Planning device, work machine, transport vehicle, and planning method

Abstract

This planning device plans a travel position route for a work machine, with regard to loading work in which an object is loaded onto a transport vehicle using the work machine. The planning device includes a route retrieval unit for retrieving a travel position route by using an evaluation function based on the amount of the object to be loaded and information on the work machine and on the transport vehicle.

Description

Planning device, work machine, transport vehicle, and planning method

[0001] This application claims priority to Japanese Patent Application No. 2023-221989, filed on December 27, 2023, the contents of which are incorporated herein by reference.

[0002] Patent Document 1 describes a work machine control system that sets an excavation position, a loading position, or an earth-discharging position as a target position to which the work machine is to move, depending on the load. In the control system described in Patent Document 1, the excavation position, the loading position, and the earth-discharging position are input as work instructions using a personal computer, tablet terminal, smartphone, etc.

[0003] Japanese Patent Application Laid-Open No. 2022-154050

[0004] The control system described in Patent Document 1 requires that position information such as excavation positions and loading positions be determined and input manually, which leaves room for improvement in labor-saving in automatic operation using work machines.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a planning device, a work machine, a transport vehicle, and a planning method that can automatically plan efficient excavation, loading, and traveling operations of a work machine, thereby reducing labor.

[0006] The planning device disclosed herein is a device that plans a travel position path of a work machine during loading work in which objects are loaded onto a transport vehicle using a work machine, and includes a route search unit that searches for the travel position path using an evaluation function based on the amount of objects to be loaded and information on the work machine and the transport vehicle.

[0007] The work machine of the present disclosure is equipped with the above-described planning device.

[0008] The work machine of the present disclosure automatically travels based on the above-mentioned travel position route.

[0009] The transport vehicle of the present disclosure automatically travels based on the loading position route planned by the planning device of the present disclosure.

[0010] The work machine of the present disclosure is remotely controlled based on the travel position path.

[0011] The planning method disclosed herein is a method for planning a travel position path of a work machine during a loading operation in which objects are loaded onto a transport vehicle using a work machine, and includes a step of searching for the travel position path using an evaluation function based on the amount of objects to be loaded and information on the work machine and the transport vehicle.

[0012] The planning device, work machine, transport vehicle, and planning method disclosed herein can reduce labor.

[0013] 1 is a schematic diagram showing an example configuration of an autonomous driving system according to an embodiment of the present disclosure. FIG. 2 is a block diagram showing an example configuration of a planning device, etc. according to an embodiment of the present disclosure. FIG. 3 is a schematic diagram showing an overview of a work area according to an embodiment of the present disclosure. FIG. 4 is a schematic diagram showing an example of a construction range according to an embodiment of the present disclosure. FIG. 5 is a flowchart showing an overview of processing according to an embodiment of the present disclosure. FIG. 6 is a schematic diagram showing an example of a 3D voxel map according to an embodiment of the present disclosure. FIG. 7 is a schematic diagram showing an example of a method of defining the positions and orientations of a work machine and a transport vehicle according to an embodiment of the present disclosure. FIG. 8 is a flowchart showing an example of an optimal travel path plan according to an embodiment of the present disclosure. FIG. 9 is a flowchart showing an example of an operation of a planning device according to an embodiment of the present disclosure. FIG. 10 is a flowchart showing an example of a creation of an optimal travel path plan according to an embodiment of the present disclosure. FIG. 11 is a schematic diagram showing an example of a temporary excavation model according to an embodiment of the present disclosure. FIG. 12 is a schematic diagram showing an example of a temporary excavation model according to an embodiment of the present disclosure. FIG. 13 is a schematic diagram showing examples of spotting position prohibited areas and travel position prohibited areas according to an embodiment of the present disclosure. FIG. 14 is a schematic diagram showing an example of a creation of an optimal excavation plan according to an embodiment of the present disclosure. FIG. 15 is a schematic diagram showing an example of an excavable volume according to an embodiment of the present disclosure. FIG. 16 is a schematic diagram showing an example of an operation according to an embodiment of the present disclosure.

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding components are designated by the same reference numerals, and the description thereof will be omitted as appropriate.

[0015] (Outline of Autonomous Driving System) Fig. 1 is a schematic diagram showing an example configuration of an autonomous driving system according to an embodiment of the present disclosure. The autonomous driving system 1 shown in Fig. 1 includes a construction machine 100, a haulage vehicle 200, and a planning device 300. The autonomous driving system 1 shown in Fig. 1 automatically performs loading work in which the construction machine 100 loads an object 401 onto the haulage vehicle 200 based on the travel position route of the construction machine 100 and the loading position route of the haulage vehicle 200 planned by the planning device 300. Note that in this embodiment, as an example, the loading work is work in which the construction machine 100 excavates the object 401 and loads the excavated object 402 onto the haulage vehicle 200. However, the object to be loaded onto the haulage vehicle 200 is not limited to the object excavated by the construction machine 100. The object to be loaded may be, for example, an object other than excavated material, such as waste, or an object that has been excavated in the past by the work machine 100 or by a work machine other than the work machine 100 and deposited thereon.

[0016] (Configuration of work machine 100) The work machine 100 shown in FIG. 1 is, for example, automatically operated at a construction site, and works on a construction target such as earth and sand. The work machine 100 may also be an unmanned vehicle controlled by remote operation, or may be operated by an operator on board. The work machine 100 according to the embodiment of the present disclosure is, for example, a hydraulic excavator. However, the work machine according to the present disclosure is not limited to any work machine as long as it is capable of loading a specified object onto a transport vehicle, and may be other work machines such as a face excavator or an electric excavator. The work machine 100 includes a traveling body 110, a rotating body 120, and a work implement 130.

[0017] The running body 110 supports the work machine 100 so that it can travel. The running body 110 is equipped with two tracks 111 provided on the left and right, and two travel motors 112 for driving each track 111. The rotating body 120 is supported on the running body 110 so that it can rotate about a rotation center.

[0018] The work machine 130 is hydraulically driven and supported on the front part of the revolving unit 120 so as to be drivable in the vertical direction.

