Operating system and working method

Abstract

To automatically specify an earth removal position for controlling a work machine.SOLUTION: A work machine control device for controlling a work machine having a turning body and a work machine which is mounted on the turning body and includes a bucket includes a transportation vehicle information acquisition part and an earth removal position specification part. The transportation vehicle information acquisition part acquires positional information and azimuth information of an unmanned transportation vehicle detected by an unmanned transportation vehicle. The earth removal position specification part specifies an earth removal position for loading sediment to the unmanned transportation vehicle, on the basis of the positional information and the azimuth information.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a work machine control device and a control method for controlling a work machine at a work site where a work machine and an automated guided vehicle are deployed.

Background Art

[0002] Patent Document 1 and Patent Document 2 disclose technologies for automatically operating a hydraulic excavator by designating an excavation position and a spoil disposal position.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to improve the efficiency of automatic control, it is desirable to omit the designation of the spoil disposal position. An aspect of the present invention aims to provide a work machine control device and a control method capable of automatically specifying a spoil disposal position for controlling a work machine.

Means for Solving the Problems

[0005] According to a first aspect of the present invention, a work machine control device is a work machine control device that controls a work machine including a revolving body that revolves around a turning center and a work implement including a bucket attached to the revolving body. The work machine control device includes a carrier information acquisition unit that acquires position information and orientation information of an automated guided vehicle present at a loading location within the reach of the bucket from a carrier control device that controls the travel of the automated guided vehicle based on position information, orientation information, and a predetermined travel route of the automated guided vehicle, and an earth discharge position specifying unit that specifies an earth discharge position for loading a load onto the automated guided vehicle based on the position information and the orientation information.

Advantages of the Invention

[0006] According to the above aspect, the work machine control device can automatically specify an earth discharge position for controlling the work machine.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

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Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0008] 〈First Embodiment〉 《Work System》 FIG. 1 is a schematic diagram showing the configuration of a remote operation system according to a first embodiment. The work system 1 includes a work machine 100, one or a plurality of transport vehicles 200 which are unmanned transport vehicles, a management device 300, and a remote operation room 500. The work machine 100 and the transport vehicle 200 operate at a work site (for example, a mine, a quarry). The remote operation room 500 is provided at a location away from the work site (for example, in a city, within the work site).

[0009] The transport vehicle 200 travels unmanned based on control information received from the management device 300. The transport vehicle 200 and the management device 300 are connected by communication via an access point 360. The management device 300 acquires the position and orientation of the transport vehicle 200 from the transport vehicle 200, and generates course information for use in the travel of the transport vehicle 200 based on these. The management device 300 transmits the course information to the transport vehicle 200. The transport vehicle 200 travels unmanned based on the received course information. That is, the work system 1 includes an unmanned transport system including the transport vehicle 200 and the management device 300. The access point 360 is used for communication of the unmanned transport system.

[0010] The management device 300 receives the instruction signals of the transport vehicle 200 from the work machine 100 and the remote operation cab 500, and transmits them to the transport vehicle 200. The work machine 100 and the management device 300 are connected by communication via the access point 360. Also, the remote operation cab 500 and the management device 300 are connected via a network. Examples of the instruction signals of the transport vehicle 200 received from the work machine 100 and the remote operation cab 500 include an entry instruction signal and a start instruction signal. The entry instruction signal is a signal for instructing the transport vehicle 200 to enter from the standby point P1 to the loading point P3. The start instruction signal is a signal for instructing the transport vehicle 200 to start from the loading point P3 upon completion of loading and exit from the loading area A1.

[0011] The work machine 100 is remotely operated based on the operation signal transmitted from the remote operation cab 500. The work machine 100 and the remote operation cab 500 are connected by communication via the access point 350. The first operation device 530 of the remote operation cab 500 receives the operation of the work machine 100 by the operation of the operator, and the control device 540 transmits the operation signal to the management device 300. The work machine 100 operates based on the operation signal received from the remote operation cab 500. That is, the work system 1 includes a remote operation system composed of the work machine 100 and the remote operation cab 500. The access point 350 is used for the communication of the remote operation system.

[0012] 《Transport Vehicle》 The transport vehicle 200 according to the first embodiment is an unmanned dump truck that travels unmanned along a set travel route. Note that the transport vehicle 200 according to other embodiments may be a transport vehicle other than a dump truck. The transport vehicle 200 includes a position and orientation detector 210 and a control device 220.

[0013] The position and orientation detector 210 detects the position and orientation of the transport vehicle 200. The position and orientation detector 210 includes two receivers that receive positioning signals from artificial satellites constituting GNSS (Global Navigation Satellite System). An example of GNSS is GPS (Global Positioning System). The two receivers are installed at different positions of the transport vehicle 200 respectively. The position and orientation detector 210 detects the position of a representative point (the origin of the vehicle body coordinate system, for example, the center position of the rear axle of the transport vehicle 200) of the transport vehicle 200 in the site coordinate system based on the positioning signals received by the receivers. The position and orientation detector 210 calculates the orientation of the transport vehicle 200 as the relationship between the installation positions of the two receivers with respect to the installation position of one receiver using the positioning signals received by the two receivers. Note that the present invention is not limited to this in other embodiments. For example, the transport vehicle 200 may be provided with an inertial measurement unit (IMU: Inertial Measurement Unit), and the orientation may be calculated based on the measurement results of the inertial measurement unit. In this case, the drift of the inertial measurement unit may be corrected based on the travel trajectory of the transport vehicle 200. When calculating the orientation using the inertial measurement unit, the transport vehicle 200 only needs to be provided with one receiver.

