Control device, control method, and control program

Abstract

This control device comprises: a first detection unit that detects a release region in which an object held by a holding unit of a work machine is to be released; a second detection unit that detects a position and an orientation of the work machine; a calculation unit that calculates an operation region for causing the holding unit to perform an operation of releasing the object, in an intersection region where a movable region of the holding unit corresponding to the position and the orientation and the release region intersect; and a generation unit that generates control information for controlling the work machine so that the holding unit performs the operation of releasing the object in the operation region.

Description

Control device, control method, and control program

[0001] The present disclosure relates to a control device, a control method, and a control program.

[0002] Patent Document 1 describes a technique for generating a target trajectory for an operation in which an excavator releases soil onto a dump truck.

[0003] International Publication No. 2021 / 054436

[0004] In the technology described in Patent Document 1, the target trajectory is set along the fore-and-aft direction of the dump truck. Therefore, this technology has a problem in that it cannot handle cases where the excavator is positioned not directly facing the dump truck (for example, diagonally or laterally). As such, there is a need for technology that can control the operation of a work machine to discharge objects in response to various positional relationships between the area into which the objects are discharged and the work machine.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and one exemplary purpose thereof is to provide a technology for controlling the operation of a work machine to release an object in accordance with various positional relationships between the area into which the object is released and the work machine.

[0006] A control device according to one exemplary aspect of the present disclosure includes a first detection means that detects a release area where an object held by a holding unit of a work machine should be released, a second detection means that detects the position and attitude of the work machine, a calculation means that calculates an operating area in which the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit according to the position and attitude intersects with the release area, and a generation means that generates control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

[0007] A control method according to one exemplary aspect of the present disclosure includes a first detection process in which at least one processor detects a release area where an object held by a holding unit of a work machine should be released; a second detection process in which the at least one processor detects the position and attitude of the work machine; a calculation process in which the at least one processor calculates an operating area in which the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit corresponding to the position and attitude intersects with the release area; and a generation process in which the at least one processor generates control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

[0008] A control program according to an exemplary aspect of the present disclosure causes at least one processor to execute a first detection process that detects a release area where an object held by a holding unit of a work machine should be released; a second detection process that detects the position and posture of the work machine; a calculation process that calculates an operating area in which the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit corresponding to the position and posture intersects with the release area; and a generation process that generates control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

[0009] According to one exemplary aspect of the present disclosure, one exemplary effect is provided in which a technology can be provided for controlling the operation of a work machine to release an object in response to various positional relationships between the area into which the object is released and the work machine.

[0010] FIG. 1 is a block diagram showing the configuration of a control device according to the present disclosure. FIG. 2 is a flow diagram showing the flow of a control method according to the present disclosure. FIG. 3 is a block diagram showing the configuration of a control device according to the present disclosure. FIG. 4 is a diagram schematically showing a specific example of a release region according to the present disclosure. FIG. 5 is a diagram schematically showing a specific example of a position and attitude of a work machine according to the present disclosure. FIG. 6 is a diagram schematically showing a specific example of a movable region according to the present disclosure. FIG. 7 is a diagram schematically showing a specific example of a motion region according to the present disclosure. Also, FIG. 8 is a diagram schematically showing a specific example of an intersection region. FIG. 9 is a diagram schematically showing a specific example of a motion region according to the present disclosure. FIG. 10 is a diagram schematically showing a case where a release operation according to the present disclosure is determined to be impossible. FIG. 11 is a diagram schematically showing a case where a release operation according to the present disclosure is determined to be impossible. FIG. 12 is a schematic diagram showing a specific example of a motion trajectory of a holding part according to the present disclosure. FIG. 13 is a flow diagram showing the flow of a control method according to the present disclosure. FIG. 14 is a block diagram showing the hardware configuration of a computer functioning as each device according to the present disclosure.

[0011] Below, exemplary embodiments of the present disclosure are described. However, the present disclosure is not limited to the exemplary embodiments shown below, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technologies (part or all of the products or methods) employed in the exemplary embodiments shown below may also be included in the scope of the present disclosure. Furthermore, embodiments obtained by appropriately omitting some of the technologies employed in the exemplary embodiments shown below may also be included in the scope of the present disclosure. Furthermore, the effects mentioned in the exemplary embodiments shown below are examples of effects expected in the exemplary embodiments, and do not define the scope of the present disclosure. In other words, embodiments that do not exhibit the effects mentioned in the exemplary embodiments shown below may also be included in the scope of the present disclosure.

