating an excavation target at an excavation position, a movement work of moving between the excavation position and a loading position, and a loading work of loading excavated material obtained by the excavation work onto the transport machine that has arrived at the loading position, based on an arrival time of the transport machine at the loading position. [[Effect of the Invention]]

[0007] According to this disclosure, it is possible to suppress the decline in productivity at the work site. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a schematic diagram showing a work site according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram showing the work site management system according to the first embodiment. [Figure 3] Figure 3 is a configuration diagram showing a work machine according to the first embodiment. [Figure 4] Figure 4 is a hardware configuration diagram showing the automation controller according to the first embodiment. [Figure 5] Figure 5 is a block diagram showing the control system of a work machine according to the first embodiment. [Figure 6] Figure 6 is a diagram illustrating a method for planning the target operating conditions of a work machine according to the first embodiment. [Figure 7] Figure 7 is a flowchart showing the control method for a work machine according to the first embodiment. [Figure 8] Figure 8 is a diagram illustrating a modified example of the second operating condition according to the first embodiment. [Figure 9] Figure 9 is a diagram illustrating a modified example of the second operating condition according to the first embodiment. [Figure 10] Figure 10 is a flowchart showing a control method for a work machine according to the second embodiment. [Figure 11] Figure 11 is a diagram illustrating the target operating conditions according to the second embodiment. [Figure 12] Figure 12 is a flowchart showing a control method for a work machine according to the third embodiment. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings, but this disclosure is not limited to these embodiments. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [First Embodiment] The first embodiment will be described.

[0011] <Work site> Figure 1 is a schematic diagram showing a work site 1 according to the first embodiment. A work machine 2 and a transport machine 3 operate at the work site 1. In this embodiment, the work machine 2 is a wheel loader. The transport machine 3 is a dump truck. A loading area 4, a soil removal area 5, and a travel path 6 are provided at the work site 1.

[0012] Loading area 4 refers to the area where loading operations are performed, in which the work machine 2 loads the excavated material onto the transport machine 3. In loading area 4, the work machine 2 performs excavation work to excavate the target to be excavated, and loading operations to load the excavated material from the target to the transport machine 3. In this embodiment, the target to be excavated includes stockpiles 69. Stockpiles 69 refer to piles of material. Examples of material include soil, rock, or ore.

[0013] The earth dumping area 5 refers to an area where an earth dumping operation is performed, in which the conveying machine 3 discharges excavated material loaded by a loading operation. The traveling path 6 refers to an area on which the conveying machine 3 travels. The traveling path 6 is provided so as to connect the loading area 4 and the earth dumping area 5. After a loading operation is performed on the conveying machine 3 in the loading area 4, the conveying machine 3 travels along the traveling path 6 from the loading area 4 to the earth dumping area 5 in a loaded state where excavated material is loaded thereon. After arriving at the earth dumping area 5 and performing the earth dumping operation in the earth dumping area 5, the conveying machine 3 travels along the traveling path 6 from the earth dumping area 5 back to the loading area 4 in an unloaded empty state where no excavated material is loaded thereon. After arriving at the loading area 4, the conveying machine 3 undergoes a loading operation in the loading area 4. The conveying machine 3 repeats the loading operation in the loading area 4 and the earth dumping operation in the earth dumping area 5. The conveying machine 3 reciprocates between the loading area 4 and the earth dumping area 5 to repeat the loading operation and the earth dumping operation.

[0014] In the embodiment, the work machine 2 is automatically controlled. The conveying machine 3 is a manned conveying machine. A manned conveying machine refers to a conveying machine 3 that performs work based on driving operations by an operator. Note that the conveying machine 3 may alternatively be an unmanned conveying machine. An unmanned conveying machine refers to a conveying machine 3 that performs work unmanned without relying on driving operations by an operator.

[0015] <Management System> Figure 2 is a diagram schematically showing the management system 7 for a work site 1 according to the first embodiment. As shown in Figure 2, the management system 7 comprises a control server 8 and a communication system 9. The control server 8 is arranged outside the work machine 2 and the conveying machine 3.

[0016] The work machine 2 comprises an automation controller 10 and a vehicle body controller 11. The vehicle body controller 11 controls the operation of the work machine 2. The conveying machine 3 comprises a vehicle body controller 12. The vehicle body controller 12 controls the operation of the conveying machine 3.

[0017] The control server 8 communicates wirelessly with the automation controller 10 of the work machine 2 and the vehicle controller 12 of the transport machine 3 via the communication system 9. Examples of the communication system 9 include the internet, a mobile phone network, a satellite network, or a local area network (LAN).

[0018] <Conveying machinery> As shown in Figure 2, the conveying machine 3 has a body 13, a running gear 14, and a dump body 15. The body 13 includes a body frame. The body 13 is supported by the running gear 14. The running gear 14 supports the body 13 and travels around the work site 1. The dump body 15 is the component into which excavated material is loaded. The dump body 15 is supported by the body 13.

[0019] The running gear 14 includes wheels 16 and tires 17 mounted on the wheels 16. There are four wheels 16. Two of the wheels 16 are front wheels 16F mounted on the front of the vehicle body 13. Two of the wheels 16 are rear wheels 16R mounted on the rear of the vehicle body 13. The tires 17 are in contact with the ground at the work site 1. The running gear 14 is driven by power generated by an engine (not shown). The running gear 14 is braked by the operation of a brake device (not shown). The running gear 14 turns by a steering device (not shown). In this embodiment, the front wheels 16F are steering wheels. The front wheels 16F are steered by the steering device.

[0020] The dump body 15 performs dumping and lowering operations. Dumping operation refers to the operation of tilting the dump body 15 in the dumping direction, separating it from the vehicle body 13. Lowering operation refers to the operation of bringing the dump body 15 closer to the vehicle body 13. When loading operations are performed, the dump body 15 performs the lowering operation. When soil removal operations are performed, the dump body 15 performs the dumping operation.

[0021] <Working machinery> The work machine 2 is automatically controlled. The work machine 2 is automatically driven. Automatic driving means that at least a portion of the driving operations performed by the operator are replaced by the vehicle controller 11 installed on the work machine 2.

[0022] As shown in Figure 2, the work machine 2 has a body 18, a travel device 21, and a work implement 22. The body 18 is supported by the travel device 21. The travel device 21 supports the body 18 and moves around the work site 1. The work machine 2 performs movement operations by moving around the work site 1 using the travel device 21. The work machine 2 performs excavation and loading operations using the work implement 22.

[0023] The vehicle body 18 supports the work implement 22. The vehicle body 18 includes a front frame 18F and a rear frame 18R. The front frame 18F is positioned in front of the rear frame 18R. The front frame 18F and the rear frame 18R are connected via an articulation mechanism 23. A cab 18C is provided on top of the rear frame 18R. The operator of the work implement 2 can board the cab 18C.

[0024] The running gear 21 supports the vehicle body 18. The running gear 21 includes wheels 20 and a steering cylinder 19. The wheels 20 include two front wheels 20F mounted on the front frame 18F and two rear wheels 20R mounted on the rear frame 18R. Tires 24 are mounted on the wheels 20. The tires 24 make contact with the ground at the work site 1. The steering cylinder 19 connects the front frame 18F and the rear frame 18R. The steering cylinder 19 is a hydraulic cylinder. As the steering cylinder 19 extends and retracts, the front frame 18F bends laterally relative to the rear frame 18R. The bending of the front frame 18F relative to the rear frame 18R adjusts the direction of travel of the work machine 2. The steering cylinder 19 is an example of a steering device for the work machine 2.

[0025] The work implement 22 is connected to the front frame 18F. The work implement 22 includes a boom 25, a bucket 26, a bell crank 27, a bucket link 28, a boom cylinder 29, and a bucket cylinder 30.

[0026] The base end of the boom 25 is rotatably connected to the front frame 18F. The bucket 26 is a working member for excavating the target object. The base end of the bucket 26 is rotatably connected to the tip of the boom 25. The middle section of the bell crank 27 is rotatably connected to the bracket 31 of the boom 25. The lower end of the bell crank 27 is rotatably connected to the base end of the bucket link 28. The tip of the bucket link 28 is rotatably connected to the bracket 32 ​​of the bucket 26. The bell crank 27 is connected to the bucket 26 via the bucket link 28.

[0027] The boom 25 is operated by a boom cylinder 29. The boom cylinder 29 is a hydraulic cylinder. The base end of the boom cylinder 29 is connected to the front frame 18F. The tip of the boom cylinder 29 is connected to the boom 25. The bucket 26 is operated by a bucket cylinder 30. The bucket cylinder 30 is a hydraulic cylinder. The base end of the bucket cylinder 30 is connected to the front frame 18F. The tip of the bucket cylinder 30 is connected to the upper end of the bell crank 27.

[0028] In this embodiment, the work machine 22 is a front-loading type work machine in which the opening of the bucket 26 faces forward during excavation work. The boom cylinder 29 extends and retracts, causing the boom 25 to move up or down. The bucket cylinder 30 extends and retracts, causing the bucket 26 to tilt or dump.

[0029] Figure 3 is a configuration diagram showing a work machine 2 according to the first embodiment. The work machine 2 comprises an engine 33, a power take-off 34 (PTO), a power transmission device 35, a brake device 36, a steering pump 37, a steering control valve 38, a steering cylinder 19, a work machine pump 39, a boom control valve 40, a bucket control valve 41, a boom cylinder 29, a bucket cylinder 30, an automation controller 10, and a vehicle body controller 11.

[0030] The engine 33 generates the driving force to operate the travel device 21 and the work machine 22. The engine 33 is the power source for the work machine 2. The engine 33 is driven by consuming fuel. In this embodiment, the engine 33 is a diesel engine. The engine 33 has a fuel injector 33F. The fuel injector 33F injects fuel into the cylinders of the engine 33. The driving force output from the engine 33 is adjusted by adjusting the amount of fuel injected from the fuel injector 33F. In controlling the engine 33, the target rotational speed for maximum output and the target rotational speed for output efficiency are different. When improving output efficiency, it is preferable to reduce the target rotational speed compared to the target rotational speed for maximum output.