[0014] The control device 220 transmits the position and orientation detected by the position and orientation detector 210 to the management device 300. The control device 220 receives course information and an instruction signal from the management device 300. The control device 220 drives the transport vehicle 200 or raises and lowers the vessel of the transport vehicle 200 based on the received course information and instruction signal.

[0015] 《Working Machine》 FIG. 2 is an external view of the working machine according to the first embodiment. The working machine 100 according to the first embodiment is a hydraulic excavator which is a kind of loading machine. Note that the working machine 100 according to other embodiments may be a working machine other than a hydraulic excavator. Also, although the working machine 100 shown in FIG. 2 is a face shovel, it may be a backhoe shovel or a rope shovel. The working machine 100 includes a traveling body 130, a revolving body 120 supported by the traveling body 130, and a working device 110 that is hydraulically actuated and supported by the revolving body 120. The revolving body 120 is rotatably supported about a center of rotation.

[0016] The working device 110 includes a boom 111, an arm 112, a bucket 113, a boom cylinder 114, an arm cylinder 115, a bucket cylinder 116, a boom angle sensor 117, an arm angle sensor 118, and a bucket angle sensor 119.

[0017] The base end portion of the boom 111 is attached to the revolving body 120 via a pin. The arm 112 connects the boom 111 and the bucket 113. The base end portion of the arm 112 is attached to the tip end portion of the boom 111 via a pin. The bucket 113 includes a blade for excavating earth and sand and a container for storing the excavated earth and sand. The base end portion of the bucket 113 is attached to the tip end portion of the arm 112 via a pin.

[0018] The boom cylinder 114 is a hydraulic cylinder for actuating the boom 111. The base end portion of the boom cylinder 114 is attached to the revolving body 120. The tip end portion of the boom cylinder 114 is attached to the boom 111. The arm cylinder 115 is a hydraulic cylinder for driving the arm 112. The base end portion of the arm cylinder 115 is attached to the boom 111. The tip end portion of the arm cylinder 115 is attached to the arm 112. The bucket cylinder 116 is a hydraulic cylinder for driving the bucket 113. The base end portion of the bucket cylinder 116 is attached to the boom 111. The tip end portion of the bucket cylinder 116 is attached to the bucket 113.

[0019] The boom angle sensor 117 is attached to the boom 111 and detects the inclination angle of the boom 111. The arm angle sensor 118 is attached to the arm 112 and detects the inclination angle of the arm 112. The bucket angle sensor 119 is attached to the bucket 113 and detects the inclination angle of the bucket 113. The boom angle sensor 117, the arm angle sensor 118, and the bucket angle sensor 119 according to the first embodiment detect the inclination angle with respect to the ground plane. Note that the angle sensors according to other embodiments are not limited to this, and may detect the inclination angle with respect to other reference planes. For example, in other embodiments, the angle sensor may detect the relative rotation angle by a potentiometer provided at the base ends of the boom 111, the arm 112, and the bucket 113, or may measure the cylinder lengths of the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 and detect the inclination angle by converting the cylinder lengths into angles.

[0020] The revolving body 120 is provided with a driver's cab 121. An imaging device 122 is provided above the driver's cab 121. The imaging device 122 is installed in front of and above the driver's cab 121. The imaging device 122 images the front of the driver's cab 121 through the front glass on the front surface of the driver's cab 121. Examples of the imaging device 122 include imaging devices using, for example, a CCD (Charge Coupled Device) sensor and a CMOS (Complementary Metal Oxide Semiconductor) sensor. Note that in other embodiments, the imaging device 122 does not necessarily have to be provided inside the driver's cab 121, and the imaging device 122 may be provided at a position where at least the work target and the working machine 110 can be imaged.

[0021] The working machine 100 includes an imaging device 122, a position and orientation calculator 123, an inclination measuring device 124, a hydraulic device 125, and a control device 126.

[0022] The position and orientation calculator 123 calculates the position of the revolving body 120 and the orientation in which the revolving body 120 faces. The position and orientation calculator 123 includes two receivers that receive positioning signals from artificial satellites constituting GNSS. The two receivers are installed at different positions of the revolving body 120 respectively. The position and orientation calculator 123 detects the position of the representative point (the origin of the excavator coordinate system) of the revolving body 120 in the field coordinate system based on the positioning signals received by the receivers. The position and orientation calculator 123 calculates the orientation in which the revolving body 120 faces as the relationship between the installation positions of the two receivers with respect to the installation position of one receiver using the positioning signals received by the two receivers.

[0023] The tilt meter 124 measures the acceleration and angular velocity of the revolving body 120, and detects the attitude (for example, roll angle, pitch angle, yaw angle) of the revolving body 120 based on the measurement results. The tilt meter 124 is installed on, for example, the lower surface of the revolving body 120. The tilt meter 124 can use, for example, an inertial measurement unit (IMU).

[0024] The hydraulic device 125 includes a hydraulic oil tank, a hydraulic pump, and a flow control valve. The hydraulic pump is driven by the power of an engine (not shown) and supplies hydraulic oil to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 via the flow control valve. The flow control valve has a rod-shaped spool, and adjusts the flow rate of the hydraulic oil supplied to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 according to the position of the spool. The spool is driven based on a control command received from the control device 126. That is, the amount of hydraulic oil supplied to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 is controlled by the control device 126.

[0025] The control device 126 transmits the image captured by the imaging device 122, the turning speed, position and orientation of the revolving body 120, the tilt angles of the boom 111, arm 112 and bucket 113, the traveling speed of the traveling body 130, and the attitude of the revolving body 120 to the remote operation cab 500. Hereinafter, the image, the turning speed, position and orientation of the revolving body 120, the tilt angles of the boom 111, arm 112 and bucket 113, the traveling speed of the traveling body 130, and the attitude of the revolving body 120 are also referred to as vehicle information. Note that the vehicle information according to other embodiments is not limited to this. For example, the vehicle information according to other embodiments may not include any of the turning speed, position, orientation, tilt angle, traveling speed, and attitude, may include values detected by other sensors, or may include values calculated from the detected values. The control device 126 receives an operation signal from the remote operation cab 500. The control device 126 drives the work machine 110, the revolving body 120, or the traveling body 130 based on the received operation signal.

