Control system for industrial machinery

Abstract

To provide a control system of a work machine which can suppress lowering of work efficiency while avoiding collision during working of a plurality of work machines.SOLUTION: A control system of a work machine includes an operation planning part 121, an occupation area determination part 220 (Fig.1), an operation control part 125, an interference prediction part 122, and a target position re-setting part 123. The operation planning part 121 plans target operation TM of the work machine. The occupation area determination part 220 determines presence / absence of an occupation area where work devices of the work machines are positioned in a plurality of division areas set in a common work area. The operation control part 125 operates each of the work machines so that the work devices of the work machines follow the target operation. The interference prediction part 122 predicts presence / absence of interference between the work devices of the work machines operated in the target operation TM and the occupation area. The target position re-setting part 123 re-sets the target position to a correction target position included in a re-settable range excluding the occupation area, when the interference is predicted.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a control system for a working machine.

Background Art

[0002] Conventionally, there is known a work teaching method for creating teaching data for each robot so that a plurality of robots operating according to teaching data do not interfere with each other. The work teaching method for a plurality of robots described in Patent Document 1 below includes the following steps (abstract, claim 1, etc.). First, the single-robot teaching data created ignoring the presence of other robots is input for all robots.

[0003] Next, let K be an integer of 1 or more, and a set of the single-robot teaching data of all robots is defined as a single-robot teaching data set. At this time, K operation instruction start schedules that specify the execution start order of either one or both of the operation instructions at the work points in the single-robot teaching data set and the operation instructions regarding the movement between the work points are determined. Then, the single-robot teaching data set is corrected according to the K operation instruction start schedules, and K corrected teaching data sets are created.

[0004] Further, Patent Document 2 below discloses a robot system having a robot and a controller for controlling the operation of the robot (paragraph 0026, etc.). The controller has an operation mode storage unit and an operation mode switching unit. The operation mode storage unit stores a plurality of operation modes for controlling the robot so that the operation mode of the robot is switched from normal to a special operation mode when a preset first condition is satisfied. The operation mode switching unit switches the operation mode to another operation mode when the specific operation mode stored in the operation mode storage unit is being executed and the preset second condition is satisfied in a state where the execution condition of the specific operation mode is satisfied.

[0005] This conventional robot system has a moving object detection means for detecting the position of a moving object other than the robot (Patent Document 2, paragraph 0035, etc.). The operation mode switching unit is a fourth operation mode in which at least one of the multiple operation modes switches the robot's operation mode from normal to a special operation mode in which it operates at a lower output than normal, based on the first condition that a moving object is detected within a predetermined area around the robot. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2003-200368 [Patent Document 2] Japanese Patent Publication No. 2014-176934 [Overview of the project] [Problems that the invention aims to solve]

[0007] According to the conventional work teaching method described above, it is possible to obtain intermediate and scheduled solutions that reliably guarantee collision avoidance between robots (Patent Document 1, paragraph 0058, etc.). However, in working machines, not only does the operating speed change depending on the workload, but it is also difficult to accurately predict that workload. As a result, working machines often cannot operate as planned in advance, and collision avoidance may become difficult when multiple working machines are operating.

[0008] According to the conventional robot system described above, the risk to moving objects is reduced when the robot resumes operation at a low power output (Patent Document 2, paragraph 0040, etc.). However, in the case of large and heavy work machines compared to robots, even if the operating mode is switched from normal to a special operating mode that operates at a lower power output than normal, there is room for improvement in terms of safety, and work efficiency may decrease.

[0009] This disclosure provides a control system for work machines that can avoid collisions between multiple work machines during operation while suppressing a decrease in work efficiency. [Means for solving the problem]

[0010] One aspect of the present disclosure is a control system for work machines that controls each of a plurality of work machines, each comprising a work device, a posture detection device, a position detection device, and a control device, to cause the plurality of work machines to work together in a shared work area where the movable ranges of the work devices of each work machine overlap, wherein the control device includes an motion planning unit that plans a target operation of each work machine, including a target position of the work device of each work machine; an motion control unit that operates each work machine so that the work device of each work machine follows the target operation; and each front that operates in the target operation. The control system for a work machine is characterized by comprising: an interference prediction unit that predicts whether or not there is interference between the work device of the work machine and the occupied area where at least one of the work devices of the work machine is located in a divided area set in the joint work area determined based on the position information of the work device of each of the work machines; and a target position resetting unit that, when interference is predicted by the interference prediction unit, resets the target position where the work device and the occupied area interfere to a modified target position that is included in a resettable range obtained by excluding the occupied area from a plurality of divided areas.

[0011] Another aspect of the present disclosure is a control system for work machines that controls each of a plurality of work machines equipped with work devices to cause the plurality of work machines to work together in a shared work area where the movable ranges of the work devices of each work machine overlap, comprising: an operation planning unit that plans the target operation of each work machine, including the target position of the work device of each work machine; and an occupied area that determines, based on the position information of the work device of each work machine, whether or not there is an occupied area in a divided area set in the shared work area where the work device of at least one of the work machines is located. The control system for a work machine is characterized by comprising: a determination unit; an operation control unit that operates each of the work machines so that the work device of each work machine follows the target operation; an interference prediction unit that predicts whether or not there is interference between the work device of each of the work machines operating in the target operation and the occupied area; and a target position resetting unit that, when interference is predicted by the interference prediction unit, resets the target position where the work device and the occupied area interfere to a corrected target position that is included in a resettable range obtained by excluding the occupied area from a plurality of divided areas. [Effects of the Invention]

[0012] According to the above-described aspects of this disclosure, it is possible to provide a control system for work machines that can avoid collisions between multiple work machines during operation while suppressing a decrease in work efficiency. [Brief explanation of the drawing]

[0013] [Figure 1] A schematic diagram showing Embodiment 1 of the control system for a work machine according to this disclosure. [Figure 2] A perspective view showing an example of a work machine controlled by the control system in Figure 1. [Figure 3] A functional block diagram of the control device for the work machine that constitutes the control system shown in Figure 1. [Figure 4] A flowchart showing an example of the processing in the control system of the work machine in Figure 1. [Figure 5] A plan view showing the coordinated operation of multiple work machines controlled by the control system in Figure 1. [Figure 6] Flowchart showing the processing of Embodiment 2 of the control system of the working machine according to the present disclosure. [Figure 7] Plan view showing the collaborative work of a plurality of working machines under the control of the control system of FIG. 6. [Figure 8] Plan view showing the collaborative work of a plurality of working machines under the control of the control system of FIG. 6.