[0031] The power takeoff 34 distributes the driving force generated by the engine 33 to the power transmission device 35, the steering pump 37, and the work equipment pump 39.

[0032] The power transmission device 35 transmits the driving force generated by the engine 33 to the front wheels 20F and the rear wheels 20R, respectively. The power transmission device 35 controls the travel speed and direction of the work machine 2. The power transmission device 35 may be a transmission with a torque converter, a transmission with multiple gears, or a continuously variable transmission (CVT). An example of a continuously variable transmission is a hydrostatic continuously variable transmission (HST) that combines a hydraulic pump and a hydraulic motor. Furthermore, if the work machine 2 is equipped with a diesel-electric drive source including a generator that generates electricity using the driving force generated by the engine 33 and an electric motor driven by the electricity generated by the generator, the generator and electric motor are examples of a continuously variable transmission. The brake device 36 reduces the travel speed of the work machine 2.

[0033] The steering pump 37 is driven based on the driving force generated by the engine 33. The steering pump 37 is a hydraulic pump. The hydraulic fluid discharged from the steering pump 37 is supplied to the steering cylinder 19 via the steering control valve 38. The steering control valve 38 controls the flow rate and direction of the hydraulic fluid supplied from the steering pump 37 to the steering cylinder 19. The steering cylinder 19 is operated by the hydraulic fluid from the steering pump 37.

[0034] The work equipment pump 39 is driven based on the driving force generated by the engine 33. The work equipment pump 39 is a hydraulic pump. The hydraulic fluid discharged from the work equipment pump 39 is supplied to the boom cylinder 29 via the boom control valve 40. The hydraulic fluid discharged from the work equipment pump 39 is supplied to the bucket cylinder 30 via the bucket control valve 41. The boom control valve 40 controls the flow rate and direction of the hydraulic fluid supplied from the work equipment pump 39 to the boom cylinder 29. The bucket control valve 41 controls the flow rate and direction of the hydraulic fluid supplied from the work equipment pump 39 to the bucket cylinder 30. The boom cylinder 29 and the bucket cylinder 30 are each operated by the hydraulic fluid from the work equipment pump 39.

[0035] The steering cylinder 19 extends and retracts, changing the direction of travel of the traveling device 21 to the left or right. The boom cylinder 29 extends and retracts, causing the boom 25 to move up or down. The bucket cylinder 30 extends and retracts, causing the bucket 26 to move in a dumping or digging motion.

[0036] The work machine 2 is equipped with an operating device 42. The operating device 42 generates an operation signal for operating the work machine 2 when operated by an operator. The operation signal generated by the operating device 42 is transmitted to the vehicle controller 11. Based on the operation signal from the operating device 42, the vehicle controller 11 outputs a command signal for operating the work machine 2. The operating device 42 includes a travel system operating device 42A and a work machine operating device 42B.

[0037] The travel system control device 42A generates operation signals to operate the travel system 21. The travel system 21 includes a power transmission device 35, a brake device 36, and a steering cylinder 19. The travel system control device 42A generates operation signals to operate at least one of the engine 33, the power transmission device 35, the brake device 36, and the steering cylinder 19. The travel system control device 42A includes an accelerator pedal 421, a brake pedal 422, a steering wheel 423, and a forward / reverse lever 424. The accelerator pedal 421 is operated to increase the travel speed of the work machine 2. The brake pedal 422 is operated to decrease the travel speed of the work machine 2 or to stop the work machine 2 from traveling. The steering wheel 423 is operated to change the direction of travel of the work machine 2. The forward / reverse lever 424 is operated to switch the work machine 2 between forward and reverse.

[0038] The implement operating device 42B generates operating signals for operating the implement 22. The implement operating device 42B generates operating signals for operating at least one of the boom cylinder 29 and the bucket cylinder 30. The implement operating device 42B includes a boom lever 425 and a bucket lever 426. The boom lever 425 is operated to operate the boom 25. The bucket lever 426 is operated to operate the bucket 26.

[0039] <Computer> Figure 4 is a hardware configuration diagram showing an automation controller 10 according to the first embodiment. The automation controller 10 is an example of a control device for a work machine 2. The automation controller 10 includes a computer 43. The computer 43 has a processor 431 such as a CPU (Central Processing Unit), a main memory 432 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 433, an input / output interface 434 including input / output circuits, and a communication interface 435 including communication circuits. The functions of the automation controller 10 are stored in the storage 433 as a computer program 436. The processor 431 reads the computer program 436 from the storage 433, loads it into the main memory 432, and executes processing according to the computer program 436. The computer program 436 may be distributed to the computer 43 via a network.

[0040] Each of the control server 8, vehicle controller 11, and vehicle controller 12 also includes a computer 43. Similar to the automation controller 10, each of the control server 8, vehicle controller 11, and vehicle controller 12 also has a processor 431, main memory 432, storage 433, input / output interface 434, and communication interface 435.

[0041] <Control System> Figure 5 is a block diagram showing the control system 44 of the work machine 2 according to the first embodiment. The work machine 2 is equipped with the control system 44. The work machine 2 is automatically controlled by the control system 44. The control system 44 includes an automation controller 10, an automation sensor system 45, a vehicle body controller 11, a vehicle state sensor system 46, a user interface 47, a running gear 21, a work machine 22, and an engine 33. The automation controller 10, the automation sensor system 45, the vehicle body controller 11, the vehicle state sensor system 46, and the user interface 47 are each mounted on the work machine 2.

[0042] The automation controller 10 outputs control commands for automatically controlling the work machine 2. The automation sensor system 45 acquires detection data necessary for automatically controlling the work machine 2. The vehicle controller 11 outputs command signals for operating the travel device 21 and the work machine 22. The vehicle status sensor system 46 acquires detection data of the operating status of the work machine 2. The user interface 47 exchanges data with the operator.

[0043] The automation controller 10 can communicate with the vehicle controller 11. The automation controller 10 can communicate with the automation sensor system 45. The vehicle controller 11 can communicate with the vehicle condition sensor system 46. In this embodiment, the operation mode of the work machine 2 can be switched between manual operation mode and automatic control mode. When the work machine 2 is operated in manual operation mode, the vehicle controller 11 outputs command signals to operate the travel device 21, the work machine 22, and the engine 33 based on the operation signals from the operation device 42. When the work machine 2 is operated in automatic control mode, the automation controller 10 outputs control commands. When the work machine 2 is operated in automatic control mode, the vehicle controller 11 outputs command signals to operate the travel device 21, the work machine 22, and the engine 33 based on the control commands from the automation controller 10.

[0044] The user interface 47 can communicate with the automation controller 10 and the vehicle body controller 11, respectively. The user interface 47 includes an input device 48 and an automation changeover switch 49.

[0045] The input device 48 is operated by an operator. The operation of the input device 48 generates input data. Examples of input devices 48 include a touch panel, buttons, and a computer keyboard. The input data generated by the operation of the input device 48 is input to the automation controller 10.

[0046] The automation changeover switch 49 is operated by the operator. When the automation changeover switch 49 is operated, the operating mode of the work machine 2 is switched between manual operation mode and automatic control mode. The operation signal generated when the automation changeover switch 49 is operated is input to the vehicle controller 11.

[0047] The automated sensor system 45 includes a position sensor 51 and an external environment sensor 52. The vehicle state sensor system 46 includes a steering angle sensor 53, a vehicle speed sensor 54, a boom angle sensor 55, a bucket angle sensor 56, and an engine speed sensor 80.

[0048] The position sensor 51 detects the position of the work machine 2. The position sensor 51 detects the position of the work machine 2 using the Global Navigation Satellite System (GNSS). The Global Navigation Satellite System includes the Global Positioning System (GPS). The Global Navigation Satellite System detects the position in a global coordinate system defined by latitude, longitude, and altitude coordinate data. A global coordinate system refers to a coordinate system fixed to the Earth. The position sensor 51 includes a GNSS receiver and detects the position (absolute position) of the work machine 2 in the global coordinate system. The position of the work machine 2 may also be calculated based on the detection data of the external sensor 52. For example, the position of the work machine 2 may be calculated from the detection data of the external sensor 52 based on a self-localization estimation method such as SLAM (Simultaneous Localization and Mapping).

[0049] The external sensor 52 detects objects in the vicinity of the work machine 2. The external sensor 52 detects the relative position between the work machine 2 and the objects in the vicinity of the work machine 2. The objects in the vicinity of the work machine 2 include the excavation target and the conveying machine 3. The external sensor 52 is a three-dimensional sensor that detects the three-dimensional shape of objects in the vicinity of the work machine 2. An example of the external sensor 52 is a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light. The external sensor 52 may also be a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves, or a stereo camera. As shown in Figure 2, in this embodiment, the external sensor 52 is positioned on the upper surface of the cab 18C.

[0050] The external sensor 52 does not necessarily have to be installed on the work machine 2. The external sensor 52 only needs to be capable of detecting the relative position between the work machine 2 and objects in its vicinity, and may be placed outside the work machine 2. The external sensor 52 may be installed, for example, on a drone capable of flying over the work site 1.

[0051] The steering angle sensor 53 detects the articulated angle, which is the angle between the front frame 18F and the rear frame 18R. The articulated angle is the steering angle of the work machine 2.

[0052] The vehicle speed sensor 54 detects the travel speed of the work machine 2. The vehicle speed sensor 54 detects the travel speed of the work machine 2 by, for example, detecting the rotational speed of the output shaft of the power transmission device 35.

[0053] The boom angle sensor 55 and the bucket angle sensor 56 are examples of work equipment posture sensors that detect the posture of the work equipment 22. The boom angle sensor 55 detects the angle of the boom 25 relative to the front frame 18F. An example of the boom angle sensor 55 is a rotary encoder provided at the connection between the front frame 18F and the boom 25. The bucket angle sensor 56 detects the angle of the bucket 26 relative to the boom 25. An example of the bucket angle sensor 56 is a rotary encoder provided at the connection between the bell crank 27 and the boom 25. The boom angle sensor 55 may also be a stroke sensor located on the boom cylinder 29. The bucket angle sensor 56 may also be a stroke sensor located on the bucket cylinder 30.