[0026] 《Management Device》 FIG. 3 is a schematic block diagram showing the configuration of the management device according to the first embodiment. The management device 300 manages the traveling of the transport vehicle 200. The management device 300 is a computer including a processor 3100, a main memory 3200, a storage 3300, and an interface 3400. The storage 3300 stores a program p3. The processor 3100 reads the program p3 from the storage 3300 and expands it in the main memory 3200, and executes processing according to the program p3. The management device 300 is connected to a network via the interface 3400. An access point 360 is connected to the interface 3400. The management device 300 is wirelessly connected to the work machine 100 and the transport vehicle 200 via the access point 360.

[0027] Storage 3300 has storage areas as a travel route storage unit 3301 and a position and orientation storage unit 3302. Examples of the storage 3300 include an HDD (Hard Disk Drive), an SSD (Solid State Drive), a magnetic disk, a magneto-optical disk, a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), a semiconductor memory, and the like. The storage 3300 may be an internal medium directly connected to the common communication line of the management device 300, or may be an external medium connected to the management device 300 via the interface 3400. The storage 3300 is a non-temporary tangible storage medium.

[0028] The travel route storage unit 3301 stores the travel route R for each transport vehicle 200. FIG. 4 is a diagram showing an example of a travel route. The travel route R has a predetermined connection route R1 connecting two areas A (for example, a loading area A1 and a dumping area A2), and an approach route R2, an approach route R3, and an exit route R4 that are routes within the area A. The approach route R2 is a route that connects the standby point P1, which is one end of the connection route R1 within the area A, and a predetermined turning point P2. The approach route R3 is a route that connects the turning point P2 within the area A and the loading point P3 or the dumping point P4. The exit route R4 is a route that connects the loading point P3 or the dumping point P4 within the area A and the exit point P5, which is the other end of the connection route R1. The loading point P3 is a point set by the operation of the operator of the work machine 100. The turning point P2 is a point set by the management device 300 according to the position of the loading point P3.

[0029] The position and orientation storage unit 3302 stores the position information and orientation information of each transport vehicle 200.

[0030] The processor 3100 includes a position and orientation collection unit 3101 and a travel course generation unit 3102 when executing the program p3.

[0031] The position and orientation collection unit 3101 receives the position information and orientation information of the transport vehicle 200 from the transport vehicle 200 via the access point 360. The position and orientation collection unit 3101 stores the received position information and orientation information in the position and orientation storage unit 3302.

[0032] The travel course generation unit 3102 generates course information including information on the area where the movement of the transport vehicle 200 is permitted based on the travel route stored in the travel route storage unit 3301 and the position information and orientation information stored in the position and orientation storage unit 3302. The generated course information is transmitted to the transport vehicle 200. The course information includes the position information of points set at predetermined intervals on the travel route, the target speed information at that point, and the travel permission area information that does not overlap with the travel permission areas of other transport vehicles 200.

[0033] The travel course generation unit 3102 does not include the approach route R2 and the approach route R3 in the area indicated by the course information until it receives an entry instruction signal from the remote control room 500. As a result, the transport vehicle 200 waits at the waiting point P1 until it receives the entry instruction signal. When the travel course generation unit 3102 receives the entry instruction signal, it generates course information including the approach route R2 and the approach route R3 and not including the exit route R4. As a result, the transport vehicle 200 starts from the waiting point P1 and travels to the loading point P3 and stops at the loading point P3. When the travel course generation unit 3102 receives a start instruction signal, it generates course information including the exit route R4. In the work system 1 according to the present embodiment, the transport vehicle 200 waits at the waiting point P1 until it receives the entry instruction signal, but it is not limited to this. For example, in other embodiments, the position where the transport vehicle 200 waits may be the switching point P2 or a point on the approach route R2 or the approach route R3.

[0034] 《Remote Control Room》 The remote control room 500 includes a driver's seat 510, a display device 520, a first operation device 530, a second operation device 531, and a control device 540. The display device 520 is arranged in front of the driver's seat 510. The display device 520 is positioned in front of the operator's eyes when the operator is sitting in the driver's seat 510. The display device 520 may be composed of a plurality of arranged displays as shown in FIG. 1, or may be composed of one large display. Further, the display device 520 may project an image onto a curved surface or a spherical surface by a projector or the like.

[0035] The first operating device 530 is an operating device for the remote operation system. The first operating device 530 generates, in response to the operator's operation, an operation signal for the boom cylinder 114, an operation signal for the arm cylinder 115, an operation signal for the bucket cylinder 116, a turning operation signal for turning the revolving body 120 left and right, and a traveling operation signal for the forward and backward movement of the traveling body 130, and outputs them to the control device 540. The first operating device 530 is composed of, for example, a lever, a knob switch, and a pedal. The second operating device 531 transmits, by the operator's operation, an entry instruction signal, a start instruction signal, a stop instruction signal, and a stop release signal to the management device 300 for the transport vehicle 200. The second operating device 531 is composed of, for example, a touch panel or the like. The first operating device 530 and the second operating device 531 are arranged in the vicinity of the driver's seat 510. The first operating device 530 and the second operating device 531 are positioned within the operable range of the operator when the operator is sitting in the driver's seat 510.