Mode for Carrying Out the Invention

[0014] Hereinafter, embodiments of the control system of the working machine according to the present disclosure will be described with reference to the drawings.

[0015] [Embodiment 1] FIG. 1 is a configuration diagram schematically showing Embodiment 1 of the control system of the working machine according to the present disclosure. FIG. 2 is a perspective view showing an example of the working machine 100 that is the control target of the working machine control system WMCS of FIG. 1, partially in perspective. In FIGS. 1 and 2, only one working machine 100 is shown, representing a plurality of working machines 100 having the same configuration.

[0016] The working machine control system WMCS of the present embodiment is a system that controls each of a plurality of working machines 100 equipped with a working device 110. As will be described in detail below, the working machine control system WMCS of the present embodiment is configured to cause a plurality of working machines 100 to perform collaborative work in a collaborative work area CA (see FIG. 5) where the movable ranges of the working devices 110 of each working machine 100 overlap.

[0017] As shown in FIG. 1, the working machine control system WMCS is constituted by, for example, control devices 120 mounted on a plurality of working machines 100 and a server 200 installed outside the working machine 100 and connected to the control device 120 so as to be able to communicate information. Note that the working machine control system WMCS can also be constituted only by the control devices 120 mounted on a plurality of working machines 100 without using the server 200, for example.

[0018] As shown in FIG. 1, the working machine 100 includes, for example, a wireless communication device 101, an attitude detection device 102, a position detection device 103, an electromagnetic proportional valve 104, and a control device 120. Also, as shown in FIG. 2, the working machine 100 includes, for example, a working device 110, a lower traveling body 130, and an upper swing body 140.

[0019] The working machine 100 is, for example, a hydraulic excavator that performs operations such as excavation and dumping (soil discharge) operations, loading operations, crushing operations, sorting operations, leveling operations, or slope maintenance operations by a working device 110, which is a multi-joint front working device. Note that the working machine 100, which is the control target of the control system WMCS of the working machine, is not limited to a hydraulic excavator, and may be, for example, other working machines equipped with working devices for performing arbitrary operations, such as wheel loaders, double-arm type machines, road machines, bulldozers, cranes, etc.

[0020] The working device 110 includes, for example, a boom 111, an arm 112, and a bucket 113. The base end portion of the boom 111 is rotatably supported at the front central portion of the upper swing body 140 via a boom pin parallel to the width direction of the upper swing body 140. The base end portion of the arm 112 is rotatably supported at the tip end portion of the boom 111 via an arm pin parallel to the width direction of the upper swing body 140. One end of the bucket 113 is rotatably supported at the tip end portion of the arm 112 via a bucket pin parallel to the width direction of the upper swing body 140.

[0021] Also, the working device 110 includes a plurality of hydraulic cylinders, for example, a boom cylinder 114, an arm cylinder 115, and a bucket cylinder 116. The base end portion of the cylinder tube and the tip end portion of the piston rod of the boom cylinder 114 are respectively rotatably attached to the front central portion of the upper swing body 140 and the intermediate portion in the longitudinal direction of the boom 111.

[0022] The base end of the cylinder tube and the tip of the piston rod of the arm cylinder 115 are rotatably attached to the longitudinal middle section of the boom 111 and the base end of the arm 112, respectively. The base end of the cylinder tube of the bucket cylinder 116 is rotatably attached to the base end of the arm 112, and the tip of the piston rod of the bucket cylinder 116 is attached to one end of the bucket 113 via a link mechanism.

[0023] With this configuration, when the piston rod of the boom cylinder 114 extends or retracts, the boom 111 rotates up and down around the boom pin. Similarly, when the piston rod of the arm cylinder 115 extends or retracts, the arm 112 rotates up and down around the arm pin. Furthermore, when the piston rod of the bucket cylinder 116 extends or retracts, the bucket 113 rotates up and down around the bucket pin.

[0024] The lower running body 130 includes, for example, a pair of left and right tracks 131 and a pair of left and right hydraulic motors 132. The lower running body 130 moves the work machine 100 by rotating each track 131 through the rotation of each hydraulic motor 132.

[0025] The upper slewing body 140 is rotatably mounted on the lower traveling body 130 and houses, for example, a slewing motor 141, a prime mover 142, and a hydraulic pump 143 as shown in Figure 2, as well as a wireless communication device 101, a position detection device 103, and a control device 120 as shown in Figure 1. The slewing motor 141 is, for example, a hydraulic motor and is mounted on the upper part of the lower traveling body 130 and the lower part of the upper slewing body 140, causing the upper slewing body 140 to slewing relative to the lower traveling body 130 around a rotation axis parallel to the height direction of the work machine 100.

[0026] The prime mover 142 is, for example, an internal combustion engine, with its output shaft connected to the input shaft of the hydraulic pump 143. The hydraulic pump 143 is driven by the rotation of its input shaft by the prime mover 142, and pumps hydraulic fluid to the solenoid proportional valve 104. The solenoid proportional valve 104 distributes the hydraulic fluid pumped from the hydraulic pump 143 to the boom cylinder 114, arm cylinder 115, bucket cylinder 116, hydraulic motor 132, and swing motor 141, for example, according to a control signal CS input from the control device 120.