[0019] The swing unit 120 includes an engine, a hydraulic pump, an EPC (Electromagnetic Proportional Control) valve, a main valve, a swing motor, a work machine automatic control device 150, and the like. The engine is a prime mover that drives the hydraulic pump. The engine is an example of a power source. A starter motor is provided on the engine. The EPC valve controls the hydraulic oil flowing to the main valve based on a predetermined control signal output by the work machine automatic control device 150. The hydraulic pump is, for example, a variable displacement pump driven by the engine. The hydraulic pump supplies hydraulic oil to each actuator via the main valve. Each actuator includes a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, a swing motor, and the like. The main valve controls the flow rate of hydraulic oil supplied from the hydraulic pump. The swing motor is driven by hydraulic oil supplied from a hydraulic pump via a main valve, and swings the swing body 120 around a swing axis 120C (center of swing).

[0020] (Configuration of Work Machine 130) The work machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C.

[0021] The base end of the boom 131 is attached to the revolving unit 120 via a boom pin. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin. The bucket 133 includes a blade 133T for excavating earth and sand, and a storage section for storing the excavated earth and sand. The base end of the bucket 133 is attached to the tip of the arm 132. In FIG. 1 , an object 402 excavated from an object 401 is stored in the bucket 133.

[0022] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the revolving unit 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link member connected to the bucket 133.

[0023] (Sensors, etc.) The work machine 100 is equipped with various sensors. The work machine 100 is equipped with a three-dimensional shape sensor, an attitude angle sensor, a GNSS (Global Navigation Satellite System) sensor, an IMU (Inertial Measurement Unit), measurement means for measuring the amount of objects to be loaded (or that have been loaded), and the like.

[0024] Examples of the three-dimensional shape sensor include a stereo camera, a LiDAR (Light Detection and Ranging) device, a millimeter-wave radar, or a combination of one or more of these sensors. These sensors identify the three-dimensional position of the object 401 in a coordinate system based on the position of each sensor. The three-dimensional shape sensor outputs, for example, depth information indicating the three-dimensional positions of multiple points within the detection range. Examples of depth information include a depth image consisting of multiple pixels representing depth, and point cloud data consisting of multiple points expressed in a Cartesian coordinate system (x, y, z).

[0025] The attitude angle sensor includes, for example, stroke sensors attached to the cylinders, and the attitude angles of the boom 131, arm 132, and bucket 133 are calculated based on the cylinder lengths measured by the stroke sensors. Note that, in addition to the stroke sensors, IMUs may be attached to the rotating body 120, boom 131, arm 132, and bucket 133, respectively, to measure the attitude angles of the axes.

[0026] The GNSS sensor calculates the position of the revolving unit 120 and the azimuth angle in which the revolving unit 120 faces. The GNSS sensor includes, for example, two receivers that receive positioning signals from artificial satellites that make up the GNSS. In this case, the two receivers are installed at different positions on the revolving unit 120. The GNSS sensor detects the position of a representative point of the revolving unit 120 in the site coordinate system (the origin of the excavator coordinate system) based on the positioning signals received by the receivers. The GNSS sensor uses the positioning signals received by the two receivers to calculate the azimuth angle in which the revolving unit 120 faces as the relationship between the installation position of one receiver and the installation position of the other receiver. The azimuth angle in which the revolving unit 120 faces is the front direction of the revolving unit 120. The azimuth angle of the rotating body 120 is equal to the horizontal component of the extension direction of a straight line extending from the boom 131 to the bucket 133 of the work implement 130 .

[0027] The IMU measures the acceleration and angular velocity of the rotating unit 120, and based on the measurement results, detects the attitude (for example, roll angle and pitch angle) of the rotating unit 120. The IMU is installed on the underside of the rotating unit 120, for example.

[0028] The measuring means for measuring the amount of the object may be, for example, a means for estimating the weight of the object to be loaded from the measurement value of the cylinder pressure sensor of the work machine 100 and work machine attitude information, a means for estimating the weight from a payload meter on the transport vehicle 200 side, or a means for estimating the weight of the object to be loaded from volume information of the object from a three-dimensional shape sensor and specific gravity information of the soil obtained in advance from a ground survey.

[0029] The work machine 100 is also equipped with, for example, a short-range communication device for vehicle-to-vehicle communication with other nearby vehicles such as the transport vehicle 200, and a mobile communication device for connecting to a remote server, etc. For example, the work machine 100 according to another embodiment may be one that operates by generating and transmitting operation command signals, etc. based on the travel position and route of the work machine 100 planned by the planning device 300, via remote control by an operator who operates the work machine 100 using a remote control device external to the work machine 100.

[0030] (Configuration of transport vehicle 200) The transport vehicle 200 shown in FIG. 1 is, for example, automatically driven at a construction site, and transports an object 401 such as earth and sand loaded by a work machine 100. The transport vehicle 200 according to the embodiment of the present disclosure is, for example, a dump truck. However, the transport vehicle according to the present disclosure is not limited to any vehicle capable of transporting an object loaded by a work machine, and may be, for example, a work vehicle equipped with a storage container for the object. Furthermore, the number of transport vehicles 200 is not limited to one. For example, multiple transport vehicles 200 can be operated simultaneously at the same site. The transport vehicle 200 shown in FIG. 1 includes a driver's cab 201, a loading platform 202, steering wheels 203, drive wheels 204, and a transport vehicle automatic control device 250. The transport vehicle 200 is equipped with an engine, a transmission, a hydraulic mechanism, various actuators, and various sensors such as a GNSS sensor and an imaging device, and under the control of the transport vehicle automatic control device 250, the engine, transmission, steering wheels 203, drive wheels 204, etc. are controlled to automatically travel, and the loading platform 202 is tilted to automatically unload cargo. The transport vehicle 200 also transmits and receives predetermined signals to and from the work machine 100, etc. The transport vehicle 200 may also be an unmanned vehicle controlled by remote operation, or may be operated by an operator on board.

[0031] (Configuration example of the planning device 300, etc.) Figure 2 is a block diagram showing a configuration example of the planning device, etc. according to an embodiment of the present disclosure. The planning device 300 can be configured using a computer such as a microcontroller or an embedded system, and is configured by a combination of hardware such as a computer, computer peripheral devices, and peripheral circuits, and software such as a program executed by the computer. The configured functional configuration also includes a route search unit 301, an excavation planning unit 302, a plan transmission unit 303, and a communication unit 304.

[0032] In this embodiment, the planning device 300 is a device that plans a travel position route of the work machine 100 that passes through multiple intermediate travel positions, and a loading position route of the haulage vehicle 200 that passes through multiple intermediate loading positions that correspond to any of the multiple intermediate travel positions, during loading work in which the work machine 100 is used to load an object 401 onto a haulage vehicle 200. An intermediate travel position is a position where the work machine 100 stops traveling and performs excavation and loading work. Also, an intermediate loading position is a loading position of the haulage vehicle 200 where an object 402 excavated by the work machine 100 located at the intermediate travel position is loaded, and the haulage vehicle 200 is stopped. Note that the intermediate travel positions, travel position route, intermediate loading position, and loading position route will be described in detail below. Also, the planning device 300 may be a device that plans either the travel position route or the loading position route.