[0036] The control device 540 causes the display device 520 to display the image received from the working machine 100, and transmits an operation signal representing the operation of the first operating device 530 to the working machine 100.

[0037] FIG. 5 is a schematic block diagram showing the configuration of the control device of the remote operation room according to the first embodiment. The control device 540 is a computer including a processor 5100, a main memory 5200, a storage 5300, and an interface 5400. The storage 5300 stores a program p5. The processor 5100 reads the program p5 from the storage 5300, expands it in the main memory 5200, and executes processing according to the program p5. The control device 540 is connected to a network via the interface 5400.

[0038] Examples of the storage 5300 include HDDs, SSDs, magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, and the like. The storage 5300 may be an internal medium directly connected to the common communication line of the control device 540, or may be an external medium connected to the control device 540 via the interface 5400. The storage 5300 is a non-transitory tangible storage medium.

[0039] By executing the program p5, the processor 5100 includes a loading vehicle information acquisition unit 5101, a display control unit 5102, a transport vehicle information acquisition unit 5103, an operation signal input unit 5104, a bucket position specifying unit 5105, a dump position specifying unit 5106, an avoidance position specifying unit 5107, an operation signal generation unit 5109, and an operation signal output unit 5110.

[0040] The loading vehicle information acquisition unit 5101 acquires vehicle information from the work machine 100.

[0041] The display control unit 5102 generates a display signal for displaying an image included in the vehicle information received by the loading vehicle information acquisition unit 5101, and outputs it to the display device 520.

[0042] The transport vehicle information acquisition unit 5103 acquires the position information and azimuth information of each transport vehicle 200 from the management device 300.

[0043] The operation signal input unit 5104 receives the input of operation signals from the first operation device 530. The operation signals include the operation signal of the boom 111, the operation signal of the arm 112, the operation signal of the bucket 113, the slewing operation signal of the slewing body 120, the traveling operation signal of the traveling body 130, and the dumping instruction signal of the working machine 100. The dumping instruction signal is a signal for instructing automatic dumping control to move the bucket 113 to the dumping position and perform dumping.

[0044] Based on the vehicle information received by the loading vehicle information acquisition unit 5101, the bucket position specifying unit 5105 specifies the position P of the tip of the arm 112 and the height Hb from the tip of the arm 112 to the lowest point of the bucket 113 in the excavator coordinate system. The lowest point of the bucket 113 refers to the point on the outer shape of the bucket 113 where the distance from the ground surface is the shortest. In particular, when the bucket position specifying unit 5105 receives the input of the dumping instruction signal, it specifies the position P of the tip of the arm 112 as the excavation completion position P10. FIG. 6 is a diagram showing an example of the path of the bucket according to the first embodiment. Specifically, the bucket position specifying unit 5105 obtains the vertical component and the horizontal component of the length of the boom 111 based on the inclination angle of the boom 111 and the known length of the boom 111 (the distance from the pin at the base end to the pin at the tip end). Similarly, the bucket position specifying unit 5105 obtains the vertical component and the horizontal component of the length of the arm 112. The bucket position specifying unit 5105 specifies the position that is separated from the position of the working machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 111 and the arm 112 in the direction specified by the orientation and posture of the working machine 100 as the position P of the tip of the arm 112 (the position P of the pin at the tip end of the arm 112 shown in FIG. 2). Further, the bucket position specifying unit 5105 specifies the lowest point in the vertical direction of the bucket 113 based on the inclination angle of the bucket 113 and the known shape of the bucket, and specifies the height Hb from the tip of the arm 112 to the lowest point.

[0045] When a dumping instruction signal is input to the dumping position specifying unit 5106, the dumping position P13 is specified based on the position information and orientation information of the transport vehicle 200 acquired by the transport vehicle information acquisition unit 5103. That is, the dumping position specifying unit 5106 specifies the dumping position P13 based on the position information and orientation information when the transport vehicle 200 stops at the loading point P3. The dumping position specifying unit 5106 converts the reference position P21 indicated by the position information of the transport vehicle 200 from the field coordinate system to the excavator coordinate system based on the position, orientation, and attitude of the slewing body 120 acquired by the loading vehicle information acquisition unit 5101, and specifies a dumping point P22 that is separated from the reference position P21 by a distance D1 in the direction indicated by the orientation information of the transport vehicle 200. The distance D1 is a known distance between the reference position P21 and the dumping point P22 on the vessel. The dumping position specifying unit 5106 specifies, as the planar position of the dumping position P13, a position that is separated from the specified position P22 by a distance D2 from the center of the bucket 113 to the tip of the arm 112 in the direction in which the slewing body 120 of the working machine 100 faces. The dumping position specifying unit 5106 specifies the height of the dumping position P13 by adding the height Hb from the tip of the arm 112 specified by the bucket position specifying unit 5105 to the lowest point and the height of the control margin of the bucket 113 to the height Ht of the transport vehicle 200. In other embodiments, the dumping position specifying unit 5106 may specify the dumping position P13 without adding the height of the control margin. That is, the dumping position specifying unit 5106 may specify the height of the dumping position P13 by adding the height Hb to the height Ht.

[0046] The avoidance position specifying unit 5107 specifies an interference avoidance position P12, which is a point that does not interfere with the transport vehicle 200, based on the dumping position P13 specified by the dumping position specifying unit 5106, the position of the working machine 100 acquired by the loading vehicle information acquisition unit 5101, and the position and orientation of the transport vehicle 200 acquired by the transport vehicle information acquisition unit 5103. The interference avoidance position P12 has the same height as the dumping position P13, the distance from the turning center of the slewing body 120 is equal to the distance from the turning center to the dumping position P13, and there is no transport vehicle 200 below. The avoidance position specifying unit 5107, for example, specifies a circle centered on the turning center of the slewing body 120 with the distance between the turning center and the dumping position as the radius, and among the positions on the circle, the position where the outer shape of the bucket 113 does not interfere with the transport vehicle 200 in plan view and is closest to the dumping position P13 is specified as the interference avoidance position P12. The avoidance position specifying unit 5107 can determine whether or not the transport vehicle 200 and the bucket 113 interfere based on the position, orientation and known outer shape of the transport vehicle 200, and the known shape of the bucket 113. Here, "the same height" and "equal distance" do not necessarily mean that the height or distance is exactly the same, and some errors and margins are allowed.