[0027] As a result, the control device 120 can extend and retract the boom cylinder 114, arm cylinder 115, and bucket cylinder 116 to operate the work device 110, enabling it to automatically perform the aforementioned excavation and dropping operations. In addition, the control device 120 can rotate or stop the hydraulic motor 132 of the lower traveling body 130 to automatically travel or stop the work machine 100, and can rotate or stop the slewing motor 141 to automatically slewing or stop the upper slewing body 140.

[0028] Although not shown in Figure 2, the wireless communication device 101 shown in Figure 1 is connected to the control device 120 via an in-vehicle network such as a control area network (CAN) or a local area network (LAN) to enable information communication. The wireless communication device 101 is also connected to an external system 300, such as a server 200 on the network, a personal digital assistant (PDA) 310, and an external server 320, via a wireless communication line to enable information communication.

[0029] Although not shown in Figure 2, the attitude detection device 102 shown in Figure 1 includes, for example, an angle sensor or attitude sensor that detects the rotation angle or attitude of the boom 111, arm 112, and bucket 113, respectively. The attitude detection device 102 also includes, for example, an inclination angle sensor that detects the inclination angle of the upper slewing body 140 with respect to a reference plane such as a horizontal plane. The attitude detection device 102 outputs the detected information to the control device 120, for example, as attitude information AI.

[0030] Although not shown in Figure 2, the position detection device 103 shown in Figure 1 is composed of, for example, a Global Navigation Satellite System (GNSS) antenna and receiver and is mounted on the upper rotating body 140. The position detection device 103 detects position information LI of the work machine 100, including, for example, latitude, longitude, altitude, and bearing, and outputs it to the control device 120.

[0031] As shown in Figure 1, the WMCS control system for the work machine is connected to an external system 300, for example, in a way that enables information communication. More specifically, the control device 120 of the work machine 100, which constitutes the WMCS control system for the work machine, is connected to the PDA 310 and external server 320, which constitute the external system 300, via a wireless communication device 101, a wireless communication line, and a network, for example.

[0032] Similarly, the server 200, which constitutes the WMCS control system for working machinery, is connected to the PDA 310 and external server 320, which constitute the external system 300, for example, via a wireless communication line or network. Note that the external system 300 may consist of either the PDA 310 or the external server 320. Furthermore, the WMCS control system for working machinery may include the external system 300 as part of its configuration.

[0033] Server 200 is, for example, a computer connected to a network. Server 200 includes, for example, a central processing unit (CPU), memory such as RAM and ROM, a non-volatile storage device such as a hard disk, programs and data stored in the storage device, and an input / output unit. Server 200 also includes, for example, a region setting unit 210 and a occupied region determination unit 220, which will be described later. Each of these parts of Server 200 represents, for example, the functions of Server 200 that are realized by the CPU executing programs stored in memory and storage devices.

[0034] Figure 3 is a functional block diagram showing the configuration of the control device 120 of the work machine 100, which constitutes the WMCS control system for the work machine shown in Figure 1. The control device 120 can be composed of, for example, one or more microcontrollers equipped with a CPU, memory, timer, and input / output unit. The control device 120 includes, for example, an operation planning unit 121, an interference prediction unit 122, a target position resetting unit 123, and an operation control unit 125.

[0035] Furthermore, the control device 120 includes, for example, a position and attitude calculation unit 124, an actuator control unit 126, and an electromagnetic proportional valve control unit 127. Each part of the control device 120 shown in Figure 3 represents a function of the control device 120 that is realized, for example, by the CPU of the control device 120 executing a program stored in memory. Note that if the WMCS control system for work machines is composed only of control devices 120 for multiple work machines 100, each work machine 100 control device 120 may have, in addition to the parts shown in Figure 3, a server 200 area setting unit 210 and an occupied area determination unit 220 shown in Figure 1.

[0036] The operation of the WMCS control system for the work machines of this embodiment will be described below. Figure 4 is a flowchart showing an example of the processing of the WMCS control system for the work machines of Figure 1. Figure 5 is a plan view showing the collaborative operation of multiple work machines 100 under the control of the WMCS control system for the work machines of Figure 1.

[0037] The WMCS control system for work machines initiates the processing flow P100 shown in Figure 4 when, for example, the server 200 receives task information TI from an external system 300. More specifically, for example, when a user managing multiple work machines 100 inputs and transmits task information TI to a PDA 310, the control devices 120 of each work machine 100 and the server 200 receive the task information TI transmitted from the PDA 310.

[0038] Alternatively, for example, task information TI is transmitted from a construction management application installed on an external server 320 owned by the user, and the control devices 120 and server 200 of each work machine 100 receive the task information TI transmitted from the external server 320. The task information TI includes, for example, the type of collaborative work to be performed by the multiple work machines 100 and a resettable range RA related to the target position TP of the work device 110 of each work machine 100.

[0039] More specifically, the types of collaborative work included in the task information TI include, for example, excavation and dropping operations, leveling operations, loading operations, and slope maintenance operations that can be performed by the work machine 100. In the example shown in Figure 5, the type of collaborative work performed by the two work machines 100 is excavation and dropping operations. More specifically, the collaborative work shown in Figure 5 is, for example, a transfer operation in which one work machine 100A drops off objects such as soil excavated in the excavation area EA to the dropping area DA, and the other work machine 100B excavates objects piled up in the dropping area DA and drops them off in another dropping area DA which is not shown.

[0040] Furthermore, the resettable range RA of the target position TP of the work device 110 included in the task information TI is the range in which the modified target position CTP obtained by correcting the target position TP of the work device 110 of each work machine 100 can be reset. In the example shown in Figure 5, the resettable range RA of one work machine 100A includes the excavation range EA as a single work area in which one work machine 100A performs work with the work device 110 alone, and the discharge range DA in which each work machine 100A and 100B perform work.

[0041] Next, the WMCS control system for the work machines executes process P101 to set up the collaborative work area CA and divided areas SA shown in Figure 4. More specifically, when the server 200 shown in Figure 1 receives task information TI from the external system 300, the area setting unit 210 sets up the collaborative work area CA based on the task information TI to include the entire area where multiple work machines 100 may come into contact. Furthermore, the area setting unit 210 sets up multiple divided areas SA by dividing the collaborative work area CA.