[0033] The route search unit 301 evaluates the travel position route and the loading position route using an evaluation function based on the amount of object 401 excavated by the work machine 100 and loaded onto the haulage vehicle 200, and information about the work machine 100 and the haulage vehicle 200. The information about the work machine 100 and the haulage vehicle 200 is information that includes at least one of, for example, the travel distance of the work machine 100 and the haulage vehicle 200, the relative distance between the work machine 100 and the haulage vehicle 200, and the turning angle from the work machine 100 to the haulage vehicle 200. For example, the route search unit 301 evaluates the excavation amount using an evaluation function that evaluates the excavation amount in relation to the travel distance of the work machine 100 and the haulage vehicle 200, the relative distance between the work machine 100 and the haulage vehicle 200, and the turning angle from the work machine 100 to the haulage vehicle 200. In other words, for example, for a pair of each intermediate traveling position and each corresponding intermediate loading position, the route search unit 301 uses the amount of excavated object 402, which is the object to be loaded, as a variable that increases the evaluation function, and at least one of the length of the travel path of the transport vehicle 200, the relative distance between the transport vehicle 200 and the work machine 100, the relative angle between the transport vehicle 200 and the work machine 100, and the length of the travel path of the work machine 100 as a variable that decreases the evaluation function, and searches for a traveling position path and a loading position path that maximize the evaluation function. Alternatively, for a pair of each intermediate travel position and each corresponding intermediate loading position, the route search unit 301 sets the amount of excavated objects 402, which are the objects to be loaded, as a variable that reduces the evaluation function, and sets at least one of the length of the travel path of the haulage vehicle 200, the relative distance between the haulage vehicle 200 and the work machine 100, the relative angle between the haulage vehicle 200 and the work machine 100, or the length of the travel path of the work machine 100 as a variable that increases the evaluation function, and searches for a travel position route and a loading position route that minimize the evaluation function. In this embodiment, the plan that indicates the travel position route of the work machine 100 and the loading position route of the haulage vehicle 200 found by the route search unit 301 is called an optimal travel route plan. How to create an optimal travel route plan will be described later.

[0034] In this embodiment, as described above, loading work is work in which the work machine 100 excavates an object 401 and loads the excavated object 402 onto the transport vehicle 200. Furthermore, the route search unit 301 can set the location where the work machine 100 excavated the object 401 as a travel position prohibited area (travel prohibited region) where travel of the work machine 100 is prohibited, and search for a travel position route outside the travel position prohibited area. Furthermore, the route search unit 301 can set the location where the work machine 100 excavated the object 401 as a spotting position prohibited area (loading position prohibited region) where it is prohibited as a loading position for the transport vehicle 200, and search for a loading position route outside the spotting position prohibited area.

[0035] The excavation planning unit 302 plans the excavation direction of the work machine 100 at each intermediate travel position while sequentially moving the work machine 100 to each intermediate travel position searched for by the route searching unit 301. In this embodiment, the plan of the excavation direction at each intermediate travel position is also referred to as an optimal excavation plan. The excavation planning unit 302 can determine whether or not to move the work machine 100 to the next intermediate travel position based on the volume of the area that can be excavated at that intermediate travel position, which is calculated based on the position information of the work machine 100, topography information that represents the topography made up of the object 401, and design surface information that represents the design surface that is the target surface of the topography to be formed by excavation. Furthermore, the excavation planning unit 302 can determine whether or not to move the work machine 100 to the next intermediate travel position based on the amount of object 401 that can be loaded within the excavation range of the work machine 100 at that intermediate travel position and the time required to excavate the object 401. How the excavation planning unit 302 creates an optimal excavation plan will be described later.

[0036] The plan transmission unit 303 transmits the optimal travel route plan, which indicates the travel position route of the work machine 100 and the loading position route of the haulage vehicle 200 found by the route search unit 301, and the optimal excavation plan created by the excavation planning unit 302 to the work machine automatic control device 150 via the communication unit 304. For example, the plan may be transmitted to the haulage vehicle automatic control device 250, or may be transmitted to the haulage vehicle automatic control device 250 via the work machine automatic control device 150.

[0037] The communication unit 304 transmits and receives predetermined information to and from the communication unit 156 of the work machine automatic control device 150. For example, the communication unit 304 may transmit and receive predetermined information to and from the communication unit 254 of the transport vehicle automatic control device 250.

[0038] The work machine automatic control device 150 can be configured using a computer such as a microcontroller or an embedded system, and is configured from a combination of hardware such as a computer, computer peripheral devices, and peripheral circuits, and software such as a program executed by the computer. The configured functional configuration includes a plan acquisition unit 151, a travel control unit 152, an excavation control unit 153, a transport vehicle control unit 154, a measurement unit 155, and a communication unit 156.

[0039] The plan acquisition unit 151 receives, via the communication unit 156 , the optimum travel route plan and the optimum excavation plan transmitted by the plan transmission unit 303 via the communication unit 304 .

[0040] The travel control unit 152 automatically controls the travel position of the work machine 100 based on the optimal travel route plan. In other words, it controls the work machine 100 to move to an intermediate travel position.

[0041] Based on the optimal excavation plan, the excavation control unit 153 automatically controls the excavation, swinging and earth-discharging operations of the work machine 100. In other words, the excavation control unit 153 automatically controls the excavation, swinging and earth-discharging operations to be repeated at the intermediate travel position where the work machine 100 is located until a sufficient amount of excavation can no longer be obtained.

[0042] The transport vehicle control unit 154 controls (a part of) the automatic driving of the transport vehicle 200 by transmitting a signal instructing a loading position to the transport vehicle automatic control device 250. For example, the plan transmission unit 303 of the planning device 300 may transmit a signal instructing a loading position to the transport vehicle automatic control device 250.

[0043] The measurement unit 155 , for example, acquires position information that indicates the position of the work machine 100 , acquires attitude information that indicates the attitude of the work machine 100 , and acquires topographical information of the target object 401 .

[0044] The communication unit 156 transmits and receives predetermined information to and from the communication unit 304 of the planning device 300 , and transmits and receives predetermined information to and from the communication unit 254 of the automatic transport vehicle control device 250 .