[0054] The engine speed sensor 80 detects the engine speed, which indicates the rotational speed of the engine 33 per unit time. An example of the engine speed sensor 80 is a magnetic sensor that detects the position of the crankshaft of the engine 33.

[0055] The detection data from the automated sensor system 45 is input to the automated controller 10. The detection data from the vehicle condition sensor system 46 is input to the vehicle body controller 11. The vehicle body controller 11 outputs the detection data from the vehicle condition sensor system 46 to the automated controller 10. The automated controller 10 acquires the detection data from the vehicle condition sensor system 46. The traveling device 21 and the work machine 22 each operate based on command signals from the vehicle body controller 11.

[0056] The vehicle controller 11 has multiple functional units. The functions of the vehicle controller 11 are performed by the processor 431 of the computer 43. The functional units of the vehicle controller 11 include a brake control unit 57, an engine control unit 81, an accelerator control unit 58, a steering control unit 59, and a work equipment control unit 60.

[0057] The brake control unit 57 outputs a command signal to activate the brake device 36. Based on the command signal output from the brake control unit 57, the travel speed of the travel device 21 decreases or the travel device 21 stops.

[0058] The engine control unit 81 outputs a command signal to adjust the output of the engine 33. The engine control unit 81 controls the engine speed based on the detection data of the engine speed sensor 80. Based on the status of the travel device 21 and the work equipment 22 or control commands to control the travel device 21 and the work equipment 22, the engine control unit 81 determines the target speed of the engine 33 and controls the fuel injection device 33F of the engine 33. The accelerator control unit 58 outputs a command signal to control the power transmission device 35. Based on the command signals output from the engine control unit 81 and the accelerator control unit 58, the travel speed of the travel device 21 is increased or adjusted.

[0059] The steering control unit 59 outputs a command signal to operate the steering cylinder 19. Based on the command signal output from the steering control unit 59, the direction of travel of the travel device 21 is adjusted.

[0060] The work equipment control unit 60 outputs a command signal to operate at least one of the boom cylinder 29 and the bucket cylinder 30. Based on the command signal output from the work equipment control unit 60, the work equipment 22 operates.

[0061] The automation controller 10 has a memory unit 61. The functions of the memory unit 61 are performed by the storage 433 of the computer 43. The automation controller 10 has a plurality of functional units. The functions of the functional units of the automation controller 10 are performed by the processor 431 of the computer 43. The functional units of the automation controller 10 include a recognition unit 62, an operation planning unit 63, and a follow control unit 64.

[0062] The memory unit 61 stores the data necessary for automatically controlling the work machine 2.

[0063] The recognition unit 62 acquires detection data from the position sensor 51. Based on the detection data from the position sensor 51, the recognition unit 62 recognizes the absolute position of the work machine 2. The recognition unit 62 acquires detection data from the external sensor 52. Based on the detection data from the external sensor 52, the recognition unit 62 recognizes objects around the work machine 2. Recognizing objects around the work machine 2 includes recognizing the relative position between the work machine 2 and the object. Recognizing an object includes recognizing the type of object. Recognizing the type of object includes recognizing the shape and size of the object. As described above, the objects around the work machine 2 include the excavation target and the conveying machine 3.

[0064] The recognition unit 62 can recognize an object by processing the detection data from the external sensor 52, for example, based on a pattern matching method. The recognition unit 62 can recognize an object by comparing the detection data from the external sensor 52 with a reference pattern pre-stored in the storage unit 61. The recognition unit 62 can recognize whether the type of object is an excavation target or a conveying machine 3 by processing the detection data from the external sensor 52.

[0065] The motion planning unit 63 plans the target operating conditions for the automatically controlled work machine 2. Planning the target operating conditions for the work machine 2 includes generating the target operating conditions for the work machine 2. The target operating conditions include at least one of the target rotational speed of the engine 33, the target travel path 70 of the travel device 21, and the target travel speed of the travel device 21. The target operating conditions also include at least one of the target operating path of the work implement 22 and the target operating speed of the work implement 22.

[0066] The follow-up control unit 64 outputs control commands for automatically controlling the work machine 2. The follow-up control unit 64 outputs control commands for automatically controlling the work machine 2 so that it operates according to the target operating conditions generated in the motion planning unit 63. The vehicle controller 11 outputs command signals to operate the work machine 2 based on the control commands from the follow-up control unit 64.

[0067] The follow control unit 64 outputs a control command to automatically control the engine 33 so that the engine 33 is driven according to the target rotational speed of the engine 33 generated by the motion planning unit 63. Based on the control command from the follow control unit 64, the vehicle controller 11 outputs a command signal to the running gear 21 so that the engine 33 is driven according to the target rotational speed.

[0068] The follow control unit 64 outputs control commands to automatically control the running gear 21 so that it runs according to the target running path and target running speed generated by the motion planning unit 63. Based on the control commands from the follow control unit 64, the vehicle controller 11 outputs command signals to the running gear 21 so that it runs according to the target running path and target running speed.

[0069] The tracking control unit 64 outputs control commands to automatically control the work implement 22 so that it operates according to the target operating path and target operating speed generated by the operation planning unit 63. Based on the control commands from the tracking control unit 64, the vehicle controller 11 outputs command signals to the work implement 22 so that it operates according to the target operating path and target operating speed.

[0070] The conveying machine 3 includes a vehicle controller 12, a traveling device 14, a dump body 15, a position sensor 67, and a vehicle speed sensor 68. The position sensor 67 detects the position of the conveying machine 3. The position sensor 67 detects the position of the conveying machine 3 using the Global Navigation Satellite System (GNSS). The position sensor 67 includes a GNSS receiver and detects the position (absolute position) of the conveying machine 3 in a global coordinate system. Alternatively, the position sensor 67 may detect the position (absolute position) of the work machine 2 in a site coordinate system defined for the work site 1. The vehicle speed sensor 68 detects the travel speed of the conveying machine 3. The vehicle speed sensor 68 detects the travel speed of the conveying machine 3 by, for example, detecting the rotational speed of the drive shaft connected to the wheel 16.

[0071] <Planning of target operating conditions> Figure 6 is a diagram illustrating the method for planning the target operating conditions of the work machine 2 according to the first embodiment. Below, as an example of the method for planning the target operating conditions of the work machine 2, the method for generating the target travel path 70 of the work machine 2 in the loading area 4 will be described.

[0072] In one embodiment, the work machine 2 is automatically controlled to perform a cyclic operation in which a series of operations are repeated. The motion planning unit 63 plans the target operating conditions for the work machine 2 in the series of cyclic operations. The cyclic operation consists of a series of interrelated operations. In one embodiment, the motion planning unit 63 plans the target operating conditions for the work machine 2 in a cyclic operation called a so-called V-shape operation.

[0073] In this embodiment, the cycle operation includes an excavation operation to excavate the stock pile 69 at the excavation position 71, a moving operation to move between the excavation position 71 and the loading position 72, and a loading operation to load the excavated stock pile 69 onto the dump body 15 of the conveying machine 3 upon arrival at the loading position 72. The excavation position 71 includes the position of the stock pile 69. The loading position 72 includes the position of the conveying machine 3.

[0074] In V-shape work, the work machine 2 alternately repeats excavation and loading operations. To alternate between excavation and loading operations, the work machine 2 performs a movement operation, moving between the excavation position 71 and the loading position 72. The traveling device 21 travels between the excavation position 71 and the loading position 72.

[0075] The target travel path 70 is the travel path for the work machine 2 performing the V-shape operation to follow. A switchback position 73, which is a reference position, is set in the loading area 4. The switchback position 73 is the position where the work machine 2 performs a switchback. A switchback is an action in which the work machine 2, which is moving in reverse, makes a sharp change in direction of travel and begins to move forward.

[0076] The V-shape operation of the work machine 2 includes a first forward movement, moving forward from a switchback position 73 towards an excavation position 71 to excavate a stockpile 69 with the bucket 26; a first reverse movement, moving backward to the switchback position 73 after the bucket 26 has held the excavated material by the first forward movement; a second forward movement, moving forward from the switchback position 73 towards an loading position 72 to load the excavated material held in the bucket 26 onto the dump body 15; and a second reverse movement, moving backward to the switchback position 73 after the excavated material held in the bucket 26 has been loaded onto the dump body 15 by the second forward movement.

[0077] As shown in Figure 6, when planning the target travel route 70, the motion planning unit 63 acquires the excavation position 71, which indicates the position of the stockpile 69, the loading position 72, which indicates the position of the conveying machine 3, and the switchback position 73, which is the reference position of the work machine 2. The switchback position 73 is set around the excavation position 71 and the loading position 72. Based on the excavation position 71, the loading position 72, and the switchback position 73, the motion planning unit 63 generates the target travel route 70 for the work machine 2. The travel device 21 travels between the excavation position 71 and the loading position 72, via the switchback position 73.

[0078] The operation planning unit 63 may obtain the excavation position 71, loading position 72, and switchback position 73 from, for example, the input device 48. The operator can input the excavation position 71, loading position 72, and switchback position 73 to the automation controller 10 by operating the input device 48. When the input device 48 is operated, input data indicating the excavation position 71, loading position 72, and switchback position 73 is generated and input to the automation controller 10. Alternatively, the excavation position 71, loading position 72, and switchback position 73 may be input to the automation controller 10 from an external computer located outside the work machine 2. The operation planning unit 63 may also obtain the excavation position 71, loading position 72, and switchback position 73 from the control server 8.

[0079] The excavation position 71 includes the position of the stockpile 69. The excavation position 71 is the target position of the work machine 2 when the work machine 2 performs the excavation work on the stockpile 69. The excavation position 71 may also be the target position of the work machine 2 when the bucket 26 is inserted into the stockpile 69 when the excavation work on the stockpile 69 is performed.