[0042] In the example shown in Figure 5, the area where the two work machines 100 may come into contact is the release range DA in which each work machine 100 performs its work. The area setting unit 210 sets a rectangular joint work area CA with an outer edge outside the rectangular release range DA, which has the width direction of the two work machines 100 as its longitudinal direction. Furthermore, in the example shown in Figure 5, the area setting unit 210 divides the rectangular joint work area CA into five equal parts in the longitudinal direction and into two equal parts in the short direction, setting a total of 10 divided areas SA.

[0043] The number of division areas SA, i.e., the number of divisions of the collaborative work area CA, is included, for example, in the task information TI. In this case, the area setting unit 210 sets the division areas SA according to the number of divisions of the collaborative work area CA. Alternatively, the area setting unit 210 may determine the length and width dimensions of the division areas SA according to the dimensions of the bucket 113 of the work machine 100, and determine the number of divisions of the collaborative work area CA based on the length and width dimensions of the division areas SA. For example, the length and width dimensions of the division areas SA may be equal to the length and width dimensions of the bucket 113 that are maximized when the posture of the bucket 113 is changed.

[0044] Furthermore, the vertical and horizontal dimensions of the divided area SA may be equal to or smaller than the minimum vertical and horizontal dimensions of the bucket 113 when the orientation of the bucket 113 is changed. The lower limit of the vertical and horizontal dimensions of the divided area SA, or the upper limit of the number of divisions of the collaborative work area CA, can be determined, for example, within a range that does not place an excessive processing load on the area setting unit 210. Also, in the example shown in Figure 5, the area setting unit 210 does not divide the collaborative work area CA into multiple divided areas SA in the height direction, but the collaborative work area CA may be divided into multiple divided areas SA in the height direction.

[0045] Next, the WMCS control system for the work machines executes a process P102 to acquire position and orientation information PI for each work machine 100. In this process P102, the server 200's occupied area determination unit 220 acquires information on multiple divided areas SA from the area setting unit 210, and also acquires position and orientation information PI from each work machine 100.

[0046] More specifically, as shown in Figure 3, in the control device 120 of each work machine 100, the position and attitude calculation unit 124 acquires attitude information AI of the work machine 100 and work device 110, and position information LI of the work machine 100, from the attitude detection device 102 and position detection device 103, respectively. Based on the acquired attitude information AI and position information LI, the position and attitude calculation unit 124 generates position and attitude information PI, outputs the generated position and attitude information PI to the operation control unit 125, and also transmits it to the server 200 via the wireless communication device 101. The position and attitude information PI includes, for example, the position coordinates of the work machine 100, the attitude of the work device 110, and the position of the toe of the bucket 113.

[0047] The occupied area determination unit 220 of the server 200 acquires position and orientation information PI transmitted from the control device 120 of each work machine 100 and received by the server 200. The occupied area determination unit 220 determines whether there is an occupied area OA in the divided area SA set by the area setting unit 210 in the shared work area CA where at least one work device 110 of the work machine 100 is located, based on the position and orientation information PI which includes the position information of the work device 110 of each work machine 100.

[0048] The determination of whether or not an occupied area OA exists by the occupied area determination unit 220 is updated as needed, for example, at a period of about 100 msec, based on the position and orientation information PI transmitted from each work machine 100 as needed. The occupied area determination unit 220 may also determine that a divided area SA, which includes, for example, a part of the work device 110, a part of the lower traveling body 130, or a part of the upper rotating body 140 of the work machine 100, is the occupied area OA. The occupied area determination unit 220 transmits area information RI, which includes the determination results of the shared work area CA, the divided area SA, and the occupied area OA, to each work machine 100.

[0049] As shown in Figure 1, the control device 120 of each work machine 100 receives area information RI transmitted from the occupied area determination unit 220 of the server 200 via the wireless communication device 101. As shown in Figure 3, the interference prediction unit 122 of the control device 120 acquires the area information RI received via the wireless communication device 101. As mentioned above, this area information RI includes, for example, information on the shared work area CA, the divided area SA, and the occupied area OA shown in Figure 5.

[0050] Furthermore, if the WMCS control system for the work machine does not have a server 200, the occupied area determination unit of each control device 120 can determine the presence or absence of an occupied area OA based on the detection results of external sensors capable of detecting the positional information of objects around each work machine 100.

[0051] Next, the WMCS control system for the work machine executes process P103 to acquire the target motion of the work machine 100. In this process P103, the interference prediction unit 122 of the control device 120 acquires the target motion TM of the work machine 100 planned by the motion planning unit 121.

[0052] More specifically, as shown in Figure 3, the motion planning unit 121 acquires task information TI, including the type of collaborative work and the resettable range RA, via the wireless communication device 101. Based on the acquired task information TI, the motion planning unit 121 plans the target operation TM for each work machine 100 and outputs it to the interference prediction unit 122 and the target position resetting unit 123.

[0053] The target motion TM includes, for example, the target position of the work device 110 of each work machine 100. More specifically, the target motion TM includes, for example, the target motion TM of the work machine 100 at each time from the start to the end of the operation, the target posture of the work device 110, and the target trajectory of the tip of the bucket 113. The interference prediction unit 122 obtains the target motion TM from the motion planning unit 121.

[0054] Next, the WMCS control system for the work machines executes a process P104 to determine whether or not there is interference between the work machine 100 and the occupied area OA. In this process P104, as shown in Figure 3, the interference prediction unit 122 of the control device 120 predicts whether or not there is interference between the work device 110 of each work machine 100 operating in the target operation TM and the occupied area OA, based on the target operation TM of the work machine 100 and the area information RI which includes the occupied area OA.