[0012] [First Exemplary Embodiment] A first exemplary embodiment, which is an example of an embodiment of the present disclosure, will be described in detail with reference to the drawings. This exemplary embodiment is a basic form for each of the exemplary embodiments described below. Note that the scope of application of each technique employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technique employed in this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise. Furthermore, each technique shown in the drawings referenced to explain this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical obstacles arise.

[0013] (Overview of control device 1) The control device 1 is a device that controls the operation of a work machine to release an object. Here, the work machine is a machine that performs the work of holding an object and releasing the held object. Examples of work machines include hydraulic excavators and wheel loaders that perform the work of excavating and releasing earth and sand, which are examples of objects. In this case, examples of the holding part of the work machine include the bucket of a hydraulic excavator and the bucket of a wheel loader. Furthermore, the area into which the object is released by the work machine is referred to as the release area. Examples of the release area include the vessel or hopper of a dump truck, and the area into which the object is released. However, the work machine, object, and release area are not limited to the examples described above.

[0014] (Configuration of control device 1) The configuration of the control device 1 will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the configuration of the control device 1. As shown in Fig. 1, the control device 1 includes a first detection unit 11, a second detection unit 12, a calculation unit 13, and a generation unit 14. The first detection unit 11 is an example of a configuration that realizes first detection means. The second detection unit 12 is an example of a configuration that realizes second detection means. The calculation unit 13 is an example of a configuration that realizes calculation means. The generation unit 14 is an example of a configuration that realizes generation means.

[0015] The first detection unit 11 detects a release area where the object held by the holding unit of the work machine should be released. For example, the first detection unit 11 may detect the release area based on sensor information measured using a three-dimensional sensor (not shown). Examples of three-dimensional sensors include, but are not limited to, LiDAR, a depth camera, or a combination thereof. The three-dimensional sensor for detecting the release area may be installed on the work machine or a mobile object (such as a drone), or may be installed on a structure located in the space where the work machine releases the object. Examples of sensor information measured by the three-dimensional sensor include, but are not limited to, point clouds, distance, or image data.

[0016] The second detection unit 12 detects the position and attitude of the work machine. For example, the second detection unit 12 may detect the position and attitude of the work machine based on sensor information measured using a positioning sensor (not shown). Here, attitude represents an orientation in three-dimensional space. The attitude may be represented, for example, by a rotation angle around three axes of a Cartesian coordinate system, although parameters representing attitude are not limited to this. Examples of positioning sensors include, but are not limited to, a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), or a combination thereof. The positioning sensor may be installed on the work machine, but is not limited to this.

[0017] The calculation unit 13 calculates an operating area for causing the holding unit to perform the operation of releasing an object in an intersection area where the movable area of ​​the holding unit and the release area intersect, depending on the position and attitude of the work machine. For example, the movable area of ​​the holding unit is the maximum range of area that the holding unit can pass through when the holding unit is operated without changing the position and orientation of the work machine. The movable area of ​​the holding unit can be calculated depending on the position and attitude of the work machine. The intersection area can be calculated as the area where the movable area and the release area intersect (in other words, the area common to the movable area and the release area). The operating area is calculated, for example, as the maximum range of area that the entire holding unit can pass through inside the intersection area.

[0018] The generator 14 generates control information for controlling the work machine so that the holding unit performs an operation to release the target object within the operating area. For example, the control information may include a motion trajectory of the holding unit or a sequence of working postures of the work machine for operating the holding unit along the motion trajectory. The motion trajectory of the holding unit may be, for example, a coordinate sequence of positions through which any point constituting the holding unit (e.g., the tip of the holding unit) must pass. Furthermore, the working posture refers to the physical form that the entire movable unit of the work machine can take by changing the operating state of each part constituting the movable unit. The working posture may be represented, for example, by a combination of information indicating the operating state of each part constituting the movable unit. For example, if the work machine is a hydraulic excavator, the working posture may be a combination of information indicating the rotation angle of each rotatable part, such as the boom, arm, bucket (an example of a holding unit), etc. However, the working posture is not limited to this.

[0019] (Effects of control device 1) As described above, the control device 1 is configured to include a first detection unit 11 that detects a release area where an object held by the holding unit of the work machine should be released, a second detection unit 12 that detects the position and attitude of the work machine, a calculation unit 13 that calculates an operation area where the holding unit performs the operation of releasing the object in an intersection area that indicates the area where the movable area of ​​the holding unit according to the position and attitude of the work machine intersects with the release area, and a generation unit 14 that generates control information for controlling the work machine so that the holding unit performs the release operation in the operation area.