[0047] The operation signal generation unit 5109 generates an operation signal for moving the bucket 113 to the dumping position P13 based on the dumping position P13 specified by the dumping position specifying unit 5106 and the interference avoidance position P12 specified by the avoidance position specifying unit 5107. That is, the operation signal generation unit 5109 generates an operation signal so as to reach the dumping position P13 from the excavation completion position P10 via the position P11 and the interference avoidance position P12. In addition, the operation signal generation unit 5109 generates an operation signal for the bucket 113 so that the angle of the bucket 113 does not change even when the boom 111 and the arm 112 are driven.

[0048] The operation signal output unit 5110 outputs the operation signal input to the operation signal input unit 5104 or the operation signal generated by the operation signal generation unit 5109 to the working machine 100.

[0049] 《Method》 The transport vehicle 200 travels along the travel route R according to the course information generated by the management device 300 and stops at the standby point P1. The operator of the work machine 100 operates the second operation device 531 (for example, by pressing a predetermined button) to input an approach instruction signal to the second operation device 531. The approach instruction signal is transmitted from the second operation device 531 to the management device 300. Thereby, the management device 300 generates course information indicating the areas of the approach route R2 and the approach route R3. The transport vehicle 200 travels along the approach route R3 and stops at the loading point P3. The operator scoops up earth and sand with the bucket 113 of the work machine 100 by operating the first operation device 530, and operates the knob switch of the first operation device 530 to generate and output a dumping instruction signal.

[0050] FIG. 7 is a first flowchart showing an automatic dumping control method for a remote control cab according to the first embodiment. FIG. 8 is a second flowchart showing an automatic dumping control method for a remote control cab according to the first embodiment. When the control device 540 receives an input of a dumping instruction signal from the operator, it executes the automatic dumping control shown in FIG. 7.

[0051] The loading vehicle information acquisition unit 5101 acquires the position and orientation of the slewing body 120, the tilt angles of the boom 111, the arm 112, and the bucket 113, and the posture of the slewing body 120 from the work machine 100 (step S1). The transport vehicle information acquisition unit 5103 acquires the position and orientation of the transport vehicle 200 from the management device 300 (step S2).

[0052] Based on the vehicle information acquired by the loading vehicle information acquisition unit 5101, the bucket position specifying unit 5105 specifies the position P of the tip of the arm 112 and the height from the tip of the arm 112 to the lowest point of the bucket 113 at the time of input of the dumping instruction signal (step S3). The bucket position specifying unit 5105 specifies the position P as the excavation completion position P10.

[0053] The dump position specifying unit 5106 converts the position information of the transport vehicle 200 acquired by the transport vehicle information acquisition unit 5103 from the field coordinate system to the excavator coordinate system based on the position, orientation, and posture of the revolving body 120 acquired in step S1. The dump position specifying unit 5106 specifies the planar position of the dump position P13 based on the position information and orientation information of the transport vehicle 200 and the known shape of the transport vehicle 200 (step S4). At this time, the dump position specifying unit 5106 adds the known height Ht of the transport vehicle 200, the height Hb from the tip of the arm 112 to the lowest point of the bucket 113 specified in step S3, and the height of the control margin of the bucket 113 to specify the height of the dump position P13 (step S5).

[0054] The avoidance position specifying unit 5107 specifies the position of the center of rotation of the revolving body 120 based on the position and orientation of the revolving body 120 acquired by the loading vehicle information acquisition unit 5101 (step S6). The avoidance position specifying unit 5107 specifies the planar distance from the center of rotation to the dump position P13 (step S7). The avoidance position specifying unit 5107 specifies, as the interference avoidance position P12, a position that is separated from the center of rotation by the specified planar distance and where the outer shape of the bucket 113 does not interfere with the transport vehicle 200 in plan view and is the closest to the dump position P13 (step S8).

[0055] The operation signal generation unit 5109 determines whether the tip position of the arm 112 has reached the soil discharge position P13 (step S9). If the tip position of the arm 112 has not reached the soil discharge position P13 (step S9: NO), the operation signal generation unit 5109 determines whether the height of the tip of the arm 112 is less than the height of the interference avoidance position P12, or whether the planar distance from the center of rotation of the slewing body 120 to the tip of the arm 112 is less than the planar distance from the center of rotation to the interference avoidance position P12 (step S10). When the height of the bucket 113 is less than the height of the interference avoidance position P12, or when the planar distance from the center of rotation to the tip of the arm 112 is less than the planar distance from the center of rotation to the interference avoidance position P12 (step S10: YES), the operation signal generation unit 5109 generates an operation signal to raise the boom 111 and the arm 112 to the height of the interference avoidance position P12 (step S11). At this time, the operation signal generation unit 5109 generates an operation signal based on the positions and speeds of the boom 111 and the arm 112.