[0080] The loading position 72 includes the position of the conveying machine 3. The loading position 72 is the target position of the working machine 2 when it performs the loading operation onto the conveying machine 3. The loading position 72 may also be the target stopping position of the working machine 2 when it performs the loading operation onto the conveying machine 3. The loading position 72 may also be the target stopping position of the conveying machine 3 when the conveying machine 3 is performing the loading operation.

[0081] In this embodiment, the excavation location 71, the loading location 72, and the switchback location 73 are each defined in a global coordinate system. The operation planning unit 63 generates a target travel path 70 based on the excavation location 71, the loading location 72, and the switchback location 73. The location of the target travel path 70 is defined in a global coordinate system.

[0082] In this embodiment, the target travel path 70 includes a first target travel path 70A of the work machine 2 connecting the switchback position 73 and the excavation position 71, and a second target travel path 70B of the work machine 2 connecting the switchback position 73 and the loading position 72.

[0083] Based on pre-measured survey data of the work site 1, 3D data representing the 3D shape of the terrain of the work site 1 is calculated. The survey includes detecting the 3D shape of the work site 1 using a 3D sensor. For example, if a drone equipped with a 3D sensor flies over the work site 1 and the 3D sensor mounted on the drone detects the work site 1, the 3D data of the work site may be calculated based on the detection data from the 3D sensor mounted on the drone. The 3D data of the work site 1 may be calculated by the automation controller 10 or by the control server 8. The motion planning unit 63 calculates the optimal target travel path 70 based on the 3D data of the work site 1. If there are obstacles in the work site that obstruct the movement of the work machine 2, the location and size of the obstacles are calculated based on the survey data. The motion planning unit 63 calculates the target travel path 70 so as to avoid the obstacles. The motion planning unit 63 generates the target travel path 70 based on an existing pathfinding algorithm, such as the A* search algorithm. Calculating the optimal target travel route 70 includes calculating the optimal excavation location 71 and the optimal loading location 72. The location of at least one of the excavation location 71 and the loading location 72 may be changed in order to generate the optimal target travel route 70.

[0084] <Route tracking> The follow control unit 64 outputs control commands to control the travel device 21 and the work machine 22 so that the work machine 2 performs V-shape work based on the target operation conditions generated in the motion planning unit 63. The follow control unit 64 outputs control commands so that the work machine 2 alternately performs excavation work and loading work based on the target operation conditions of the work machine 2 in V-shape work. The follow control unit 64 outputs control commands so that the work machine 2 sequentially performs a first forward movement, a first reverse movement, a second forward movement, and a second reverse movement. In the first forward movement and the first reverse movement, the work machine 2 travels in accordance with the first target travel path 70A. In the second forward movement and the second reverse movement, the work machine 2 travels in accordance with the second target travel path 70B.

[0085] During the driving operation, the tracking control unit 64 outputs control commands to automatically control the driving device 21 of the work machine 2 so that it follows the target driving path 70, based on the detection data from the position sensor 51. The tracking control unit 64 outputs control commands to control the driving device 21 so that the deviation between the position of the work machine 2 detected by the position sensor 51 and the position of the target driving path 70 is reduced. Based on the control commands from the tracking control unit 64, the vehicle controller 11 outputs a command signal to the driving device 21 so that the work machine 2 follows the target driving path 70.

[0086] During excavation work, the recognition unit 62 recognizes the stock pile 69 based on the detection data from the external sensor 52. The follow control unit 64 outputs a control command to control the work machine 22 so that the bucket 26 excavates the stock pile 69. The vehicle controller 11 outputs a command signal to the work machine 22 based on the control command from the follow control unit 64 so that the bucket 26 excavates the stock pile 69.

[0087] During the loading operation, the recognition unit 62 recognizes the transport machine 3 based on the detection data from the external sensor 52. The follow control unit 64 outputs a control command to control the work implement 22 so that the excavated material held in the bucket 26 is loaded onto the dump body 15 of the transport machine 3. Based on the control command from the follow control unit 64, the vehicle controller 11 outputs a command signal to the work implement 22 so that the excavated material held in the bucket 26 is loaded onto the dump body 15 of the transport machine 3.

[0088] <Calculation of arrival time> As shown in Figure 1, the transport machine 3 travels along the travel path 6 and then enters the loading area 4. After entering the loading area 4, the transport machine 3 arrives at the loading position 72. Upon arriving at the loading position 72, the transport machine 3 stops there. The work machine 2 performs the loading operation, loading the excavated material onto the dump body 15 of the transport machine 3 that has arrived at the loading position 72. After the loading operation is completed, the transport machine 3 leaves the loading position 72. Having left the loading position 72, the transport machine 3 travels along the travel path 6 from the loading area 4 towards the soil removal area 5. After the previous transport machine 3 leaves the loading position 72, the next transport machine 3 arrives at the loading position 72. The work machine 2 begins the loading operation, loading the excavated material onto the transport machine 3 that has arrived at the loading position 72.

[0089] Multiple transport machines 3 arrive at the loading position 72 in sequence. The work machine 2 begins loading the excavated material onto the transport machines 3 that have arrived at the loading position 72. Once the transport machine 3 has finished loading, it leaves the loading position 72. This process of a transport machine 3 leaving the loading position 72 and the next transport machine 3 arriving at the loading position 72 is repeated.

[0090] The arrival times of multiple conveying machines 3 at the loading position 72 may be irregular. For example, congestion in the soil removal area 5 or congestion on the travel path 6 may cause the arrival times of each of the multiple conveying machines 3 at the loading position 72 to be irregular. If the V-shaping operation is not performed quickly, even though the arrival time of the next conveying machine 3 at the loading position 72 is short after the loading operation for the previous conveying machine 3 is completed, the next conveying machine 3 may arrive at the loading position 72 before the work machine 2 moves to the loading position 72 for loading. In other words, even though the next conveying machine 3 has arrived at the loading position 72, the work machine 2 may not be able to perform the loading operation. In this case, a waiting time will occur before the loading operation of the next conveying machine 3 can begin, which may reduce the productivity of the work site 1. Therefore, if the arrival time of the next conveying machine 3 at the loading position 72 is short, the work machine 2 needs to perform the V-shaping operation quickly in order to improve the productivity of the work site 1. If the arrival time is short, the motion planning unit 63 plans the target operating conditions so that the work machine 2 can quickly perform the V-shape operation.

[0091] If the target operating conditions are planned so that the V-shape operation is performed quickly, the work machine 2 may be automatically controlled to operate at high speed or abruptly. Examples of automatic control for operating the work machine 2 at high speed or abruptly include automatic control of the engine 33 without limits, automatic control of the travel device 21 without limits, and automatic control of the work implement 22 without limits. Examples of limits for the automatic control of the engine 33 include the engine 33's maximum output, maximum rotational speed, maximum torque, and maximum increase in rotational speed per unit time. Examples of limits for the automatic control of the travel device 21 include maximum travel speed, maximum acceleration, maximum deceleration, and minimum turning radius. An example of a limit for the automatic control of the work implement 22 is the maximum operating speed.

[0092] If the work machine 2 is automatically controlled to operate at high speed or abruptly without considering the above-mentioned limits, the combustion consumption of the engine 33 of the work machine 2 may increase, and the load on the travel device 21 of the work machine 2 may increase. For example, if the engine 33 is driven at high rotation speed, or the travel device 21 is driven at high speed or accelerated rapidly, the fuel consumption of the engine 33 may increase. If the travel device 21 is accelerated rapidly, decelerated rapidly, or turned rapidly, the load on the travel device 21 may increase. If the load on the travel device 21 increases, the wear of the tires 24 may be accelerated. In addition, if the travel device 21 is accelerated rapidly, decelerated rapidly, or turned rapidly, the wear of not only the tires 24 but also the sliding parts of the travel device 21 may be accelerated.

[0093] If the fuel consumption of the engine 33 increases, running costs may rise. Also, if the load on the running gear 21 increases and the wear of parts of the work machine 2, including the tires 24, is accelerated, the frequency of parts replacement will increase, which may also raise running costs.

[0094] If the arrival time for the next conveying machine 3 to reach the loading position 72 is long, even if the V-shaping operation is performed slowly, the likelihood of a waiting time for the next conveying machine 3 is low. Therefore, when the arrival time is long, it is preferable that the working machine 2 be automatically controlled so that the V-shaping operation is performed slowly in order to suppress running costs. Automatically controlling the working machine 2 so that the V-shaping operation is performed slowly includes setting the above-mentioned limit values ​​for automatic control.

[0095] In this embodiment, the recognition unit 62 acquires the arrival time of the conveying machine 3 to the loading position 72. Based on the arrival time acquired by the recognition unit 62, the operation planning unit 63 plans the target operating conditions for the work machine 2 in a series of cycle operations. If the arrival time until the next conveying machine 3 arrives at the loading position 72 is short, the operation planning unit 63 generates target operating conditions for the work machine 2 so that the V-shape operation is performed quickly. If the arrival time until the next conveying machine 3 arrives at the loading position 72 is long, the operation planning unit 63 generates target operating conditions for the work machine 2 so that the V-shape operation is performed slowly.

[0096] In this embodiment, the control server 8 calculates the arrival time of the conveyor machine 3 at the loading position 72 based on the driving state of the conveyor machine 3 before it arrives at the loading position 72. The driving state of the conveyor machine 3 before it arrives at the loading position 72 includes the position and speed of the conveyor machine 3 before it arrives at the loading position 72. The conveyor machine 3 travels along the travel path 6 toward the loading position 72. The driving state of the conveyor machine 3 includes the position and speed of the conveyor machine 3 while it is traveling along the travel path 6. The position of the conveyor machine 3 is detected by the position sensor 67. The speed of the conveyor machine 3 is detected by the vehicle speed sensor 68. The vehicle controller 12 transmits the detection data from the position sensor 67 and the detection data from the vehicle speed sensor 68 to the control server 8. Based on the detection data from the position sensor 67 and the detection data from the vehicle speed sensor 68, the control server 8 calculates the arrival time of the conveyor machine 3 traveling along the travel path 6 upon its arrival at the loading position 72. The length of the travel path 6 is known. The control server 8 can calculate the distance from the transport machine 3 traveling on the travel path 6 to the loading position 72 based on the detection data from the position sensor 67. Based on the distance from the transport machine 3 to the loading position 72 and the travel speed of the transport machine 3 detected by the vehicle speed sensor 68, the control server 8 can calculate the arrival time when the transport machine 3 will arrive at the loading position 72.