[0020] Here, for example, depending on the relative positions of the release area and the work machine, part of the movable area of ​​the holding unit of the work machine may not be included in the release area. In such cases, if the holding unit of the work machine is caused to perform an operation to release an object, the object may be released outside the release area, which is undesirable. According to the control device 1, regardless of the relative positions of the release area and the work machine, the holding unit can be caused to release the object in an operating area included in the intersection area where the movable area and the release area intersect. This provides the effect of being able to control the operation of the work machine to release an object in response to various relative positions of the release area and the work machine.

[0021] (Flow of Control Method) The flow of control method S1 will be described with reference to Fig. 2. For example, when the control device 1 includes at least one processor, the control device 1 executes control method S1. Fig. 2 is a flow diagram showing the flow of control method S1. As shown in Fig. 2, control method S1 includes a first detection process S11, a second detection process S12, a calculation process S13, and a generation process S14.

[0022] In the first detection process S11, at least one processor (for example, the first detection unit 11) detects a release area from which an object held by a holding unit of the work machine should be released.

[0023] In the second detection process S12, at least one processor (for example, the second detection unit 12) detects the position and attitude of the work machine.

[0024] In the calculation process S13, at least one processor (e.g., calculation unit 13) calculates an operating area in which the holding unit performs the operation of releasing the object in the intersection area where the movable area of ​​the holding unit and the release area intersect, depending on the position and posture of the work machine.

[0025] In the generation process S14, at least one processor (for example, the generation unit 14) generates control information for controlling the work machine to perform an operation in which the holding unit releases the work machine in the operation area.

[0026] (Effects of Control Method) As described above, control method S1 employs a configuration including: a first detection process in which at least one processor detects a release area where an object held by a holding unit of the work machine should be released; a second detection process in which at least one processor detects the position and attitude of the work machine; a calculation process in which at least one processor calculates an operation area where the holding unit performs an operation to release the object in an intersection area where the movable area of ​​the holding unit according to the position and attitude intersects with the release area; and a generation process in which at least one processor generates control information for controlling the work machine so that the holding unit performs the operation of releasing in the operation area. Therefore, control method S1 can achieve effects similar to those of control device 1.

[0027] [Second Exemplary Embodiment] A second exemplary embodiment, which is an example of an embodiment of the present disclosure, will be described in detail with reference to the drawings. Components having the same functions as those described in the above exemplary embodiment will be denoted by the same reference numerals, and their description will be omitted as appropriate. The scope of application of each technique employed in this exemplary embodiment is not limited to this exemplary embodiment. That is, each technique employed in this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical hindrance occurs. Furthermore, each technique shown in each drawing referenced to describe this exemplary embodiment can also be employed in other exemplary embodiments included in the present disclosure, to the extent that no particular technical hindrance occurs.

[0028] (Configuration of control device 1A) The configuration of control device 1A will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the configuration of control device 1A. In addition to the first detection unit 11, second detection unit 12, calculation unit 13, and generation unit 14 provided in control device 1, control device 1A also includes an identification unit 15, a determination unit 16, and an output unit 17. The identification unit 15 is an example of a configuration that realizes identification means. The determination unit 16 is an example of a configuration that realizes determination means.

[0029] The first detection unit 11 is configured in a manner similar to that of the first exemplary embodiment and detects the emission region. For example, the first detection unit 11 detects the emission region as a planar region. For example, if the emission region can be approximated as a rectangular region, the first detection unit 11 may detect the emission region by detecting the four vertices of the rectangular region using a three-dimensional sensor.

[0030] FIG. 4 is a diagram schematically illustrating a specific example of a release region. The upper part of FIG. 4 schematically illustrates a side view of a dump truck 80, and the lower part schematically illustrates a top view of the dump truck 80. The dump truck 80 includes a vessel 81. The vessel 81 is an area into which earth and sand is loaded by a hydraulic excavator 90 (described later). For example, the first detection unit 11 uses a three-dimensional sensor to determine the relative positions of points Va, Vb, Vc, and Vd at the four corners of the vessel 81, with respect to the installation position of the three-dimensional sensor. The first detection unit 11 may also determine the positions of points Va, Vb, Vc, and Vd in the world coordinate system based on the position and orientation of the three-dimensional sensor in the world coordinate system and the relative positions. As a result, a rectangular area on a plane with points Va, Vb, Vc, and Vd as vertices is detected as the release region R1. In addition, when points Va, Vb, Vc, and Vd are not exactly on the same plane, points Va, Vb, Vc, and Vd that are approximately on the same plane are used. Hereinafter, the plane including the release region R1 will also be referred to as the XY plane. For example, the X-axis direction may be the direction of the dump truck 80, but is not limited to this. The direction perpendicular to the XY plane will be referred to as the Z-axis direction.