[0055] In the example shown in Figure 5, the target operation TM of the excavation work performed by one work machine 100A in the excavation range EA does not interfere with the occupied area OA where the work device 110 of the other work machine 100B is located in the discharge range DA. Therefore, when work machine 100A performs excavation work in the excavation range EA, the interference prediction unit 122 of the control device 120 mounted on work machine 100A determines in processing P104 that the work device 110 of work machine 100A and the occupied area OA do not interfere (NO), and outputs the determination result DR to the target position reset unit 123. In the same case, the interference prediction unit 122 of the control device 120 mounted on work machine 100B similarly determines in processing P104 that the work device 110 of work machine 100B and the occupied area (excavation range EA) of work machine 100A do not interfere (NO), and outputs the determination result DR to the target position reset unit 123.

[0056] In this case, the WMCS control system for the work machine performs automatic control of the work machine 100 in the following process P105, as shown in Figure 4. In this process P105, the target position resetting unit 123 of the control device 120 outputs the target operation TM planned by the operation planning unit 121 to the operation control unit 125 based on the judgment result DR input from the interference prediction unit 122. The operation control unit 125 of work machine 100A outputs an operation signal MS corresponding to the target operation TM, for example, to operate work machine 100A so that the work device 110 of work machine 100A follows the target operation TM of the excavation work in the excavation range EA. Similarly, the operation control unit 125 of work machine 100B outputs an operation signal MS corresponding to the target operation TM, to operate work machine 100B so that the work device 110 of work machine 100B follows the target operation TM of the work machine 100B excavating objects piled up in the dropping range DA and dropping them to another dropping range.

[0057] More specifically, the motion signal MS output from the motion control unit 125 includes, for example, speed commands for the boom cylinder 114, arm cylinder 115, bucket cylinder 116, hydraulic motor 132, and swing motor 141, and is input to the actuator control unit 126. The actuator control unit 126 calculates a target pilot pressure PP based on the input motion signal MS and outputs it to the electromagnetic proportional valve control unit 127. The electromagnetic proportional valve control unit 127 calculates a control signal CS based on the target pilot pressure PP input from the actuator control unit 126 and outputs it to the electromagnetic proportional valve 104.

[0058] As a result, the control device 120 controls the boom cylinder 114, arm cylinder 115, bucket cylinder 116, hydraulic motor 132, and slewing motor 141 of the work machine 100A, and the work machine 100A performs automatic excavation work in the excavation range EA according to the target operation TM. After that, the work machine control system WMCS completes the processing flow P100 shown in Figure 4 and repeats the processing flow P100 at a predetermined cycle.

[0059] Subsequently, once the excavation work by the work machine 100A in the excavation range EA and the excavation and dropping work by the work machine 100B are completed, the operation planning unit 121 of the work machine 100A, as shown in Figure 3, plans the target operation TM for the dropping work by the work machine 100A in the dropping range DA and outputs it to the interference prediction unit 122 and the target position reset unit 123. Similarly, the operation planning unit 121 of the work machine 100B plans the target operation TM for the excavation work by the work machine 100B in the dropping range DA and for the dropping work in a different dropping range, and outputs it to the interference prediction unit 122 and the target position reset unit 123. In the example shown in Figure 5, the target operation TM for the dropping work of the work machine 100A includes the rotational movement of the upper rotating body 140, and the target position TP of the work device 110 is included in the occupied area OA.

[0060] In this case, in process P104 shown in Figure 4, the interference prediction unit 122 determines (YES) that there is interference between the work machine 100A and the occupied area OA, based on the target motion TM obtained from the motion planning unit 121 and the area information RI obtained from the occupied area determination unit 220 via the wireless communication device 101. Then, the work machine control system WMCS executes process P106 to reset the corrected target position.

[0061] In this process P106, as shown in Figure 5, the target position resetting unit 123 resets the target position TP where the work device 110 of the work machine 100A and the occupied area OA interfere to a modified target position CTP included in the resettable range RA, which is obtained by excluding the occupied area OA from a plurality of divided areas SA. More specifically, as shown in Figure 5, the target position resetting unit 123 sets the target position TP in front of the occupied area OA as the modified target position CTP if, for example, the target position TP of the target operation TM exists in front of the occupied area OA. In this case, the target position resetting unit 123 sets the target position TP immediately before the occupied area OA as the modified target position CTP.

[0062] Furthermore, if the target position TP of the target operation TM is located at the back of the occupied area OA, and the target position TP at the back of the occupied area OA is set to the modified target position CTP, the operation planning unit 121 of the work machine 100A shown in Figure 3 may reset the modified target operation CTM. In this case, for example, for the work machine 100A where interference between the work device 110 and the occupied area OA is predicted by the interference prediction unit 122, the operation planning unit 121 resets the modified target operation CTM so that the work device 110 reaches the modified target position CTP without interfering with the occupied area OA. More specifically, for example, the operation planning unit 121 resets the target operation TM so that the rotation of the upper rotating body 140 of the work machine 100A shown in Figure 5 is a clockwise rotation instead of a counterclockwise rotation.

[0063] Subsequently, in process P105, the WMCS control system for the work machine performs automatic control of the work machine 100. In this process P105, the target position resetting unit 123 calculates a corrected target movement CTM, including a corrected target position CTP, based on the target movement TM input from the movement planning unit 121 and the judgment result DR input from the interference prediction unit 122, and outputs it to the movement control unit 125.

[0064] As a result, the motion control unit 125 outputs an operation signal MS corresponding to the modified target operation CTM to the actuator control unit 126. The actuator control unit 126 outputs a target pilot pressure PP based on the operation signal MS input from the motion control unit 125 to the solenoid proportional valve control unit 127. The solenoid proportional valve control unit 127 outputs a control signal CS based on the target pilot pressure PP input from the actuator control unit 126 to the solenoid proportional valve 104.

[0065] As a result, the control device 120 controls the boom cylinder 114, arm cylinder 115, bucket cylinder 116, hydraulic motor 132, and slewing motor 141 of the work machine 100A. Consequently, the upper slewing body 140 and work device 110 of the work machine 100A slewing according to the corrected target movement CTM, and the work device 110 performs the dropping operation at the corrected target position CTP in front of the occupied area OA. Thus, interference between the work device 110 and the occupied area OA is avoided.