[0097] Furthermore, if an upper speed limit is set for the transport machine 3 on the travel path 6, the transport machine 3 is likely to travel at that upper speed. Therefore, the control server 8 may calculate the arrival time based on the distance from the transport machine 3 to the loading position 72 calculated from the position sensor 67 detection data, and the upper speed limit, without using the detection data from the vehicle speed sensor 68.

[0098] The recognition unit 62 obtains the arrival time calculated by the control server 8, which is an external computer, from the control server 8. The recognition unit 62 obtains the arrival time from the control server 8 via the communication system 9. The operation planning unit 63 plans the target operating conditions for the work machine 2 based on the arrival time obtained by the recognition unit 62. The operation planning unit 63 plans the target operating conditions for the work machine 2 based on the arrival time obtained by the recognition unit 62.

[0099] The recognition unit 62 may calculate the arrival time based on the position and travel speed of the conveying machine 3 before it arrives at the loading position 72. The recognition unit 62 can acquire detection data from the position sensor 67 that detects the position of the conveying machine 3 via the communication system 9.

[0100] The target operating conditions include at least one of the target rotational speed of the engine 33, the target travel path 70 of the travel device 21, and the target travel speed of the travel device 21 when traveling along the target travel path 70. The target travel path 70 includes the target turning radius of the work machine 2. The target operating conditions may also include the target acceleration and target deceleration of the travel device 21 when traveling along the target travel path 70.

[0101] If the arrival time is the first arrival time, the motion planning unit 63 plans a first target operation condition as the target operation condition. If the arrival time is the second arrival time, which is later than the first arrival time, the motion planning unit 63 plans a second target operation condition as the target operation condition, which has a higher mechanical efficiency of the work machine 2 than the first target operation condition.

[0102] The target operating conditions for high mechanical efficiency mean moderate target operating conditions. The target operating conditions for high mechanical efficiency include at least one of the following: target operating conditions for low fuel consumption of the engine 33, and operation with a small load on the running gear 21.

[0103] If the arrival time is the first arrival time, it means that the time until the next conveying machine 3 arrives at the loading position 72 is short. If the arrival time is the second arrival time, it means that the time until the next conveying machine 3 arrives at the loading position 72 is long. If the arrival time of the next conveying machine 3 is the first arrival time, the motion planning unit 63 plans the first target operating conditions so that the V-shaping operation is performed quickly. The working machine 2 is automatically controlled to perform the V-shaping operation quickly based on the first target operating conditions. If the arrival time of the next conveying machine 3 is the second arrival time, the motion planning unit 63 plans the second target operating conditions so that the V-shaping operation is performed slowly. The working machine 2 is automatically controlled to perform the V-shaping operation slowly based on the second target operating conditions.

[0104] The arrival time may be the time from any time while the loading operation on the previous conveying machine 3 is being carried out until the time when the next conveying machine 3 arrives at the loading position 72. The arrival time may be the time from the time when the loading operation on the previous conveying machine 3 is completed until the time when the next conveying machine 3 arrives at the loading position 72. The arrival time may be the time from any time after the loading operation on the previous conveying machine 3 is completed until the time when the next conveying machine 3 arrives at the loading position 72. The arrival time may be the time from any time after the previous conveying machine 3 has left the loading position 72 until the time when the next conveying machine 3 arrives at the loading position 72.

[0105] The control server 8 calculates the arrival time until the next transport machine 3 arrives at the loading position 72. The recognition unit 62 obtains the arrival time calculated by the control server 8 from the control server 8. The recognition unit 62 obtains the arrival time from the control server 8 via the communication system 9. The operation planning unit 63 plans the target operating conditions for the work machine 2 based on the arrival time until the next transport machine 3 arrives at the loading position 72 obtained by the recognition unit 62. The operation planning unit 63 plans either the first target operating conditions or the second target operating conditions based on the arrival time until the next transport machine 3 arrives at the loading position 72. The recognition unit 62 may also calculate the arrival time until the next transport machine 3 arrives at the loading position 72.

[0106] <Control methods for industrial machinery> Figure 7 is a flowchart showing the control method for the work machine 2 according to the first embodiment. The motion planning unit 63 acquires the excavation position 71, the loading position 72, and the switchback position 73. In this embodiment, the motion planning unit 63 plans a first target operation condition as the target operation condition. Planning the first target operation condition includes planning the target travel path 70 (step SA1).

[0107] A first target operating condition, including the target travel path 70, is planned, and after the transport machine 3 is positioned at the loading position 72, the follow control unit 64 outputs a control command for the work machine 2 to perform V-shape work according to the first target operating condition. Based on the detection data from the position sensor 51, the follow control unit 64 outputs a control command to control the travel device 21 so that the work machine 2 travels along the target travel path 70 (step SA2).

[0108] After the loading operation on the transport machine 3 is completed, the transport machine 3 moves away from the loading position 72. The follow control unit 64 outputs a control command for the work machine 2 to move to the switchback position 73. The work machine 2 waits at the switchback position 73 (step SA3).

[0109] The recognition unit 62 obtains the arrival time Ta from the control server 8 until the next transport machine 3 arrives at the loading position 72. In this embodiment, the arrival time Ta is the time from the time when the work machine 2 starts waiting at the switchback position 73 after the loading operation for the previous transport machine 3 is completed until the time when the next transport machine 3 arrives at the loading position 72 (step SA4).

[0110] The recognition unit 62 obtains from the storage unit 61 the working time Tb from the time when the working machine 2 performs V-shaping work under the second target operating conditions until the time when the loading work begins. In this embodiment, the working time Tb is the time required for the working machine 2 performing V-shaping work under the second target operating conditions to move forward from the switchback position 73 towards the excavation position 71 in order to excavate the stock pile 69 with the bucket 26, the first reverse movement to move backward to the switchback position 73 after the excavated material is held in the bucket 26 by the first reverse movement, and the second forward movement to move forward from the switchback position 73 towards the loading position 72 in order to load the excavated material held in the bucket 26 onto the dump body 15. In other words, the working time Tb is the time required for one V-shaping operation minus the time required for the second reverse movement. The working time Tb is derived in advance by preliminary experiments or simulations and stored in the storage unit 61. The recognition unit 62 obtains the work time Tb when the work machine 2 performs V-shape work under the second target conditions from the storage unit 61 (step SA5).

[0111] In this embodiment, the second target operating condition is a target operating condition that takes into account the fuel consumption of the engine 33. The second target operating condition is planned so that the fuel consumption of the engine 33 is lower than that of the first target operating condition. For example, the second target operating condition is planned so that the upper limit of the target rotational speed of the engine 33 in the second target operating condition is lower than the upper limit of the target rotational speed of the engine 33 in the first target operating condition. For example, the second target operating condition is planned so that the upper limit of the target travel speed of the work machine 2 in the second target operating condition is lower than the upper limit of the target travel speed of the work machine 2 in the first target operating condition.

[0112] The operation planning unit 63 determines whether the arrival time Ta exceeds the work time Tb (step SA6).

[0113] In step SA6, if it is determined that the arrival time Ta exceeds the work time Tb (step SA6: Yes), the operation planning unit 63 plans a second target operation condition as the target operation condition, which reduces the combustion consumption of the engine 33 (step SA7).

[0114] If the arrival time Ta exceeds the working time Tb, it means that the arrival time Ta is longer than the working time Tb. Therefore, the motion planning unit 63 plans a second target motion condition so that the working machine 2 performs a gradual V-shape operation.

[0115] The operation planning unit 63 determines whether the difference between the arrival time Ta and the work time Tb is greater than or equal to a predetermined threshold Tc (step SA8).

[0116] In step SA8, if it is determined that the difference between the arrival time Ta and the work time Tb is greater than or equal to the threshold Tc (step SA8: Yes), the follow control unit 64 outputs a control command to stop the engine 33 (step SA9).

[0117] The threshold Tc may be, for example, the time at which the condition is satisfied that the combustion consumption Fa of the engine 33 in the idling state exceeds the fuel consumption Fb of the engine 33 when the engine 33 is restarted. The time Ts for stopping the engine 33 may be the difference between the arrival time Ta and the work time Tb minus the threshold Tc (Ts = Ta - Tb - Tc).

[0118] After time Ts has elapsed since engine 33 was stopped, the follow control unit 64 restarts engine 33. The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shaping work according to the second target operating conditions. The work machine 2 performs a first forward movement from the switchback position 73 toward the excavation position 71, then a first reverse movement, and then a second forward movement. At the same time that the work machine 2 has moved to the loading position 72 by the second forward movement, the next transport machine 3 arrives at the loading position 72. The work machine 2 can then begin loading the excavated material onto the transport machine 3 that has arrived at the loading position 72 (step SA10).

[0119] In step SA8, if it is determined that the difference between the arrival time Ta and the work time Tb is not greater than or equal to the threshold Tc (step SA8: No), the follow control unit 64 continues to drive the engine 33 (step SA11). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shape work according to the second target operating conditions (step SA10).

[0120] In step SA6, if it is determined that the arrival time Ta is less than or equal to the work time Tb (step SA6: No), the operation planning unit 63 plans a first target operation condition that allows the V-shape operation to be performed quickly (step SA12). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start the V-shape operation in accordance with the first target operation condition (step SA10).

[0121] The follow control unit 64 determines whether or not to terminate the V-shape operation (step SA13). If it is determined in step SA13 not to terminate the V-shape operation (step SA13: No), the process returns to step SA3. If it is determined in step SA13 to terminate the V-shape operation (step SA13: Yes), the V-shape operation is terminated.