[0031] The second detection unit 12 is configured in substantially the same manner as in exemplary embodiment 1, and detects the position and attitude of the work machine. For example, the second detection unit 12 may use a positioning sensor installed on the work machine to detect the position and attitude of the work machine in the world coordinate system.

[0032] FIG. 5 is a diagram schematically illustrating a specific example of the position and posture of a work machine. The upper part of FIG. 5 schematically illustrates a side view of the hydraulic excavator 90, and the lower part schematically illustrates a top view of the hydraulic excavator 90. The plane illustrated in the top view corresponds to the surface on which the hydraulic excavator 90 is disposed. In the example of FIG. 5, the X'Y' plane on which the hydraulic excavator 90 is disposed is substantially the same as the XY plane including the discharge area R1. However, the X'-axis direction (e.g., the movable direction d of the bucket 923) does not necessarily have to be the same as the X-axis direction (e.g., the orientation of the dump truck 80) and may be different.

[0033] The hydraulic excavator 90 is an example of a work machine. The hydraulic excavator 90 performs work of excavating earth and sand, which is an example of an object, and loading the excavated earth and sand into a dump truck 80. Loading earth and sand is an example of discharging an object. The hydraulic excavator 90 may be configured to operate autonomously under control of, for example, an autonomous control device (not shown). In this case, the autonomous control device may be mounted on the hydraulic excavator 90 or may be located remotely. The hydraulic excavator 90 may also be manually controlled by an operator. In this case, the manual control may be performed by an operator on board the hydraulic excavator 90 or by an operator of a remotely located manual control device. The hydraulic excavator 90 may also be capable of operating by switching between autonomous control and manual control.

[0034] As shown in FIG. 5 , the hydraulic excavator 90 includes a swivel unit 91, a movable unit 92, and a travel unit 93. The travel unit 93 travels to move the hydraulic excavator 90 forward, backward, and turn right and left. The swivel unit 91 is attached to the travel unit 93 and is capable of rotating in the XY plane around a rotation axis P1. The movable unit 92 includes a boom 921 attached to the swivel unit 91, an arm 922 attached to the tip of the boom 921, and a bucket 923 attached to the tip of the arm 922. The bucket 923 is an example of a holding unit. The boom 921 is capable of reciprocating rotation around a boom axis P2 in a plane substantially perpendicular to the XY plane. The arm 922 is capable of reciprocating rotation around an arm axis P3 in the same rotation plane as the boom 921. The bucket 923 is capable of reciprocating rotation around a bucket axis P4 in the same rotation plane as the arm 922. With the swivel unit 91 stationary, the various parts of the movable unit 92 rotate, causing the bucket 923 to move.

[0035] For example, the second detection unit 12 may use a positioning sensor installed in the hydraulic excavator 90 to detect the relative positions of the boom axis P2 and the bucket center P5 from the positioning sensor, and may convert the relative positions of P2 and P5 into a world coordinate system in accordance with the attitude of the hydraulic excavator. The second detection unit 12 may also identify a movable direction d of the bucket 923. The movable direction d may be a direction connecting the detected boom axis P2 and the bucket center P, or may be a direction toward the boom axis P2 and a target position described later.

[0036] The calculation unit 13 calculates the movable area according to the position and attitude of the work machine. For example, the calculation unit 13 may calculate the movable area in an XY plane that includes the release area. The movable area is the maximum area through which the holding part can pass.

[0037] FIG. 6 is a diagram schematically illustrating a specific example of a movable area. The movable area R2 illustrated in FIG. 6 is the maximum movable range of the bucket 923 of the hydraulic excavator 90 projected onto the XY plane (which in this example is the same as the X'Y' plane on which the hydraulic excavator 90 is disposed). The movable area R2 is a rectangular area having a side along the movable direction d and a side along the width direction of the bucket 923. The movable area R2 can be calculated based on the boom axis P2 and the movable direction d of the hydraulic excavator, with reference to the size of each movable part of the hydraulic excavator 90 (the length of the boom 921, the length of the arm 922, the width of the bucket 923, etc.), the rotation range around the axis of each movable part, etc. Note that predetermined values ​​may be referenced for the size, rotation range, etc. of each movable part.

[0038] The movable range may vary depending on the height at which the bucket 923 is operated. Therefore, the calculation unit 13 may calculate the movable range by temporarily fixing the height H at which the bucket 923 is caused to discharge soil. For example, it is desirable that such height H be higher than the bottom surface of the vessel 81 or higher than the side surface of the vessel 81, but this is not limited to this.