[0045] The transport vehicle automatic control device 250 can be configured using a computer such as a microcontroller or an embedded system, and is configured by a combination of hardware such as a computer, computer peripheral devices, and peripheral circuits, and software such as a program executed by the computer. The configured functional configuration includes a travel control unit 251, an unloading control unit 252, a measurement unit 253, and a communication unit 254.

[0046] The travel control unit 251 automatically controls the travel of the transport vehicle 200 based on instructions from the transport vehicle control unit 154, etc. In other words, the travel control unit 251 controls the transport vehicle 200 to automatically move to the loading position based on instructions from the transport vehicle control unit 154.

[0047] The unloading control unit 252 tilts the loading platform 202 at a predetermined unloading position to automatically unload the cargo on the loading platform 202.

[0048] The measurement unit 253 acquires, for example, position information indicating the position of the transport vehicle 200 .

[0049] The communication unit 254 transmits and receives predetermined information to and from the communication unit 156 of the work machine 150. Note that the communication unit 254 may also transmit and receive predetermined information to and from the communication unit 304 of the planning device 300.

[0050] (Example of Operation of Autonomous Driving System) Hereinafter, an example of operation of the autonomous driving system 1 will be described with reference to FIGS. 3 to 18. FIG. 3 is a schematic diagram showing an overview of a work area according to an embodiment of the present disclosure. As shown in FIG. 3, in this embodiment, a loading area A11 and an unloading area A13 are set as work areas. In addition, a loading area-unloading area travel route A12 is set between the loading area A11 and the unloading area A13. In addition, a construction range CR is set in the loading area A11.

[0051] The work machine 100 excavates a construction range CR set within the loading area A11, and loads the excavated object 402 onto the transport vehicle 200 within the loading area A11.

[0052] The transport vehicle 200 loads objects in a loading area A11, travels along a loading area-unloading area travel route A12 to move to an unloading area A13, and unloads the loaded objects in the unloading area A13.

[0053] FIG. 4 is a schematic diagram showing an example of a construction area according to an embodiment of the present disclosure. FIG. 4 shows an example of a construction area CR set in the loading area A11. The diagram on the left is a plan view, and the diagram on the right is a side cross-sectional view. In this embodiment, the XY plane is the horizontal plane, and the Z direction is the vertical direction. The construction area CR is a hexahedral excavation area having a width Lx in the X direction, a depth Ly in the Y direction, and a depth Lz in the Z direction. The construction area CR is also defined by design surfaces DS1 to DS5, which are target surfaces for the terrain after excavation. The work machine 100 excavates the target object 401 so that the terrain after excavation has a square-shaped trench having the design surfaces DS1 to DS5.

[0054] FIG. 5 is a flowchart illustrating an outline of a process according to an embodiment of the present disclosure. In the process illustrated in FIG. 5, first, the planning device 300 (e.g., the route search unit 301) acquires design surface information (e.g., information representing design surfaces DS1 to DS5) (step S31). For example, the information may be acquired online from another computer or the like in accordance with an operator's operation, or pre-stored design surface information may be acquired. In addition, the planning device 300 (e.g., the route search unit 301) concurrently acquires current topography information for the construction range CR (step S32). For example, the information may be acquired online from another computer or the like in accordance with an operator's operation. The current topography information acquired online from another computer or the like is assumed to be prepared in advance by, for example, 3D point cloud measurement using a LiDAR or the like mounted on a drone. For example, the information may be acquired by 3D point cloud measurement using a LiDAR or the like mounted on the work machine 100.

[0055] Furthermore, the planning device 300 (e.g., the route search unit 301) generates a three-dimensional voxel map representing the current topographical information of the construction area CR based on the current topographical information of the construction area CR (step S33). Fig. 6 is a schematic diagram showing an example of the three-dimensional voxel map according to an embodiment of the present disclosure. The three-dimensional voxel map MAP shown in Fig. 6 represents the pre-construction topography of the construction area CR using a plurality of three-dimensional voxels (the smallest unit of a cube).

[0056] Next, the route search unit 301 creates an optimal travel route plan based on the design surface information and the topography information (step S34). Next, the excavation planning unit 302 creates an optimal excavation plan based on the design surface information, the topography information, and the optimal travel route plan (step S35). Next, the plan transmission unit 303 transmits the optimal travel route plan and the optimal excavation plan to the work machine automatic control device 150 (step S36), and the planning device 300 ends the processing.

[0057] Meanwhile, in the construction machine automatic control device 150, the plan acquisition unit 151 receives the optimal travel path plan and the optimal excavation plan from the planning device 300 (step S11). Next, the travel control unit 152 controls the travel of the construction machine 100 to move the construction machine 100 to the next (or first) intermediate travel position based on the optimal travel path plan (step S12). Furthermore, when the intermediate travel position is reached, the excavation control unit 153 controls the excavation of the construction machine 100 based on the optimal excavation plan until there are no more loading targets at that intermediate travel position (step S13). Here, the excavation control includes, for example, control to repeat a series of operations including excavation, loading swing, soil unloading, and return swing, and control to travel to the next intermediate travel position after soil unloading, and then repeat the series of operations again starting with the return swing. Furthermore, the transport vehicle control unit 154 controls the transport vehicle 200 as necessary (step S14). The work machine automatic control device 150 repeatedly executes the processes of steps S12 to S15 until the excavation work in the excavation range CR based on the optimal travel route plan is completed (until step S15: Y). On the other hand, when the excavation work in the excavation range CR based on the optimal travel route plan is completed (step S15: Y), the haulage vehicle control unit 154 issues an instruction to the haulage vehicle 200 upon completion of the work (step S16), and ends the process.

[0058] In the transport vehicle automatic control device 250, when the travel control unit 251 receives a travel instruction from the transport vehicle control unit 154 for the transport vehicle 200 to move to the loading position (step S21), the travel control unit 251 controls the travel of the transport vehicle 200 (step S22). When the travel control unit 251 receives an instruction for unloading from the transport vehicle control unit 154 (step S21), the unloading control unit 252 controls the unloading of the transport vehicle 200 (step S23). When the travel control unit 251 receives an instruction for completing the work from the transport vehicle control unit 154 (step S21), for example, the travel control unit 251 controls the work completion and then completes the work (step S24: Y), terminating the processing. When the travel control unit 251 does not receive an instruction for completing the work from the transport vehicle control unit 154, the work is not completed (step S24: N), and the processing from step S21 onward is repeated. After unloading the work in the unloading area, the transport vehicle 200 may return to the loading position in the loading area, or another vehicle may arrive at the loading position.