[0056] Also, the operation signal generation unit 5109 calculates the sum of the angular velocities of the boom 111 and the arm 112 based on the generated operation signals of the boom 111 and the arm 112, and generates an operation signal to rotate the bucket 113 at the same speed as the sum of the angular velocities (step S12). Thereby, the operation signal generation unit 5109 can generate an operation signal for maintaining the ground angle of the bucket 113. In other embodiments, the operation signal generation unit 5109 may generate an operation signal to rotate the bucket 113 so that the ground angle of the bucket 113 calculated from the detection values of the boom angle sensor 117, the arm angle sensor 118, and the bucket angle sensor 119 is equal to the ground angle at the start of the automatic soil discharge control.

[0057] When the height of the bucket 113 is equal to or greater than the height of the interference avoidance position P12 (step S10: NO), the operation signal generation unit 5109 does not generate operation signals for the boom 111, the arm 112, and the bucket 113.

[0058] Next, the operation signal generation unit 5109 specifies the rising time, which is the time from the height of the bucket 113 at the excavation completion position P10 to the height of the interference avoidance position P12 (step S13). The operation signal generation unit 5109 generates a turning operation signal (step S14). At this time, based on the rising time of the bucket 113, after the height of the bucket 113 becomes equal to or higher than the height of the interference avoidance position P12, the operation signal generation unit 5109 generates a turning operation signal so that the tip of the arm 112 passes through the interference avoidance position P12 by turning.

[0059] When at least one of the operation signals of the boom 111, the arm 112, and the bucket 113, and the turning operation signal of the revolving body 120 is generated in the processes from step S9 to step S14, the operation signal output unit 5110 outputs the generated operation signal to the working machine 100 (step S15). The loading vehicle information acquisition unit 5101 acquires vehicle information from the working machine 100 (step S16). Thereby, the loading vehicle information acquisition unit 5101 can acquire the vehicle information after being driven by the output operation signal. The control device 540 returns the process to step S9 and repeatedly executes the generation of the operation signal.

[0060] On the other hand, in step S9, when the position of the tip of the arm 112 has reached the soil discharge position P13 (step S9: YES), the operation signal generation unit 5109 does not generate an operation signal. Therefore, when the position of the tip of the arm 112 reaches the soil discharge position P13, the working machine 110 and the revolving body 120 stop. When the position of the tip of the arm 112 has reached the soil discharge position P13 (step S9: YES), that is, when the operation signal generation unit 5109 has not generated an operation signal in the processes from step S9 to step S14, the operation signal generation unit 5109 generates an operation signal for discharging the soil with the bucket 113 (step S17). Examples of the operation signal for discharging the soil with the bucket 113 include an operation signal for rotating the bucket 113 in the soil discharge direction and an operation signal for opening the clam when the bucket 113 is a clam bucket. The operation signal output unit 5110 outputs the generated operation signal to the working machine 100 (step S18). Then, the control device 540 ends the automatic soil discharge control.

[0061] Here, with reference to FIG. 6, the operation of the work machine 100 during automatic dumping control will be described. When the automatic dumping control is started, the boom 111 and the arm 112 rise from the excavation completion position P10 toward the position P11. At this time, the bucket 113 is driven so as to maintain the angle at the end of excavation.

[0062] When the tip of the arm 112 reaches the position P11, the revolving body 120 starts to revolve toward the dumping position P13. At this time, since the tip of the arm 112 has not reached the height of the interference avoidance position P12, the ascent of the boom 111 and the arm 112 continues. While the tip of the arm 112 is moving from the position P11 to the interference avoidance position P12, the boom 111, the arm 112, and the bucket 113 decelerate so that the height of the tip of the arm 112 becomes equal to the interference avoidance position P12.

[0063] When the tip of the arm 112 reaches the interference avoidance position P12, the drive of the working machine 110 stops. On the other hand, the revolving body 120 continues to revolve. That is, between the interference avoidance position P12 and the dumping position P13, the tip of the arm 112 moves only by the revolution of the revolving body 120 without being driven by the working machine 110. While the tip of the arm 112 is moving from the position P11 to the dumping position P13, the revolving body 120 decelerates so that the position of the tip of the arm 112 becomes equal to the dumping position P13.

[0064] When the tip of the arm 112 reaches the dumping position P13, the drives of the working machine 110 and the revolving body 120 stop. Thereafter, the bucket 113 performs a dumping operation.

[0065] With the above-described automatic dumping control, the work machine 100 can automatically dump the earth and sand scooped by the bucket 113 onto the transport vehicle 200. The operator repeatedly executes the excavation by the working machine 110 and the automatic dumping control by inputting a dumping instruction signal to such an extent that the loading amount of the transport vehicle 200 does not exceed the maximum loading amount. Then, the operator operates the second operating device 531 to input a start instruction signal to the second operating device 531. The start instruction signal is transmitted from the second operating device 531 to the management device 300. Thereby, the management device 300 generates course information including the area of the exit route R4. The transport vehicle 200 starts from the loading point P3, travels along the exit route R4, and exits from the loading yard A1.

[0066] 《Function and Effect》 According to the first embodiment, the control device 540 specifies a dumping position for loading earth and sand onto the transport vehicle 200 based on the position information and orientation information of the transport vehicle 200 detected by the transport vehicle 200. Thereby, the control device 540 can automatically operate the work machine 100 without receiving a designation of the dumping position from an operator or the like.

[0067] Also, according to the first embodiment, the control device 540 specifies the excavation completion position P10 of the bucket 113 and generates an operation signal for moving the bucket 113 from the excavation completion position P10 to the dumping position P13. Thereby, the control device 540 can automatically dump the earth and sand scooped by the bucket 113 onto the transport vehicle 200.

[0068] Also, according to the first embodiment, the control device 540 generates a control signal so that the bucket 113 passes through the interference avoidance position P12. The interference avoidance position P12 according to the first embodiment has the same height as the dumping position P13, the same distance from the center of rotation of the slewing body 120 as the distance from the center of rotation to the dumping position P13, and is a position where there is no transport vehicle 200 below in consideration of the outer shape of the bucket 113. Thereby, it is possible to surely prevent the bucket 113 from contacting the transport vehicle 200 due to the slewing of the slewing body 120.