[0122] <Effects> As described above, the processor 431 of the automation controller 10 includes a recognition unit 62 that acquires the arrival time of the conveying machine 3 to the loading position 72, and an operation planning unit 63 that plans the target operating conditions of the working machine 2 in a V-shape operation, which is a series of cyclical operations including an excavation operation to excavate the target to be excavated at the excavation position 71, a movement operation to move between the excavation position 71 and the loading position 72, and a loading operation to load the excavated material of the target to be excavated by the excavation operation onto the conveying machine 3 that has arrived at the loading position 72, based on the arrival time.

[0123] According to the embodiment, when the time until the arrival time of the conveying machine 3 at the loading position 72 is short, the target operating conditions of the work machine 2 are planned so that the V-shaping operation is performed quickly. This suppresses a decrease in productivity at the work site 1. When the time until the arrival time of the conveying machine 3 at the loading position 72 is long, the target operating conditions of the work machine 2 are planned so that the V-shaping operation is performed slowly. In situations where the work machine 2 does not need to operate at high speed or abruptly, the work machine 2 performs the V-shaping operation slowly, so that the combustion consumption of the engine 33 of the work machine 2 is suppressed. As a result, the control system 44 can make the work machine 2 work economically and appropriately while considering the work efficiency of the work site 1. Because the work machine 2 works economically and appropriately, a decrease in productivity at the work site 1 is suppressed.

[0124] <Variations of the second operating condition> Figure 8 is a diagram illustrating a modified example of the second operating conditions according to the first embodiment. The combustion consumption of the engine 33 may change depending on the excavation method of the stockpile 69 by the bucket 26. Excavation lines BL1 and BL2 shown in Figure 8 show the trajectory of the cutting edge 26A of the bucket 26 when the bucket 26 excavates the stockpile 69. Excavation line BL1 shows the trajectory of the cutting edge 26A when the stockpile 69 is excavated deeply and quickly. Excavation line BL2 shows the trajectory of the cutting edge 26A when the stockpile 69 is excavated shallowly and slowly. If the stockpile 69 is excavated so that the cutting edge 26A of the bucket 26 moves along the excavation line BL1, the time required for the excavation work will be shortened, but the load on the work machine 22 will increase, and the fuel consumption of the engine 33 may increase in order to drive the work machine pump 39 at high output. If the stockpile 69 is excavated in such a way that the cutting edge 26A of the bucket 26 moves along the excavation line BL2, the time required for the excavation work will be longer, but the load on the work machine 22 will be reduced, and the fuel consumption of the engine 33 may be reduced. The motion planning unit 63 may plan a first target operating condition so that the cutting edge 26A moves along the excavation line BL1 if the time until the arrival time of the conveying machine 3 at the loading position 72 is short. The motion planning unit 63 may plan a second target operating condition so that the cutting edge 26A moves along the excavation line BL2 if the time until the arrival time of the conveying machine 3 at the loading position 72 is long.

[0125] Figure 9 is a diagram illustrating a modified example of the second operating condition according to the first embodiment. As shown in Figure 9, the operation planning unit 63 may plan the second target operating condition so that the working machine 2 performs an operation other than the excavation operation if there is a long time until the conveying machine 3 arrives at the loading position 72. Examples of operations other than the excavation operation include shaping the stock pile 69 with the bucket 26 and collecting material present on the ground around the stock pile 69 onto the stock pile 69 with the bucket 26. The recognition unit 62 recognizes the stock pile 69 based on the detection data of the external sensor 52. The follow control unit 64 can perform an operation other than the excavation operation based on the recognition result of the stock pile 69. If there is sufficient time before the conveying machine 3 arrives at the loading position 72, the operation planning unit 63 may plan the second target operating condition so that the working machine 2 performs an operation other than the excavation operation.

[0126] [Second Embodiment] A second embodiment will now be described. In the following description, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and the descriptions of those components will be simplified or omitted.

[0127] Figure 10 is a flowchart showing the control method for the work machine 2 according to the second embodiment. The motion planning unit 63 plans a first target motion condition as the target motion condition. Planning the first target motion condition includes planning the target travel path 70 (step SB1).

[0128] A first target operating condition, including the target travel path 70, is planned, and after the transport machine 3 is positioned at the loading position 72, the follow control unit 64 outputs a control command for the work machine 2 to perform V-shape work according to the first target operating condition (step SB2).

[0129] After the loading operation on the transport machine 3 is completed, the transport machine 3 moves away from the loading position 72. The follow control unit 64 outputs a control command for the work machine 2 to move to the switchback position 73. The work machine 2 waits at the switchback position 73 (step SB3).

[0130] The recognition unit 62 obtains the arrival time Ta from the control server 8 until the next transport machine 3 arrives at the loading position 72. Similar to the first embodiment described above, the arrival time Ta is the time from the time when the work machine 2 starts waiting at the switchback position 73 until the time when the next transport machine 3 arrives at the loading position 72 (step SB4).

[0131] The recognition unit 62 obtains from the storage unit 61 the working time Td until the time when the loading operation starts when the work machine 2 performs a V-shape operation under the second target operating conditions (step SB5).

[0132] In this embodiment, the second target operating condition is a target operating condition that takes into account the amount of tire wear 24. The second target operating condition is planned so that the amount of tire wear 24 is less than that of the first target operating condition. For example, if the work machine 2 makes a sharp turn while traveling at a high speed, the tires 24 will be in a state similar to a stationary turning state, resulting in increased tire wear. For example, if the amount of tire wear 24 increases as the turning radius of the work machine 2 decreases, the second target operating condition is planned so that the minimum value of the turning radius of the target travel path 70 in the second target operating condition is greater than the minimum value of the turning radius of the target travel path 70 in the first target operating condition. In other words, the second target operating condition is planned so that the travel device 21 does not make a sharp turn.

[0133] Furthermore, the length of the target travel path 70 may be considered in order to minimize tire wear 24. For example, if the excavation position 71 and loading position 72 are fixed and the target travel path 70 is short, the work machine 2 may need to accelerate, decelerate, or turn sharply. When the work machine 2 accelerates, decelerates, or turns sharply, the tire wear 24 may increase. If the target travel path 70 is long, the work machine 2 may not accelerate or decelerate sharply, thus potentially reducing tire wear 24. For this reason, the second target operating condition may be planned such that the length of the target travel path 70 in the second target operating condition is longer than the length of the target travel path 70 in the first target operating condition.

[0134] Figure 11 is a diagram illustrating the target operating conditions according to the second embodiment. As shown in Figure 11, the turning radius of the target travel path 270 in the second target operating conditions is larger than the turning radius of the target travel path 70 in the first target operating conditions. The length of the target travel path 270 in the second target operating conditions is longer than the length of the target travel path 70 in the first target operating conditions. Note that the turning radius of the target travel path 270 in the second target operating conditions may be equal to the turning radius of the target travel path 70 in the first target operating conditions. The length of the target travel path 270 in the second target operating conditions may be equal to the length of the target travel path 70 in the first target operating conditions. The excavation position 71 and loading position 72 in the target travel path 70 are the same as those in the target travel path 270. That is, the excavation position 71 and loading position 72 are fixed. The switchback position 273 on the target travel route 270 is further from the stockpile 69 and the conveying machine 3 than the switchback position 73 on the target travel route 70. The target travel route 270 includes a first target travel route 270A connecting the switchback position 273 and the excavation position 71, and a second target travel route 270B connecting the switchback position 73 and the loading position 72.

[0135] Furthermore, taking into account the wear of the tires 24, the second target operating conditions may be planned such that the upper limit of the target travel speed of the work machine 2 under the second target operating conditions is lower than the upper limit of the target travel speed of the work machine 2 under the first target operating conditions. The second target operating conditions may also be planned such that the upper limit of the target acceleration of the work machine 2 under the second target operating conditions is lower than the upper limit of the target acceleration of the work machine 2 under the first target operating conditions.

[0136] The operation planning unit 63 determines whether the arrival time Ta exceeds the work time Td (step SB6).

[0137] In step SB6, if it is determined that the arrival time Ta exceeds the work time Td (step SB6: Yes), the motion planning unit 63 plans a second target motion condition as the target motion condition, which reduces the amount of wear on the tire 24 (step SB7).

[0138] The operation planning unit 63 determines whether the difference between the arrival time Ta and the work time Td is greater than or equal to a predetermined threshold Tc (step SB8).

[0139] In step SB8, if it is determined that the difference between the arrival time Ta and the work time Td is greater than or equal to the threshold Tc (step SB8: Yes), the follow control unit 64 outputs a control command to stop the engine 33 (step SB9).

[0140] The time Ts for stopping the engine 33 may also be the difference between the arrival time Ta and the work time Td minus a threshold Tc (Ts = Ta - Td - Tc).

[0141] After time Ts has elapsed since engine 33 was stopped, the follow control unit 64 restarts engine 33. The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shaping work according to the second target operating conditions. The work machine 2 performs a first forward movement from the switchback position 73 toward the excavation position 71, then a first reverse movement, and then a second forward movement. At the same time that the work machine 2 has moved to the loading position 72 by the second forward movement, the next transport machine 3 arrives at the loading position 72. The work machine 2 can then begin loading the excavated material onto the transport machine 3 that has arrived at the loading position 72 (step SB10).

[0142] In step SB8, if it is determined that the difference between the arrival time Ta and the work time Td is not greater than or equal to the threshold Tc (step SB8: No), the follow control unit 64 continues to drive the engine 33 (step SB11). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shape work according to the second target operating conditions (step SB10).

[0143] In step SB6, if it is determined that the arrival time Ta is less than or equal to the work time Tb (step SB6: No), the motion planning unit 63 plans a first target motion condition that allows the V-shape operation to be performed quickly (step SB12). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start the V-shape operation in accordance with the first target motion condition (step SB10).

[0144] The follow control unit 64 determines whether or not to terminate the V-shaping operation (step SB13). If it is determined in step SB13 not to terminate the V-shaping operation (step SB13: No), the process returns to step SB3. If it is determined in step SB13 to terminate the V-shaping operation (step SB13: Yes), the V-shaping operation is terminated.