[0059] Here, with reference to Figures 7 and 8, a method for defining the positions and orientations (azimuth angles) of the work machine 100 and the haulage vehicle 200 used in this embodiment will be described. Figure 7 is a schematic diagram showing an example of how to define the positions and orientations of the work machine 100 and the haulage vehicle 200 according to an embodiment of the present disclosure. Figure 7 shows how to define the positions and orientations (azimuth angles) of the work machine 100 and the haulage vehicle 200 on an XY plane in a global coordinate system. As shown in Figure 7, the position of the work machine 100 is represented by an x ​​coordinate on the X axis and a y coordinate on the Y axis. The orientation of the work machine 100 is represented by an angle θ with the Y axis direction as the reference. The position of the haulage vehicle 200 is represented by a distance r from the work machine 100 and an azimuth angle φ with the position of the work machine 100 as the reference. The orientation of the haulage vehicle 200 is a variable determined in route search (the loading position route of the haulage vehicle 200 searched by the route search unit 301, or the optimal travel route plan).

[0060] Furthermore, in this embodiment, during loading operations, of the multiple consecutive travel positions that constitute the travel position route along which the work machine 100 travels, as represented by the optimal travel route plan, the travel position at which the work machine 100 performs excavation and loading operations is referred to as an intermediate travel position. Furthermore, the loading position (hereinafter also referred to as a spotting position) of the transport vehicle 200 onto which the object 401 is loaded by the work machine 100 located at the intermediate travel position is referred to as an intermediate loading position. Furthermore, a structure that represents a pair of intermediate travel positions and intermediate loading positions is called a Waypoint (waypoint; point information on a route). In this case, the Waypoint is expressed by the following five-dimensional vector:

[0061]

[0062] Here, (x_t, y_t, θ_t) represent the position coordinates and azimuth angle of the work machine 100, as shown in Figure 7, r_t represents the distance between the work machine 100 and the transport vehicle 200 onto which the object 401 is to be loaded, and φ_t represents the azimuth angle of the transport vehicle 200. Note that "_" indicates that the next character is a subscript. Also, the subscript t indicates that this is the variable of the t-th waypoint.

[0063] FIG. 8 is a schematic diagram for explaining an example of an optimal travel route plan according to an embodiment of the present disclosure. FIG. 8 shows an example of four consecutive Waypoints 1 to 4. Waypoint 1 represents a set of an intermediate travel position TP1 and an intermediate loading position RP1, and is represented by a vector z_1 = (x_1, y_1, θ_1, r_1, φ_1). Waypoint 2, the next Waypoint after Waypoint 1, represents a set of an intermediate travel position TP2 and an intermediate loading position RP2, and is represented by a vector z_2 = (x_2, y_2, θ_2, r_2, φ_2). Waypoint 3, the next Waypoint after Waypoint 2, represents a set of an intermediate travel position TP3 and an intermediate loading position RP3, and is represented by a vector z_3 = (x_3, y_3, θ_3, r_3, φ_3). Waypoint 4 next to Waypoint 3 represents a set of intermediate traveling position TP4 and intermediate loading position RP4, and is represented by vector z_4 = (x_4, y_4, θ_4, r_4, φ_4).

[0064] In this embodiment, in optimal travel path planning, it is assumed that the work machine 100 moves a maximum of m times during excavation work in the construction range CR, and m waypoints are optimized and determined using PSO (Particle Swarm Optimization). In PSO, one solution z is expressed as a point in a 5m-dimensional space shown in the following equation (1).

[0065]

[0066] In the PSO for optimal travel path planning, the evaluation function E used in the optimization calculation is the following equation (2), taking into consideration maximizing the excavation amount relative to the workload. The workload is the amount of work that can be expressed based on the travel distance of the work machine 100 and the haulage vehicle 200, the relative distance between the work machine 100 and the haulage vehicle 200, the turning angle from the work machine 100 to the haulage vehicle 200, etc., related to the excavation work and the loading work for loading the excavated object 402 onto the haulage vehicle 200.

[0067]

[0068] The evaluation function may also be a linear sum as shown in the following equation (3).

[0069]

[0070] In equations (2) and (3), w_1, w_2, w_3, and w_4 are weighting coefficients. v_t is the volume of soil excavated at the t-th waypoint. l_t is the travel distance of the work machine 100 from the t-th waypoint to the t+1-th waypoint. √(φ_t - θ_t)^2 or |φ_t - θ_t| is the orientation of the haulage vehicle 200 as seen from the work machine 100 at the t-th waypoint. r_t is the relative distance of the haulage vehicle 200 as seen from the work machine 100 at the t-th waypoint. p_t is the travel distance of the haulage vehicle 200 from the t-th waypoint to the t+1-th waypoint. Also, in equation (2), ε is a constant that prevents the denominator from becoming zero, and can be set to a small positive number (0.01), for example.

[0071] Next, details of the processing of steps S31 to S35 shown in FIG. 5 will be described. FIG. 9 is a flowchart showing an example of operation of the planning device 300 according to an embodiment of the present disclosure. FIG. 10 is a flowchart showing an example of creating an optimal travel path plan according to an embodiment of the present disclosure. FIGS. 11 to 13 are schematic diagrams showing examples of temporary excavation models according to an embodiment of the present disclosure. FIG. 14 is a schematic diagram showing examples of spotting position prohibited areas and travel position prohibited areas according to an embodiment of the present disclosure. FIG. 15 is a schematic diagram for explaining spotting position prohibited areas according to an embodiment of the present disclosure. FIG. 16 is a flowchart showing an example of creating an optimal excavation plan according to an embodiment of the present disclosure. FIG. 17 is a schematic diagram showing an example of an excavable volume according to an embodiment of the present disclosure. FIG. 18 is a schematic diagram for explaining an example of operation according to an embodiment of the present disclosure.

[0072] In the overall flow, as shown in Fig. 9, the planning device 300 first sets the initial position and final position of the work machine 100, for example, in accordance with instructions from an operator (step S101). Fig. 4 shows an example of setting the initial position ST1 and final position EN1 of the work machine 100. For example, the initial position ST1 and final position EN1 can be set to appropriate positions based on, for example, the operator's experience.