[0066] As described above, the WMCS control system for work machines of this embodiment is a control system for work machines that controls each of a plurality of work machines 100, each equipped with a work device 110, an attitude detection device 102, a position detection device 103, and a control device 120, to allow the plurality of work machines 100 to work together in a shared work area CA where the movable ranges of the work devices 110 of each work machine 100 overlap. The control device 120 includes an action planning unit 121, an action control unit 125, an interference prediction unit 122, and a target position reset unit 123. The action planning unit 121 plans the target action TM of each work machine 100, including the target position TP of the work device 110 of each work machine 100. The action control unit 125 operates each work machine 100 so that the work device 110 of each work machine 100 follows the target action TM. The interference prediction unit 122 predicts whether there is interference between the working device 110 of each working machine 100 operating in the target motion TM and the occupied area OA where at least one working device 110 of each working machine 100 is located in a divided area SA set in a joint work area CA determined based on the position information PI of the working device 110 of each working machine 100. If interference is predicted by the interference prediction unit 122, the target position resetting unit 123 resets the target position TP where the working device 110 and the occupied area OA interfere to a modified target position CTP that is included in the resettable range RA, which is obtained by excluding the occupied area OA from the multiple divided areas SA.

[0067] In other words, the WMCS control system for work machines in this embodiment is a system that controls each of a plurality of work machines 100 equipped with a work device 110, and allows the plurality of work machines 100 to work together in a shared work area CA where the movable ranges of the work devices 110 of each work machine 100 overlap. The WMCS control system for work machines comprises an action planning unit 121, an occupied area determination unit 220, an action control unit 125, an interference prediction unit 122, and a target position reset unit 123. The action planning unit 121 plans the target action TM of each work machine 100, including the target position TP of the work device 110 of each work machine 100. The occupied area determination unit 220 determines whether there is an occupied area OA in a divided area SA set in the shared work area CA where the work device 110 of at least one work machine 100 is located, based on position and orientation information PI which includes the position information of the work device 110 of each work machine 100. The motion control unit 125 operates each work machine 100 so that the work device 110 of each work machine 100 follows the target motion TM. The interference prediction unit 122 predicts whether or not there will be interference between the work device 110 of each work machine 100 operating in the target motion TM and the occupied area OA. If interference is predicted by the interference prediction unit 122, the target position reset unit 123 resets the target position TP where the work device 110 and the occupied area OA interfere to a modified target position CTP that is included in the resettable range RA, which is obtained by excluding the occupied area OA from a plurality of divided areas SA.

[0068] With this configuration, the WMCS control system for work machines in this embodiment can predict whether or not there will be interference between the work device 110 of each work machine 100 and the occupied area OA, and can reset the target position TP of the work machine 100 where interference is predicted to a modified target position CTP within the resettable range RA excluding the occupied area OA. Therefore, according to the WMCS control system for work machines in this embodiment, in a shared work area CA where work machines 100 may come into contact with each other, it is possible to have multiple work machines 100 perform collaborative work while avoiding contact between work machines 100 whose operating speed changes depending on the workload and whose workload is difficult to accurately predict. Furthermore, the WMCS control system for work machines in this embodiment does not operate the work machine 100 at low output or stop it, simply by resetting the target position TP where interference with the occupied area OA is predicted to a modified target position CTP within the resettable range RA excluding the occupied area OA. Therefore, according to the WMCS control system for work machines in this embodiment, it is possible to suppress a decrease in the work efficiency of the work machine 100.

[0069] Furthermore, as described above, in the control system WMCS of this embodiment, the motion planning unit 121 can perform the following actions. Specifically, for a work machine 100 in which interference between the work device 110 and the occupied area OA has been predicted by the interference prediction unit 122, the motion planning unit 121 resets the target action TM so that the work device 110 reaches the corrected target position CTP without interfering with the occupied area OA.

[0070] With this configuration, the motion planning unit 121 of the WMCS control system for the work machine in this embodiment can operate as follows. That is, when the correction target position CTP of the work machine 100A shown in Figure 5 is reset to the divided region SA on the opposite side of the two occupied regions OA, the motion planning unit 121 can generate a clockwise correction target movement CTM that does not interfere with the occupied region OA. This makes it possible to more reliably avoid contact between the work machines 100.

[0071] Furthermore, as described above, in the control system WMCS of the work machine of this embodiment, the target position resetting unit 123 sets the target position TP in front of the occupied area OA as the corrected target position CTP when the target position TP of the target operation TM exists in front of the occupied area OA.

[0072] With this configuration, the WMCS control system for the work machine of this embodiment can operate the work machine 100A according to a modified target operation CTM that minimizes changes to the target operation TM of the work machine 100, thereby suppressing a decrease in the work efficiency of the work machine 100A. Furthermore, if the target position resetting unit 123 sets the target position TP immediately before the occupied area OA as the modified target position CTP, the decrease in the work efficiency of the work machine 100A can be suppressed more reliably.

[0073] As described above, according to this embodiment, it is possible to provide a control system WMCS for work machines that can avoid collisions between multiple work machines 100 during operation while suppressing a decrease in work efficiency.

[0074] [Embodiment 2] Hereinafter, an embodiment 2 of the control system for a work machine according to the present disclosure will be described with reference to Figures 1 to 3 and 5 of the previously described embodiment 1, and with reference to Figures 6 to 8. In the WMCS control system for a work machine of this embodiment, the same reference numerals are used for parts that are the same as those in the previously described embodiment 1, and their descriptions are omitted.

[0075] Figure 6 is a flowchart showing an example of the processing of the WMCS control system for the work machines of this embodiment. Figures 7 and 8 are plan views showing the collaborative work of multiple work machines 100 controlled by the WMCS control system for the work machines of this embodiment. The collaborative work shown in Figures 7 and 8 is, for example, the transfer of an object between one work machine 100A and two other work machines 100B and 100C.