[0145] As described above, in this embodiment as well, when the time until the arrival of the conveying machine 3 at the loading position 72 is short, the target operating conditions of the work machine 2 are planned so that the V-shaping operation is performed quickly. This suppresses a decrease in productivity at the work site 1. When the time until the arrival of the conveying machine 3 at the loading position 72 is long, the target operating conditions of the work machine 2 are planned so that the V-shaping operation is performed slowly. In situations where the work machine 2 does not need to operate at high speed or abruptly, the work machine 2 performs the V-shaping operation slowly, which suppresses excessive wear on the tires 24 of the work machine 2. As a result, the control system 44 can operate the work machine 2 economically and appropriately.

[0146] [Third Embodiment] A third embodiment will now be described. In the following description, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and the descriptions of those components will be simplified or omitted.

[0147] Figure 12 is a flowchart showing the control method for the work machine 2 according to the third embodiment. The motion planning unit 63 plans a first target operation condition as the target operation condition (step SC1).

[0148] A first target operating condition, including the target travel path 70, is planned, and after the transport machine 3 is positioned at the loading position 72, the follow control unit 64 outputs a control command for the work machine 2 to perform V-shape work according to the first target operating condition (step SC2).

[0149] After the loading operation on the transport machine 3 is completed, the transport machine 3 moves away from the loading position 72. The follow control unit 64 outputs a control command for the work machine 2 to move to the switchback position 73. The work machine 2 waits at the switchback position 73 (step SC3).

[0150] The recognition unit 62 obtains the arrival time Ta until the next transport machine 3 arrives at the loading position 72 from the control server 8 (step SC4).

[0151] The recognition unit 62 obtains from the storage unit 61 the working time Tb until the time when the loading operation begins when the work machine 2 performs a V-shape operation under second target operating conditions that take into account the fuel consumption of the engine 33 (step SC5).

[0152] The recognition unit 62 obtains from the storage unit 61 the working time Td until the time when the loading operation begins when the work machine 2 performs a V-shape operation under a second target operating condition that takes into account the amount of tire wear 24 (step SC6).

[0153] The recognition unit 62 obtains from the storage unit 61 the working time Tf until the time when the loading operation begins when the work machine 2 performs a V-shape operation under second target operating conditions that take into account both the fuel consumption of the engine 33 and the wear amount of the tires 24. The working time Tf is derived in advance by preliminary experiments or simulations and stored in the storage unit 61. Note that the working time Tf may also be the sum of the working time Tb and the working time Td (step SC7).

[0154] The operation planning unit 63 determines whether the arrival time Ta exceeds the work time Tf (step SC8).

[0155] In step SC8, if it is determined that the arrival time Ta exceeds the work time Tf (step SC8: Yes), the operation planning unit 63 plans a second target operation condition as the target operation condition in which both the fuel consumption of the engine 33 and the wear amount of the tires 24 are reduced (step SC9).

[0156] The operation planning unit 63 determines whether the value obtained by subtracting the work time Tf from the arrival time Ta is greater than or equal to a predetermined threshold Tc (step SC10).

[0157] In step SC10, if it is determined that the value obtained by subtracting the work time Tf from the arrival time Ta is greater than or equal to the threshold Tc (step SC10: Yes), the follow control unit 64 outputs a control command to stop the engine 33 (step SC11).

[0158] The time Ts for stopping engine 33 may also be the value obtained by subtracting the work time Tf from the arrival time Ta (Ts = Ta - Tf).

[0159] After time Ts has elapsed since engine 33 was stopped, the follow control unit 64 restarts engine 33. The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shaping work according to the second target operating conditions. The work machine 2 performs a first forward movement from the switchback position 73 toward the excavation position 71, then a first reverse movement, and then a second forward movement. At the same time that the work machine 2 has moved to the loading position 72 by the second forward movement, the next transport machine 3 arrives at the loading position 72. The work machine 2 can then begin loading the excavated material onto the transport machine 3 that has arrived at the loading position 72 (step SC12).

[0160] In step SC10, if it is determined that the value obtained by subtracting the work time Tf from the arrival time Ta is not equal to or greater than the threshold Tc (step SC10: No), the follow control unit 64 continues to drive the engine 33 (step SC13). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start V-shape work according to the second target operating conditions (step SC12).

[0161] In step SC8, if it is determined that the arrival time Ta does not exceed the work time Tf (step SC8: No), the operation planning unit 63 determines whether at least one of the first condition that the arrival time Ta is greater than the work time Tb and the second condition that the arrival time Ta is greater than the work time Td is satisfied (step SC14).

[0162] In step SC14, if it is determined that the first condition, that the arrival time Ta is greater than the work time Tb, is satisfied (step SC14: Yes), the motion planning unit 63 plans a second target operating condition, which reduces the fuel consumption of the engine 33 (step SC15). In step SC14, if it is determined that the second condition, that the arrival time Ta is greater than the work time Td, is satisfied (step SC14: Yes), the motion planning unit 63 plans a second target operating condition, which reduces the amount of wear on the tires 24 (step SC15). The follow control unit 64 outputs a control command to the work machine 2, which is waiting at the switchback position 73, to start V-shape work according to the second target operating condition planned in step SC15 (step SC12).

[0163] In step SC14, if it is determined that the first condition, where the arrival time Ta is greater than the work time Tb, and the second condition, where the arrival time Ta is greater than the work time Td, are not satisfied (step SC14: No), the motion planning unit 63 plans a first target motion condition that allows the V-shape operation to be performed quickly (step SC16). The follow control unit 64 outputs a control command to cause the work machine 2, which is waiting at the switchback position 73, to start the V-shape operation in accordance with the first target motion condition (step SC12).

[0164] The follow-up control unit 64 determines whether or not to terminate the V-shaping operation (step SC17). If it is determined in step SC17 not to terminate the V-shaping operation (step SC17: No), the process returns to step SC3. If it is determined in step SC17 to terminate the V-shaping operation (step SC17: Yes), the V-shaping operation is terminated.

[0165] [Other embodiments] In the above-described embodiment, the steering cylinder 19, boom cylinder 29, and bucket cylinder 30 are all hydraulic cylinders. At least one of the steering cylinder 19, boom cylinder 29, and bucket cylinder 30 may be an electrically operated cylinder.

[0166] In the above-described embodiment, the work machine 2 is automatically controlled by the automation controller 10. Furthermore, the operation mode of the work machine 2 can be switched between manual operation and automatic control. In manual operation mode, the work machine 2 is operated by an operator seated in the cab 18C using an operating device 42 located in the cab 18C. The work machine 2 may also be remotely operated. The operating device 42 may be located outside the work machine 2, and the operation signal generated by the operation of the operating device 42 may be transmitted to the vehicle controller 11 via a wireless communication system.

[0167] In the above-described embodiment, the position of the work machine 2 is detected by a position sensor 51 including a GNSS receiver. Alternatively, the position of the work machine 2 may be detected by a total station. By attaching the target of the total station to the work machine 2, the total station can detect the position of the work machine 2.

[0168] In the above-described embodiment, the functions of the automation controller 10 may be provided on an external computer located outside the work machine 2. At least one of the functions of the storage unit 61, recognition unit 62, motion planning unit 63, and follow control unit 64 may be located on the external computer.

[0169] In the above embodiment, the working machine 2 is a wheel loader. However, the working machine 2 can be any working machine that performs excavation and loading operations. For example, the working machine 2 may be a shovel.

[0170] In the above embodiment, the conveying machine 3 is a dump truck. The conveying machine 3 may also be, for example, a mobile hopper.

[0171] [Note] This disclosure may also take the following form: (Note 1) Equipped with a processor, The aforementioned processor, Based on the arrival time of the conveying machine at the loading position, the target operating conditions of the work machine in a series of cycle operations, including excavation work to excavate the target to be excavated at the excavation position, movement work to move between the excavation position and the loading position, and loading work to load the excavated material of the target to be excavated by the excavation work onto the conveying machine upon arrival at the loading position, are planned. Control system for industrial machinery. (Note 2) The arrival time is calculated based on the position or travel speed of the conveying machine before it arrives at the loading position. The control system for the work machinery described in Appendix 1. (Note 3) The aforementioned work machine comprises an engine and a traveling device for traveling between the excavation position and the loading position. The aforementioned target operating conditions include at least one of the target rotational speed of the engine, the target travel path of the travel device, and the target travel speed of the travel device. A control system for the work machine described in Appendix 1 or Appendix 2. (Note 4) The aforementioned processor, If the aforementioned arrival time is the first arrival time, the first target operation condition is planned as the target operation condition. If the aforementioned arrival time is a second arrival time that is later than the first arrival time, the second target operating condition is planned as the target operating condition, which has a higher mechanical efficiency of the work machine than the first target operating condition. Control system for the work machinery described in Appendix 3. (Note 5) Multiple of the aforementioned conveying machines arrive sequentially at the loading position. The aforementioned processor, After the loading operation for the previous conveying machine is completed, the arrival time until the next conveying machine arrives at the loading position is obtained. The work time is obtained up to the time when the loading operation is started when the work machine performs the cycle operation under the second target operating conditions. If it is determined that the arrival time is less than or equal to the work time, the first target operation condition is planned as the target operation condition. If it is determined that the arrival time exceeds the work time, the second target operation condition is planned as the previous target operation condition. Control system for the work machinery described in Appendix 4. (Note 6) The target operating conditions for high mechanical efficiency include at least one of the target operating conditions for low engine fuel consumption and the target operating conditions for low load on the running gear. Control system for the work machine described in Appendix 4 or Appendix 5. (Note 7) The upper limit of the target rotational speed of the engine under the second target operating condition is lower than the upper limit of the target rotational speed of the engine under the first target operating condition. Control system for the work machinery described in Appendix 6. (Note 8) The turning radius of the target travel path in the second target operating condition is greater than the turning radius of the target travel path in the first target operating condition, or equal to the turning radius of the target travel path in the first target operating condition. Control system for the work machine described in Appendix 6 or Appendix 7. (Note 9) The length of the target travel path in the second target operating condition is longer than the length of the target travel path in the first target operating condition, or equal to the length of the target travel path in the first target operating condition. A control system for a work machine described in any one of the appendices 6 through 8. (Note 10) The upper limit of the target travel speed in the second target operating condition is lower than the upper limit of the target travel speed in the first target operating condition. A control system for a work machine described in any one of the appendices 6 through 9. (Note 11) The aforementioned processor, If the arrival time exceeds the work time, and the difference between the arrival time and the work time is greater than or equal to a predetermined threshold, a control command to stop the engine is output. A control system for a work machine described in any one of the appendices 5 through 10. (Note 12) The processor, To plan the target operating conditions of a work machine in a series of cyclical operations, including, based on the arrival time of the conveying machine at the loading position, an excavation operation to excavate the target to be excavated at the excavation position, a movement operation to move between the excavation position and the loading position, and a loading operation to load the excavated material of the target to be excavated by the excavation operation onto the conveying machine upon arrival at the loading position, and to execute the above. A method for controlling industrial machinery. (Note 13) The arrival time is calculated based on the position or travel speed of the conveying machine before it arrives at the loading position. Control method for the work machine described in Appendix 12. (Note 14) The aforementioned work machine comprises an engine and a traveling device for traveling between the excavation position and the loading position. The aforementioned target operating conditions include at least one of the target rotational speed of the engine, the target travel path of the travel device, and the target travel speed of the travel device. A control method for the work machine described in Appendix 12 or Appendix 13. (Note 15) Equipped with a processor, The aforementioned processor, Based on the arrival time of the conveying machine at the loading position, the target operating conditions of the work machine in a series of cycle operations, including excavation work to excavate the target to be excavated at the excavation position, movement work to move between the excavation position and the loading position, and loading work to load the excavated material of the target to be excavated by the excavation work onto the conveying machine upon arrival at the loading position, are planned. Control device for industrial machinery. [Explanation of Symbols]