[0073] Next, the planning device 300 acquires design surface information (step S102). Next, the planning device 300 acquires topographical information of the excavation area (excavation range CR and its surrounding area) (step S103). Next, the route search unit 301 creates an optimal travel route plan (step S104).

[0074] FIG. 10 shows an example of the processing of step S104 in FIG. 9. In the processing shown in FIG. 10, a series of plans are made for the excavation position and orientation of the work machine 100 and the spotting position and orientation of the transport vehicle 200 from the start of movement to the end of excavation. Here, the number of movements m is fixed. Also, at this stage, trajectories of the boom 131, arm 132, and bucket 133 of the work machine 100 are not planned, and a temporary excavation model VDM is used, which assumes that a certain area will be excavated depending on the excavation position of the work machine 100. FIGS. 11 to 13 show examples of the temporary excavation model VDM. FIG. 12 shows the temporary excavation model VDM as seen from arrow A1 in FIG. 11, and FIG. 13 shows the temporary excavation model VDM as seen from arrow A2 in FIG. 12. In other words, the temporary excavation model VDM represents the area that can be excavated within the reach of the bucket 133 of the work machine 100. For example, the temporary excavation model VDM may set a non-excavation area so that the work machine 100 can move to the next intermediate travel position after excavation by the work machine 100.

[0075] In the process shown in FIG. 10 , the path search unit 301 sets the number of waypoints, m, and initializes the (m × n) particle swarm of the PSO (step S201). Here, m is the number of moves required, and n is the number of particles that move each time. Finally, an evaluation function after m moves is calculated and used as the evaluation value for one PSO particle. Using n such particles, optimization calculations are performed using the PSO. Next, the path search unit 301 initializes a variable i, which counts the number of waypoints, to "0" (step S202). Next, the path search unit 301 estimates the excavation volume at waypoint i and updates the terrain (three-dimensional voxel map MAP) based on the estimated excavation volume (step S203). Note that the excavation volume estimated in step S203 is the volume of soil present in the area (temporary excavation model VDM) shown in FIGS. 11 to 13 within the reach of the bucket 133 of the work machine 100 at the waypoint.

[0076] Next, the route search unit 301 determines whether the variable i is less than the variable m (step S204). If the variable i is less than the variable m (step S204: Y), the route search unit 301 creates a driving route plan from Waypoint i to Waypoint i+1 using, for example, the A* method (A-star search algorithm), increments the variable i by "1" (step S205), and returns to step S203.

[0077] If the variable i is not less than the variable m (step S204: N), the path search unit 301 calculates the PSO evaluation function E and updates the PSO particle swarm (step S206). In step S206, the evaluation function E after m movements is finally calculated and used as the evaluation value of one PSO particle. Optimization calculations are performed by the PSO using n such particles. The update equation for the PSO is given by the following equation (4).

[0078]

[0079] where i is the individual number, z_i is the position of each individual, V_i is the speed of each individual, r_1 and r_2 are random numbers between 0 and 1, k is the number of search updates, c_1, c_2, and w are constants, c_1 and c_2 are acceleration coefficients, and w is the inertia coefficient for speed. pbest represents the best position of each individual, and gbest represents the best position of the entire flock.

[0080] Next, the route search unit 301 determines whether the traveling position or spotting position falls within a prohibited area (step S207). FIG. 14 shows examples of spotting position prohibited areas (prohibited areas) and traveling position prohibited areas (prohibited areas). As shown in FIG. 14, the excavation range DAR, which is the range that has already been excavated, is set as a traveling position prohibited area for the work machine 100. In addition, a prohibited area for a spotting position (intermediate loading position) can be set for the transport vehicle 200 based on the azimuth angle A and azimuth angle B that apply to the excavation range DAR based on the intermediate traveling position of the work machine 100. However, as shown in FIG. 15, if the reach range of the work machine 130 can exceed the excavation range DAR, the range that is within the reach range of the work machine 130 and exceeds the excavation range DAR may be excluded from the prohibited area for spotting positions.

[0081] If the intermediate traveling position or the spotting position corresponds to the prohibited area (step S207: Y), the route search unit 301 updates the PSO particles again (step S208) and executes the determination process of step S207.

[0082] If the intermediate traveling position or the spotting position does not fall within the prohibited area (step S207: N), the route search unit 301 determines whether the maximum number of PSO iterations has been reached (step S209).

[0083] If the maximum number of PSO iterations has been reached (step S209: Y), the path search unit 301 determines the solution with the maximum evaluation function E as the optimal solution and terminates the processing shown in Fig. 10. On the other hand, if the maximum number of PSO iterations has not been reached (step S209: N), the path search unit 301 executes the processing from step S202 onwards again.

[0084] 9, the excavation position and orientation of the work machine 100 and the spotting position and orientation of the transport vehicle 200 are planned by the above processing (step S104), and the excavation planning unit 302 moves the work machine 100 and the transport vehicle 200 to the initial excavation position and spotting position (step S105). Next, the excavation planning unit 302 creates an optimal excavation plan including a detailed optimal trajectory plan for turning and excavation at the moved points (step S106).

[0085] Figure 16 shows an example of the processing of step S106 in Figure 9. In the processing shown in Figure 16, the optimal swing angle (excavation orientation) is determined using PSO. In other words, the excavation orientation is the optimal direction in which the work machine 100 will excavate. The following equation (5) is used to evaluate the solution.

[0086]

[0087] The evaluation function E may also be expressed as a linear sum in the form of the following equation (6):

[0088]

[0089] where V is the amount of excavated soil per excavation operation, T_1 is the time required for excavation, and T_2 is the time required for turning. The trajectory of the excavation operation can be obtained, for example, by solving an optimal control problem using a pseudospectral method, taking into account the dynamics and movable range constraints of the boom 131, arm 132, and bucket 133, constraints of the hydraulic system, etc.

[0090] In the process shown in Fig. 16, the excavation planning unit 302 first initializes the particles of the PSO (step S301). Here, the particles are the swing angles DD1, DD2, DD3, etc. at each waypoint shown in Fig. 6. For example, the swing angles DD1, DD2, DD3, etc. are the directions in which the work machine 100 excavates with the work implement 130.

[0091] Next, the excavation planning unit 302 creates an optimal excavation trajectory plan for each particle (step S302). Next, the excavation planning unit 302 calculates the PSO evaluation function E and updates the PSO particle swarm (step S303). Next, the excavation planning unit 302 determines whether the maximum number of PSO iterations has been reached (step S304).