[0069] <Second Embodiment> In the work system 1 according to the first embodiment, the work machine 100 performs single-sided loading. That is, according to the first embodiment, a plurality of transport vehicles 200 travel based on one travel route R, and the transport vehicles 200 sequentially stop at one loading point P3. Thereby, the work machine 100 sequentially performs loading on the transport vehicle 200 located at the loading point P3. On the other hand, in the work system 1 according to the second embodiment, the work machine 100 performs double-sided loading. FIG. 9 is a diagram showing an example of the travel route of the loading area according to the second embodiment. In the second embodiment, two travel routes R are provided, so that loading points P3 are generated on both the left and right sides of the work machine 100. Thereby, while the work machine 100 is performing the loading operation on the transport vehicle 200 stopped at one loading point P3, the transport vehicle 200 can be made to wait at the other loading point P3. By performing double-sided loading in this way, the work machine 100 can start the next loading operation immediately after finishing a certain loading operation. Note that the loading area A1 according to the second embodiment has two loading points P3, but is not limited to this in other embodiments, and the loading area A1 may have three or more loading points P3.

[0070] <<Control Device for Remote Control Room>> FIG. 10 is a schematic block diagram showing the configuration of the control device for the remote control room according to the second embodiment. The control device 540 according to the second embodiment further includes a loading target determination unit 5111 in addition to the configuration of the first embodiment. Also, a storage area for the transport vehicle queue 5201 is secured in the main memory 5200 of the control device 540 according to the second embodiment.

[0071] The transport vehicle queue 5201 stores the identification information of the transport vehicle 200 to be loaded in the loading order. The identification information of the transport vehicle 200 is taken out (Dequeue) from the head of the transport vehicle queue 5201 and added (Enqueue) to the end. The loading target determination unit 5111 extracts the identification information of the transport vehicle 200 from the head of the transport vehicle queue 5201, and determines the transport vehicle 200 indicated by the identification information as the loading target. When the transport vehicle 200 stops at the loading point P3, the loading target determination unit 5111 adds the identification information of the transport vehicle 200 to the end of the transport vehicle queue 5201.

[0072] Here, the operation of the control device 540 according to the second embodiment will be described. FIG. 11 is a flowchart showing a registration method for an unmanned transport vehicle according to the second embodiment. The management device 300 determines whether the transport vehicle 200 has stopped at the loading point P3 based on the position of the transport vehicle 200 at regular intervals. When the management device 300 determines that the transport vehicle 200 has stopped at the loading point P3, it notifies the remote operation room 500 that the transport vehicle 200 has stopped at the loading point P3. The notification includes the identification information of the transport vehicle 200.

[0073] The control device 540 in the remote operation room 500 executes the process shown in FIG. 11 at regular intervals. The transport vehicle information acquisition unit 5103 of the control device 540 determines whether it has received a notification from the management device 300 indicating that the transport vehicle 200 has stopped at the loading point P3 (step S101). When it has received a notification indicating that the transport vehicle 200 has stopped at the loading point P3 (step S101: YES), the loading target determination unit 5111 adds the identification information of the transport vehicle 200 included in the notification to the end of the transport vehicle queue 5201 (step S102). On the other hand, when it has not received a notification indicating that the transport vehicle 200 has reached the loading point P3 (step S101: NO), the loading target determination unit 5111 does not add the identification information to the transport vehicle queue 5201.

[0074] Then, in step S4 of the flowchart shown in FIG. 7, the loading target determination unit 5111 of the control device 540 reads the identification information at the head of the transport vehicle queue 5201, and the dump position identification unit 5106 identifies the dump position for the transport vehicle 200 indicated by the identification information. When a start instruction signal is input to the operation signal input unit 5104, the loading target determination unit 5111 extracts the identification information from the head of the transport vehicle queue 5201.

[0075] 《Function and Effect》 When there is a transport vehicle 200 at each of the plurality of loading points P3, the control device 540 according to the second embodiment generates an operation signal based on the dump position P13 related to the transport vehicle 200 that arrives at the loading point P3 earliest among the plurality of transport vehicles 200. After transmitting a transmission instruction signal to the transport vehicle 200 for which loading has been completed, the control device reads the identification information at the head of the transport vehicle queue 5201 and performs loading on the next transport vehicle 200, and repeats this process. Thereby, the control device 540 can cause the work machine 100 to perform the loading process in the order of arrival of the transport vehicles 200. Thereby, the control device 540 according to the second embodiment can shorten the time during which the transport vehicle 200 stops for loading, as compared with the case where the loading target is determined so that the turning angle of the work machine 100 is minimized, for example.

[0076] 〈Other Embodiments〉 Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like are possible. For example, the control device 540 according to the second embodiment determines the loading target based on the information stored in the transport vehicle queue 5201, but is not limited thereto. For example, the control device 540 according to other embodiments may determine the loading target based on a database that stores the identification information of the plurality of transport vehicles 200 in association with a flag indicating the loading target. In this case, the control device 540 rewrites the flag when a start instruction signal is input to the operation signal input unit 5104, in the same manner as in the second embodiment.

[0077] The control device 540 according to the second embodiment determines the transport vehicle 200 that arrives at the loading point P3 earliest as the loading target when there is a transport vehicle 200 at each of the plurality of loading points P3, but is not limited thereto. For example, the control device 540 according to another embodiment may determine the loading target by any method, such as determining the transport vehicle 200 with the largest current loading amount among the transport vehicles 200 present at each of the plurality of loading points P3 as the loading target.