[0076] More specifically, in the examples shown in Figures 7 and 8, one work machine 100A excavates soil and other materials in the excavation area EA and drops them into the drop area DA, while the other two work machines 100B and 100C excavate the materials piled up in the drop area DA and drop them into another drop area DA, which is not shown in the illustration. Also, in Figure 8, the upper rotating body 140 of the lower left work machine 100B shown in Figure 7 rotates, changing the position of the work device 110.

[0077] In this embodiment, the WMCS control system for the work machine, for example, similar to the WMCS control system for the work machine in Embodiment 1 described above, starts the processing flow P200 shown in Figure 6 when the server 200 receives task information TI from the external system 300. Processing P201 to P203 of the WMCS control system for the work machine in this embodiment is the same as processing P101 to P103 of the WMCS control system for the work machine in Embodiment 1 described above.

[0078] In process P204, the control system WMCS for the work machine of this embodiment determines whether or not there is interference between the work machine 100 and the occupied area OA, similar to the control system WMCS for the work machine of Embodiment 1 described above. In the example shown in Figure 8, the target position TP of the target operation TM of the work machine 100A does not interfere with the occupied area OA of the work device 110 of the work machine 100C, which is one of the multiple divided areas SA of the shared work area CA.

[0079] Therefore, when the work machine 100A performs the operation of dropping the object excavated by the target operation TM, the interference prediction unit 122 of the control device 120 mounted on the work machine 100A determines in processing P204 that the work device 110 of the work machine 100A and the occupied area OA do not interfere (NO), and outputs the determination result DR to the target position reset unit 123. In this case, the work machine control system WMCS performs automatic control of the work machine 100 in the next processing P205, as shown in Figure 6.

[0080] In this process P205, the target position resetting unit 123 of the control device 120 outputs the target operation TM planned by the operation planning unit 121 to the operation control unit 125 based on the determination result DR input from the interference prediction unit 122. The operation control unit 125, for example, outputs an operation signal MS corresponding to the target operation TM to operate the work machine 100A, and moves the upper rotating body 140 to move the work device 110 to the target position TP in the lowering range DA, which is the shared work area CA, in accordance with the target operation TM.

[0081] Subsequently, the WMCS control system for the work machines completes the processing flow P200 shown in Figure 6 and repeats it at a predetermined cycle. Therefore, the occupied area determination unit 220 updates the occupied area OA based on the position of each work machine 100 in processes P202 and P203. In addition, the interference prediction unit 122 updates the prediction result of whether or not there is interference between the work device of each work machine 100 and the occupied area OA in process P204.

[0082] Therefore, as shown in Figure 7, when the work device 110 of the work machine 100B is located in the shared work area CA, the interference prediction unit 122 of the control device 120 of the work machine 100A determines in process P204 that there is interference (YES) between the work device 110 and the occupied area OA. In this case, the control system WMCS of the work machine executes process P206 to determine whether or not the target position TP of the target operation TM exists in front of the occupied area OA in the shared work area CA.

[0083] In this process P206, for example, suppose the target position resetting unit 123 determines (YES) that the target position TP of the target operation TM exists in front of the occupied area OA in the collaborative work area CA. In this case, the target position resetting unit 123 executes process P207 to reset the corrected target position CTP to the target position TP in front of the occupied area OA in the collaborative work area CA, similar to the example shown in Figure 5.

[0084] Subsequently, the WMCS control system for the work machine performs automatic control of the work machine 100 in the next process P205. In this case, similar to the example shown in Figure 5, the work device 110 of the work machine 100A moves to the target position TP in front of the occupied area OA in the shared work area CA. As a result, it is possible to avoid contact between the work machines 100 in the shared work area CA while suppressing a decrease in work efficiency.

[0085] On the other hand, in the example shown in Figure 7, in the shared work area CA, there is an occupied area OA before the final target position TP of the target operation TM of the work machine 100A, and there is no divided area SA that is not occupied by the work machine 100B before the occupied area OA. In this case, the target position resetting unit 123 of the control device 120 mounted on the work machine 100A determines in the aforementioned process P206 that there is no target position TP of the target operation TM before the occupied area OA (NO).

[0086] In this case, the control system WMCS of the work machine executes a process P208 to determine whether or not it is possible to set the corrected target position CTP of the target operation TM within the resettable range RA. As shown in Figure 7, the target operation TM of the work machine 100A has a target position TP that is included in the excavation range EA, which is the resettable range RA. In this case, the target position resetting unit 123 determines in process P208 that it is possible to set the corrected target position CTP within the resettable range RA (YES).

[0087] Subsequently, the WMCS control system for the work machine executes process P209 to set the corrected target position CTP within the resettable range RA. In this process P209, the target position resetting unit 123 sets the corrected target position CTP to the target position TP closest to the last target position TP of the target operation TM of the work machine 100A included in the excavation range EA.

[0088] Subsequently, the WMCS control system for the work machine performs automatic control of the work machine 100 in the next process P205. In this case, as shown in Figure 7, the work device 110 of the work machine 100A moves to the modified target position CTP closest to the final target position TP of the target movement TM within the excavation range EA. As a result, it is possible to avoid contact between the work machines 100 in the shared work area CA while suppressing a decrease in work efficiency.

[0089] On the other hand, after the working device 110 of the work machine 100A moves to the corrected target position CTP of the excavation range EA shown in Figure 7, the target position resetting unit 123 determines in process P208 that it is not possible to set a new corrected target position CTP in the resettable range RA (NO). In this case, the work machine control system WMCS executes process P210 to stop the operation of the work machine 100A.

[0090] In this process P210, the operation control unit 125 stops the operation of the work machine 100A equipped with the work device 110, which has been predicted to interfere by the interference prediction unit 122. Subsequently, the work machine control system WMCS repeats the processes from P202 onwards as shown in Figure 6. As a result, in the work machine control system WMCS of this embodiment, the interference prediction unit 122 updates the prediction results of whether or not there is interference between the work device 110 of each work machine 100 and the occupied area OA in real time during process P204.