[0172] 1...Work site, 2...Working machinery, 3...Conveying machinery, 4...Loading area, 5...Soil removal area, 6...Road, 7...Management system, 8...Control server, 9...Communication system, 10...Automation controller, 11...Vehicle controller, 12...Vehicle controller, 13...Vehicle body, 14...Running gear, 15...Dump body, 16...Wheels, 16F...Front wheels, 16R...Rear wheels, 17...Tires, 18...Vehicle body, 18C...Cab, 18F...Front frame, 18R...Rear frame, 19...Steering cylinder, 20...Wheels, 20F...Front wheels, 20R...Rear wheels, 21...Running gear, 22...Working machinery, 23...Ar 24...Tire, 25...Boom, 26...Bucket, 26A...Cutting edge, 27...Bell crank, 28...Bucket link, 29...Boom cylinder, 30...Bucket cylinder, 31...Bracket, 32...Bracket, 33...Engine, 33F...Fuel injection system, 34...Power take-off, 35...Power transmission system, 36...Brake system, 37...Steering pump, 38...Steering control valve, 39...Work equipment pump, 40...Boom control valve, 41...Bucket control valve, 42...Operating device, 42A...Traction system operating device, 42B...Work equipment operating device, 43...Computer 44...Control system, 45...Automation sensor system, 46...Vehicle status sensor system, 47...User interface, 48...Input device, 49...Automation changeover switch, 51...Position sensor, 52...External environment sensor, 53...Steering angle sensor, 54...Vehicle speed sensor, 55...Boom angle sensor, 56...Bucket angle sensor, 57...Brake control unit, 58...Accelerator control unit, 59...Steering control unit, 60...Work equipment control unit, 61...Memory unit, 62...Recognition unit, 63...Motion planning unit, 64...Follow control unit, 67...Position sensor, 68...Vehicle speed sensor, 69...Stock pile 70...Target travel path, 70A...First target travel path, 70B...Second target travel path, 71...Excavation position, 72...Loading position, 73...Switchback position, 80...Engine speed sensor, 81...Engine control unit, 270...Target travel path, 270A...First target travel path, 270B...Second target travel path, 273...Switchback position, 421...Accelerator pedal, 422...Brake pedal, 423...Steering wheel, 424...Forward / reverse lever, 425...Boom lever, 426...Bucket lever, 431...Processor, 432...Main memory, 433...Storage434…Input / Output Interface, 435…Communication Interface, 436…Computer Program.

Claims

1. Equipped with a processor, The aforementioned processor, Based on the arrival time of the conveying machine at the loading position, the target operating conditions of the work machine in a series of cycle operations, including excavation work to excavate the target to be excavated at the excavation position, movement work to move between the excavation position and the loading position, and loading work to load the excavated material of the target to be excavated by the excavation work onto the conveying machine upon arrival at the loading position, are planned. Control system for industrial machinery.

2. The arrival time is calculated based on the position or travel speed of the conveying machine before it arrives at the loading position. A control system for a work machine according to claim 1.

3. The aforementioned work machine comprises an engine and a traveling device for traveling between the excavation position and the loading position. The aforementioned target operating conditions include at least one of the target rotational speed of the engine, the target travel path of the travel device, and the target travel speed of the travel device. A control system for a work machine according to claim 1.

4. The aforementioned processor, If the aforementioned arrival time is the first arrival time, the first target operation condition is planned as the target operation condition. If the aforementioned arrival time is a second arrival time that is later than the first arrival time, the second target operating condition is planned as the target operating condition in which the mechanical efficiency of the work machine is higher than that of the first target operating condition. A control system for a work machine according to claim 3.

5. Multiple of the aforementioned conveying machines arrive sequentially at the loading position. The aforementioned processor, After the loading operation for the previous conveying machine is completed, the arrival time until the next conveying machine arrives at the loading position is obtained. The work time is obtained up to the time when the loading operation is started when the work machine performs the cycle operation under the second target operating conditions. If it is determined that the arrival time is less than or equal to the work time, the first target operation condition is planned as the target operation condition. If it is determined that the arrival time exceeds the work time, the second target operation condition is planned as the previous target operation condition. A control system for a work machine according to claim 4.

6. The target operating conditions for high mechanical efficiency include at least one of the target operating conditions for low engine fuel consumption and the target operating conditions for low load on the running gear. A control system for a work machine according to claim 4 or claim 5.

7. The upper limit of the target rotational speed of the engine in the second target operating condition is lower than the upper limit of the target rotational speed of the engine in the first target operating condition. A control system for a work machine according to claim 6.

8. The turning radius of the target travel path in the second target operating condition is greater than the turning radius of the target travel path in the first target operating condition, or equal to the turning radius of the target travel path in the first target operating condition. A control system for a work machine according to claim 6.

9. The length of the target travel path in the second target operating condition is longer than the length of the target travel path in the first target operating condition, or equal to the length of the target travel path in the first target operating condition. A control system for a work machine according to claim 6.

10. The upper limit of the target driving speed in the second target operating condition is lower than the upper limit of the target driving speed in the first target operating condition. A control system for a work machine according to claim 6.

11. The aforementioned processor, If the arrival time exceeds the work time, and the difference between the arrival time and the work time is greater than or equal to a predetermined threshold, a control command to stop the engine is output. A control system for a work machine according to claim 5.

12. The processor, To plan the target operating conditions of a work machine in a series of cyclical operations, including, based on the arrival time of the conveying machine at the loading position, an excavation operation to excavate the target to be excavated at the excavation position, a movement operation to move between the excavation position and the loading position, and a loading operation to load the excavated material of the target to be excavated by the excavation operation onto the conveying machine upon arrival at the loading position, and to execute the above. A method for controlling industrial machinery.

13. The arrival time is calculated based on the position or travel speed of the conveying machine before it arrives at the loading position. A method for controlling a work machine according to claim 12.

14. The aforementioned work machine comprises an engine and a traveling device for traveling between the excavation position and the loading position. The aforementioned target operating conditions include at least one of the target rotational speed of the engine, the target travel path of the travel device, and the target travel speed of the travel device. A method for controlling a work machine according to claim 12.

15. The aforementioned processor, If the aforementioned arrival time is the first arrival time, the first target operation condition is planned as the target operation condition. If the aforementioned arrival time is a second arrival time that is later than the first arrival time, the second target operating condition is planned as the target operating condition in which the mechanical efficiency of the work machine is higher than that of the first target operating condition. A method for controlling a work machine according to claim 14.

16. Multiple of the aforementioned conveying machines arrive sequentially at the loading position. The aforementioned processor, After the loading operation on the previous conveying machine is completed, the arrival time until the next conveying machine arrives at the loading position is obtained, The work time is obtained up to the time when the loading operation is started when the work machine performs the cycle operation under the second target operating conditions, If it is determined that the arrival time is less than or equal to the work time, the first target operating condition is planned as the target operating condition. If it is determined that the arrival time exceeds the work time, the second target operation condition is planned as the previous target operation condition and the following is performed: A method for controlling a work machine according to claim 15.

17. The target operating conditions for high mechanical efficiency include at least one of the target operating conditions for low engine fuel consumption and the target operating conditions for low load on the running gear. A method for controlling a work machine according to claim 15 or claim 16.

18. The upper limit of the target rotational speed of the engine in the second target operating condition is lower than the upper limit of the target rotational speed of the engine in the first target operating condition. A method for controlling a work machine according to claim 17.

19. The turning radius of the target travel path in the second target operating condition is greater than the turning radius of the target travel path in the first target operating condition, or equal to the turning radius of the target travel path in the first target operating condition. A method for controlling a work machine according to claim 17.

20. Equipped with a processor, The aforementioned processor, Based on the arrival time of the conveying machine at the loading position, the target operating conditions of the work machine in a series of cycle operations, including excavation work to excavate the target to be excavated at the excavation position, movement work to move between the excavation position and the loading position, and loading work to load the excavated material of the target to be excavated by the excavation work onto the conveying machine upon arrival at the loading position, are planned. Control device for industrial machinery.

Images