[0078] In the work system 1 according to the above-described embodiment, the control device 540 in the remote operation cab 500 calculates the automatic dumping process and determines the loading target based on the position information and orientation information of the transport vehicle 200 received from the management device 300, but is not limited thereto. For example, in the work system 1 according to another embodiment, the control device 126 of the work machine 100 may calculate the automatic dumping process and determine the loading target based on the position information and orientation information of the transport vehicle 200 received from the management device 300. In the work system 1 according to the above-described embodiment, the control device 540 in the remote operation cab 500 calculates the automatic dumping process based on the position information and orientation information of the transport vehicle 200 received from the management device 300, but is not limited thereto. For example, in the work system 1 according to another embodiment, the control device 126 of the work machine 100 may calculate the automatic dumping process based on the position information and orientation information of the transport vehicle 200 received from the management device 300.

[0079] The work machine 100 according to the above-described embodiment is remotely operated, but is not limited thereto. For example, in the work machine 100 according to another embodiment, an operator may board the cab 121 and operate a lever or a switch. In this case, the control device 126 of the work machine 100 may calculate the automatic dumping process and determine the loading target based on the position information and orientation information of the transport vehicle 200 received from the management device 300. In the above-described embodiment, the working machine 100 acquires the position and orientation of the transport vehicle 200 via the management device 300, but the present invention is not limited to this. For example, the working machine 100 according to another embodiment may acquire the position and orientation of the transport vehicle 200 from the transport vehicle 200 by vehicle-to-vehicle communication.

[0080] In the work system 1 according to the above-described embodiment, the dumping position P13 is specified based on the position information and orientation information when the transport vehicle 200 stops at the loading point P3, but the present invention is not limited to this. For example, in another embodiment, the dumping position P13 may be specified based on the position of the loading point P3 instead of the position information and orientation information of the transport vehicle 200. In this case, the work system 1 can specify the loading point P3 before the transport vehicle 200 stops. Note that in the work system 1 according to the above-described embodiment, the working machine 100 loads earth and sand as a load, but the present invention is not limited to this. For example, the load according to another embodiment may be ore, crushed stone, coal, or the like.

[0081] In the control device 540 according to the above-described embodiment, the case where the program p5 is stored in the storage 5300 has been described, but the present invention is not limited to this. For example, in another embodiment, the program p5 may be distributed to the control device 540 via a communication line. In this case, the control device 540 that has received the distribution expands the program p5 in the main memory 5200 and executes the above processing. In the above-described embodiment, the automatic dumping control such as the dumping position is handled in the shovel coordinate system, but it may be handled in the site coordinate system.

[0082] Also, the program p5 may be for realizing a part of the above-described functions. For example, the program p5 may be realized in combination with another program p5 already stored in the storage 5300 having the above-described functions, or in combination with another program p5 installed in another device.

[0083] In addition to or instead of the above configuration, the control device 126, the management device 300, and the control device 540 may include a PLD (Programmable Logic Device). Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some of the functions realized by the processor may be realized by the PLD.

Description of Reference Numerals

[0084] 1... Operating system 100... Working machine 200... Transport vehicle 300... Management device 3101... Position and orientation acquisition unit 3102... Travel course generation unit 3103... Transfer unit 3301... Travel route storage unit 3302... Position and orientation storage unit 500... Remote operation room 510... Driver's seat 520... Display device 530... Operating device 540... Control device 5101... Loading vehicle information acquisition unit 5102... Display control unit 5103... Transport vehicle information acquisition unit 5104... Operation signal input unit 5105... Bucket position specifying unit 5106... Dumping position specifying unit 5107... Avoidance position specifying unit 5108... Turning timing specifying unit 5109... Operation signal generation unit 5110... Operation signal output unit 5111... Loading target determination unit

Claims

1. An operating system for controlling a working machine including a revolving body and a working implement attached to the revolving body and including a bucket, the operating system comprising: a carrier information acquisition unit that acquires carrier information including position information of the carrier detected by the carrier; a dump position specifying unit that specifies a dump position for loading the load onto the carrier based on the carrier information; an operation signal generation unit that generates an operation signal for moving the bucket to the dump position; an operation signal output unit that outputs the operation signal; a loading target determination unit that determines one of the at least two carriers as a loading target when at least two carriers are present at at least two of a plurality of loading points; and comprising: the operation signal generation unit generates the operation signal based on the dump position related to the carrier determined by the loading target determination unit; an operating system.

2. The loading target determination unit determines, as the loading target, the carrier vehicle that arrives at the loading point earliest among the at least two carriers. The operating system according to claim 1.

3. The loading target determination unit determines, as the loading target, the carrier vehicle with the largest loading capacity among the at least two carriers. The operating system according to claim 1.

4. The operation signal generation unit generates the operation signal based on the dump position related to the carrier that is the loading target until the carrier that is the loading target starts moving. The operating system according to any one of claims 1 to 3.

5. The loading target determination unit determines the next loading target carrier based on the fact that the carrier that is the loading target has started moving. The operating system according to any one of claims 1 to 3.

6. A working method for controlling a working machine including a revolving body and a working implement attached to the revolving body and including a bucket, the working method comprising: acquiring carrier information including position information of the carrier detected by the carrier; specifying a dump position for loading the load onto the carrier based on the carrier information; generating an operation signal for moving the bucket to the dump position; outputting the operation signal generated in the step of generating the operation signal when a dump instruction signal is input; and determining one of the at least two carriers as a loading target when at least two carriers are present at at least two of a plurality of loading points; and comprising: The step of generating the operation signal generates the operation signal based on the dumping position related to the carrier vehicle determined in the step of determining the object to be loaded. Working method.

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