[0091] Furthermore, in processes P207 and P209, the target position resetting unit 123 updates the corrected target position CTP as needed based on the latest prediction results from the interference prediction unit 122. Then, in process P205, the operation control unit 125 operates each of the work machines 100 based on the latest prediction results from the interference prediction unit 122 and the latest corrected target position CTP.

[0092] As described above, in the WMCS control system for the work machine of this embodiment, the target position resetting unit 123 sets the corrected target position CTP in the excavation range EA, which is the resettable range RA outside the joint work area CA, if the target position TP of the target operation TM does not exist in front of the occupied area OA in the joint work area CA.

[0093] With this configuration, when the state changes from the state shown in Figure 7 to the state shown in Figure 8, the working device 110 of the working machine 100A can be moved from the modified target position CTP closest to the final target position TP of the target operation TM in the excavation range EA to the final target position TP of the target operation TM. Therefore, it is possible to avoid contact between working machines 100 in the shared work area CA while suppressing a decrease in work efficiency. Note that the target position resetting unit 123 may set the modified target position CTP to a position other than the target position TP included in the target operation TM within the resettable range RA.

[0094] Furthermore, in the WMCS control system for work machines of this embodiment, if the target position resetting unit 123 is unable to set a corrected target position CTP for a work machine 100 whose interference has been predicted by the interference prediction unit 122, the operation control unit 125 stops the operation of the work machine 100A equipped with the work device 110 whose interference has been predicted by the interference prediction unit 122. This makes it possible to more reliably prevent contact between work machines 100 and improve the safety of collaborative work by multiple work machines 100.

[0095] Furthermore, in the WMCS control system for the work machines of this embodiment, the interference prediction unit 122 updates the prediction results of whether or not there is interference between the work device 110 of each work machine 100 and the occupied area OA as needed. The target position reset unit 123 updates the corrected target position CTP as needed based on the latest prediction results from the interference prediction unit 122. The operation control unit 125 operates each work machine 100 based on the latest prediction results from the interference prediction unit 122 and the latest corrected target position CTP.

[0096] With this configuration, the WMCS control system for work machines of this embodiment makes it possible to operate the work machine 100A in accordance with the target operation TM in response to changes in the collaborative work of multiple work machines 100, for example, from the state shown in Figure 7 to the state shown in Figure 8. Therefore, the WMCS control system for work machines of this embodiment makes it possible to avoid collisions during the operation of multiple work machines 100 while suppressing a decrease in work efficiency.

[0097] Furthermore, in the WMCS control system for the work machines of this embodiment, the resettable range RA includes the excavation range EA, which is an independent work area where each work machine 100 performs work using the work device 110 independently.

[0098] With this configuration, the WMCS control system for the work machines of this embodiment makes it possible to set the corrected target position CTP in the excavation area EA when it is not possible to set the corrected target position CTP in the shared work area CA. Therefore, the WMCS control system for the work machines of this embodiment makes it possible to avoid collisions during operation of multiple work machines 100 while suppressing a decrease in work efficiency.

[0099] As described above, according to this embodiment, it is possible to provide a WMCS control system for work machines that can avoid collisions between multiple work machines 100 during operation, similar to Embodiment 1 described above, while suppressing a decrease in work efficiency.

[0100] While embodiments of the control system for work machines relating to this disclosure have been described in detail above using drawings, the specific configuration is not limited to these embodiments, and any design changes, etc., that do not depart from the gist of this disclosure are also included in this disclosure. [Explanation of Symbols]

[0101] 100 working machines 100A Industrial Machinery 100B Work Machinery 100C working machine 102 Attitude detection device 103 Position detection device 110 Work equipment 120 Control device 121 Operation Planning Department 122 Interference prediction unit 123 Target position resetting section 125 Operation Control Unit 220 Occupied area determination section CA Collaboration Area CTP correction target position EA Excavation Area (Individual Working Area) OA occupied area PI position information (position / orientation information) RA reconfigurable range SA split area TM target movement TP target position WMCS Control System for Industrial Machinery

Claims

1. A control system for a work machine comprising: a work machine comprising: a lower traveling body; an upper rotating body rotatably mounted on the lower traveling body; a multi-jointed working device rotatably supported on the upper rotating body; a control device for controlling the operation of the upper rotating body and the working device; and a server communicably connected to the work machine, wherein the control system causes the work machine to perform collaborative work, which involves excavating an object and dropping the excavated object into a collaborative work area where the range of motion of the working device of the work machine and the range of motion of the working device of another work machine overlap, The aforementioned server, The system includes an occupied area determination unit that determines, in a plurality of divided areas obtained by dividing the aforementioned joint work area, the divided area where the work device of the other work machine is located is an occupied area, The control device is When the work machine performs the joint work of excavating the object outside the joint work area and dropping the excavated object into the joint work area, the operation planning unit plans the target operation of the work machine, including the target position for dropping the object in the joint work area and the target trajectory of the work device when the work machine's operation, including the rotational movement of the upper rotating body, brings the work device to the target position. The operation control unit controls the movement of the upper rotating body and the work device so that the work machine follows the target movement, An interference prediction unit that predicts whether or not there is interference between the target position and the occupied area, If the interference prediction unit predicts interference between the target position and the occupied area, the target position resetting unit resets the target position to a modified target position that is within a resettable range obtained by excluding the occupied area from a plurality of divided areas, and is located just before reaching the occupied area on the target trajectory. A control system for a work machine characterized by comprising the following features.

2. The interference prediction unit updates the prediction result of whether or not interference occurs between the target position and the occupied area as needed. The target position resetting unit updates the corrected target position as needed based on the latest prediction results from the interference prediction unit. The control system for a work machine according to claim 1, characterized in that the operation control unit operates the work machine based on the latest prediction result of the interference prediction unit and the latest corrected target position.

3. The control system for a work machine according to claim 1, characterized in that the resettable range includes a single-operation area in which the work machine performs excavation work on an object using the work device on its own.

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