[0092] If the maximum number of PSO iterations has been reached (step S304: Y), the excavation planning unit 302 determines the solution (excavation azimuth direction) with the maximum evaluation function E as the optimal solution, and terminates the processing shown in Fig. 16. On the other hand, if the maximum number of PSO iterations has not been reached (step S304: N), the excavation planning unit 302 executes the processing from step S302 onwards again.

[0093] Returning to FIG. 9 , in the optimal trajectory planning process of step S106, the optimal turning angle for the next excavation operation is identified. The excavation planning unit 302 then compares the excavation volume for that excavation operation with a predetermined threshold value ξ + W_1 × t_p (step S107). If the excavation volume is equal to or greater than the threshold value ξ + W_1 × t_p (step S107: Y), the excavation planning unit 302 updates the terrain (3D voxel map MAP) based on the excavation volume for that excavation operation (step S108). After step S108, the excavation planning unit 302 executes the process of step S106 again. The threshold value ξ is a value corresponding to the excavation volume at which it is determined that the target object 401 should be left unexcavated at the current waypoint and moved to the next waypoint. W_1 is a weighting coefficient, and t_p is the time required for one excavation.

[0094] On the other hand, if the excavation amount is not equal to or greater than (threshold value ξ + W_1 × t_p) (step S107: N), the excavation planning unit 302 determines whether the waypoint is the end point (step S109). If the waypoint is the end point (step S109: Y), the excavation planning unit 302 ends the processing shown in Fig. 9. If the waypoint is not the end point (step S109: N), the excavation planning unit 302 executes the processing from step S105 onwards again.

[0095] Through the processing of steps S106 and S107, the excavation planning unit 302 performs detailed optimal trajectory planning for turning and excavation at each waypoint. Furthermore, the excavation trajectory is repeatedly planned until a sufficient excavation volume can no longer be obtained at that position. FIG. 17 schematically illustrates a state in which excavable objects 401-1, 401-2, and 401-3 remain within the reach range RAR of the work implement 130, which is the range in which the work machine 100 can excavate. In the determination processing of step S107, the excavation volume on the left side is the value obtained by excavation operation in the optimal excavation direction estimated to produce the largest excavation volume at that time. Therefore, further excavation operation cannot be expected to produce a larger excavation volume. Furthermore, the value on the right side (ξ + W_1 × t_p) is a value determined based on a constant corresponding to the excavation volume and the excavation time. In this case, for example, it is possible to determine whether the next excavation will be performed at the same waypoint, taking into account the time and excavation volume. In the determination of step S107, for example, if there is a place that is difficult to dig (for example, a place that takes a long time to dig), it can be determined that the robot should move to the next waypoint without forcing itself to dig. For example, in the example shown in Fig. 17, it can be determined that the objects 401-1 and 401-2 should be excavated, and that the object 401-3 should not be excavated.

[0096] In step S107, the excavation planning unit 302 may determine whether or not to move the work machine 100 to the next waypoint based on the volume of the area that can be excavated at that waypoint, calculated based on, for example, the position information of the work machine 100, topography information that represents the topography made up of the object 401, and design surface information that represents the design surface that is the target surface of the topography to be formed by excavation. In this case, the timing for the work machine 100 to move can be determined based on the amount of excavation objects around the work machine 100. Alternatively, the excavation planning unit 302 may determine whether or not to move the work machine 100 to the next waypoint based on the amount of object 401 that can be loaded within the excavation range of the work machine 100 at that waypoint and the time required to excavate the object 401. In this case, the timing for movement can be determined based on information about the amount of excavation objects around the work machine 100 and the time required for excavation.

[0097] 18, the planning device 300 divides the area 202s of the loading platform 202 as viewed from above into five slots 202s-1 to 5, and prioritizes loading starting from the slot 202s-1 closest to the driver's seat of the transport vehicle 202. When the loading platform 202 is fully loaded, the transport device control unit 154 can instruct the transport vehicle 200 to move to an unloading point and then return to the spotting position.

[0098] (Actions and Effects) According to this embodiment, the planning device 300 is equipped with a route search unit 301, and is a device that, during loading work in which the work machine 100 is used to load an object 401 onto a transport vehicle 200, plans a travel position route for the work machine 100 that passes through a plurality of intermediate travel positions TP1 to TP4, and a loading position route for the transport vehicle 200 that passes through a plurality of intermediate loading positions RP1 to RP4 that correspond to any of the plurality of intermediate travel positions. For each pair (Waypoints 1 to 4) of intermediate travel positions TP1 to TP4 and corresponding intermediate loading positions RP1 to RP4, the route search unit 301 searches for travel and loading position routes that maximize the evaluation function E, using the amount (v_t) of the object 401 to be loaded as a variable that increases the evaluation function E, and the length (p_t) of the travel path of the haulage vehicle 200, the relative distance (r_t) between the haulage vehicle 200 and the work machine 100, the relative angle (|φ_t-θ_t|) between the haulage vehicle 200 and the work machine 100, and the length (l_t) of the travel path of the work machine 100 as variables that decrease the evaluation function E. According to this embodiment, position information such as the excavation position and loading position can be determined automatically, thereby reducing labor. Furthermore, because the optimal route is searched for using the above evaluation function, a route that allows work to be performed efficiently can be identified.

[0099] (Variations) Although an embodiment of the present invention has been described above with reference to the drawings, the specific configuration is not limited to the above embodiment, and includes design modifications and the like within the scope of the gist of the present invention.

[0100] For example, the planning device 300 may be provided in the construction machine 100. Furthermore, for example, topographical information may be measured for each excavation operation using a three-dimensional shape sensor or the like provided in the construction machine 100, and the topographical information used when calculating the optimal excavation plan may be updated based on the topographical information measured using the three-dimensional shape sensor in the processing of step S108 in Fig. 9, for example.

[0101] Furthermore, part or all of the programs executed by the computer in the above embodiments can be distributed via computer-readable recording media or communication lines.

[0102] The aspects of the present disclosure can be understood as follows.

[0103] (Supplementary Note 1) A device for planning a travel position path of a work machine in a loading operation in which an object is loaded onto a transport vehicle using the work machine, the planning device comprising: a route search unit that searches for the travel position path using an evaluation function based on the amount of the object to be loaded and information on the work machine and the transport vehicle.

[0104] (Supplementary Note 2) The planning device described in (Supplementary Note 1) wherein the travel position route includes a plurality of intermediate travel positions, and the travel position route is planned, and a loading position route of the transport vehicle is planned that passes through a plurality of intermediate loading positions corresponding to any of the plurality of intermediate travel positions, and the route search unit searches for the loading position route using the evaluation function.

[0105] (Supplementary Note 3) The route search unit searches for the travel position route and the loading position route that maximize the evaluation function for a pair of each of the intermediate travel positions and the corresponding intermediate loading positions, using the amount of the object to be loaded as a variable that increases the evaluation function and at least one of the length of the travel path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the travel path of the work machine as a variable that decreases the evaluation function, or searches for the travel position route and the loading position route that minimize the evaluation function for a pair of the intermediate travel position and the corresponding intermediate loading position, using the amount of the object to be loaded as a variable that decreases the evaluation function and at least one of the length of the travel path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the travel path of the work machine as a variable that increases the evaluation function.

[0106] (Supplementary Note 4) The loading work is work in which the work machine excavates the object and loads the excavated object onto the transport vehicle, and the route search unit sets a location where the work machine excavates the object as a prohibited travel area for the work machine, and searches for the travel position route outside the prohibited travel area. (Supplementary Note 3) The planning device described in

[0107] (Supplementary Note 5) The planning device described in (Supplementary Note 2), (Supplementary Note 3), or (Supplementary Note 4), wherein the route search unit sets a location where the work machine excavates the object as a loading position prohibited area for the transport vehicle, and searches for the loading position route outside the loading position prohibited area.

[0108] (Supplementary Note 6) The planning device described in (Supplementary Notes 2) to (Supplementary Note 5) further comprises an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while moving the work machine to each of the intermediate travel positions in sequence, and the excavation planning unit determines whether or not to move the work machine to the next intermediate travel position based on the volume of an area that can be excavated at that intermediate travel position, calculated based on position information of the work machine, topography information that represents the topography made up of the target object, and design surface information that represents a design surface that is a target surface of the topography to be formed by excavation.

[0109] (Supplementary Note 7) The planning device described in (Supplementary Notes 2) to (Supplementary Note 5) includes an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions, and the excavation planning unit determines whether or not to move the work machine to the next intermediate travel position based on the amount of object that can be loaded within the excavation range of the work machine at that intermediate travel position and the time required to excavate the object.

[0110] (Supplementary Note 8) The planning device described in (Supplementary Note 2) to (Supplementary Note 5) further comprises an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions, and the excavation planning unit determines whether or not to move the work machine to the next intermediate travel position based on the maximum possible load capacity of the transport vehicle.

[0111] (Supplementary Note 9) A work machine equipped with the planning device described in (Supplementary Note 1) to (Supplementary Note 9).

[0112] (Supplementary Note 10) A work machine that automatically travels based on the travel position route described in (Supplementary Note 1) to (Supplementary Note 9).

[0113] (Supplementary Note 11) A transport vehicle that automatically travels based on the loading position route described in (Supplementary Note 2), (Supplementary Note 3) or (Supplementary Note 5).

[0114] (Supplementary Note 12) A work machine that is remotely operated based on the travel position path described in (Supplementary Note 1) to (Supplementary Note 9).

[0115] The planning device, work machine, transport vehicle, and planning method disclosed herein can reduce labor.

[0116] 100...work machine, 110...traveling body, 120...swivel body, 130...work implement, 133...bucket, 150...work machine automatic control device, 200...transport vehicle, 202...loading platform, 250...transport vehicle automatic control device, 300...planning device, 301...route search unit, 302...excavation planning unit

Claims

1. An apparatus for planning a travel position path of a work machine in a loading operation of loading an object onto a transport vehicle using the work machine, the apparatus comprising a path search unit that searches for the travel position path using an evaluation function based on the amount of the object to be loaded and information on the work machine and the transport vehicle.

2. The travel position path includes a plurality of intermediate travel positions. While planning the travel position path, a loading position path of the transport vehicle passing through a plurality of intermediate loading positions corresponding to any of the plurality of intermediate travel positions is planned. The path search unit searches for the loading position path using the evaluation function. The planning apparatus according to claim 1.

3. In a set of each intermediate travel position and the corresponding each intermediate loading position, the path search unit sets the amount of the object to be loaded as a variable that increases the evaluation function, and at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that decreases the evaluation function, and searches for the travel position path and the loading position path that maximize the evaluation function, or sets the amount of the object to be loaded as a variable that decreases the evaluation function, and at least one of the length of the movement path of the transport vehicle, the relative distance between the transport vehicle and the work machine, the relative angle between the transport vehicle and the work machine, or the length of the movement path of the work machine as a variable that increases the evaluation function, and searches for the travel position path and the loading position path that minimize the evaluation function. The planning apparatus according to claim 2.

4. The loading operation is an operation in which the work machine excavates the object and the work machine loads the excavated object onto the transport vehicle. The path search unit sets the place where the work machine excavates the object as a travel prohibited area of the work machine, and searches for the travel position path outside the travel prohibited area. The planning apparatus according to claim 3.

5. The path search unit sets the place where the work machine excavates the object as a loading position prohibited area of the transport vehicle, and searches for the loading position path outside the loading position prohibited area. The planning apparatus according to claim 4.

6. The planning device according to claim 5, further comprising an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions. The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the volume of the area that can be excavated at the current intermediate travel position, which is calculated based on the position information of the work machine, the terrain information representing the terrain composed of the object, and the design surface information representing the design surface that is the target surface of the terrain to be formed by excavation.

7. The planning device according to claim 5, further comprising an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions. The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the amount of the object that can be loaded within the excavation range of the work machine and the time required for excavating the object at the current intermediate travel position.

8. The planning device according to claim 5, further comprising an excavation planning unit that plans the excavation direction of the work machine at each of the intermediate travel positions while sequentially moving the work machine to each of the intermediate travel positions. The excavation planning unit determines whether to move the work machine to the next intermediate travel position based on the maximum possible loading capacity of the transport vehicle.

9. A work machine comprising the planning device according to any one of claims 6, 7, or 8.

10. A work machine that automatically travels based on the travel position route according to any one of claims 6, 7, or 8.

11. A transport vehicle that automatically travels based on the loading position route according to any one of claims 6, 7, or 8.

12. A work machine that is remotely operated based on the travel position route according to any one of claims 6, 7, or 8.

13. A method for planning the travel position route of a work machine in a loading operation of loading an object onto a transport vehicle using the work machine, the method including the step of searching for the travel position route using an evaluation function based on the amount of the object to be loaded and the information of the work machine and the transport vehicle.

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