[0039] 6, the movable region R2 is specified by vertices Q_max^R, Q_max^L, Q_min^R, and Q_min^L. In this specification, notation such as "Q_max^R" indicates a symbol formed by adding a subscript "max" and a superscript "R" to the letter "Q." In other words, the calculation unit 13 may calculate the movable region R2 by calculating the positions of the vertices Q_max^R, Q_max^L, Q_min^R, and Q_min^L on the XY plane.

[0040] Furthermore, the calculation unit 13 calculates an intersection area where the emission area and the movable area intersect. Because the emission area and the movable area are areas on the XY plane, the intersection area is also calculated as an area on the XY plane. For example, the calculation unit 13 may calculate the intersection area by determining the intersection point of the boundary of the emission area and the boundary of the movable area.

[0041] 7 is a diagram schematically illustrating a specific example of an intersection region. The intersection region R3 shown in FIG. 7 (the region filled with a dot pattern) is the region where the emission region R1 and the movable region R2 intersect. For example, the intersection region R3 is identified by the intersection points P_max^R, P_max^L, P_min^R, and P_min^L between the boundary lines of the emission region R1 and the boundary lines of the movable region R2, and point Vd, which is one of the four vertices of the emission region R1.

[0042] The calculation unit 13 also calculates the largest rectangular area in the intersection area that is aligned with the direction of movement of the work machine as the motion area. For example, the calculation unit 13 may identify two points, including one vertex of the intersection area, on each of two sides in the direction of movement that form the boundary of the intersection area, and calculate a rectangular area having a total of four identified points as vertices. The calculation unit 13 may also calculate the motion area so that it includes the target position where the object is to be released. Details of the target position will be described later.

[0043] FIG. 8 is a diagram schematically illustrating a specific example of a motion area. Motion area R4 (the area shaded with a diagonal line pattern) illustrated in FIG. 8 is the largest rectangular area along the movable direction d included in the intersection area R3. For example, of the two sides in the movable direction d that constitute the boundary of the intersection area R3, the right side as viewed from the hydraulic excavator 90 is denoted as side L^R, and the left side is denoted as side L^L. Furthermore, of the two vertices of the intersection area R3 on side L^R, the vertex P_max^R farthest from the hydraulic excavator 90 is referred to as the "rear vertex," and the closer vertex P_min^R is referred to as the front vertex. Similarly, of the two vertices of the intersection area R3 on side L^L, the vertex P_max^L farthest from the hydraulic excavator 90 is referred to as the rear vertex, and the closer vertex P_min^L is referred to as the front vertex.

[0044] At this time, of the vertex P_max^R on the far side on side L^R and the vertex P_max^L on side L^L, the vertex P_max^R closer to the hydraulic excavator 90 is adopted as the first vertex of the operating region R4. Furthermore, on side L^L, a point P^_max_L that is the same distance from the hydraulic excavator 90 as the vertex P_max^R adopted on side L^R is calculated as the second vertex of the operating region R4.

[0045] Furthermore, of the vertex P_min^R on the near side on side L^R and the vertex P_min^L on the near side on side L^L, the vertex P_min^L farther from the hydraulic excavator 90 is adopted as the third vertex of the operating region R4. Furthermore, on side L^R, a point P^_min_R that is the same distance from the hydraulic excavator 90 as the vertex P_min^L adopted on side L^L is calculated as the fourth vertex of the operating region R4. In this way, the operating region R4 is specified by the first to fourth vertices P_max^R, P^_max_L, P_min^L, and P^_min_R. Furthermore, the operating region R4 is calculated to include the target position P_target.

[0046] The identification unit 15 identifies a target position in the release area where the object is to be released. For example, the identification unit 15 may identify an empty area where no object has been released based on sensor information from a three-dimensional sensor, and identify the center of the empty area as the target position. The empty area may be extracted, for example, by detecting the surface height of the object in the release area and extracting the empty area as an area where the surface height is less than a threshold. Furthermore, for example, the identification unit 15 may divide the release area into multiple areas based on the shape and size of the holding unit, and identify the center of one of the multiple divided areas as the target position. Furthermore, for example, the identification unit 15 may identify the target position in the release area based on an operation by an operator or the like. However, the method by which the identification unit 15 identifies the target position in the release area is not limited to the above example, and any method may be employed.

[0047] The determination unit 16 determines whether the work machine is capable of performing the operation of releasing the object based on whether the operation area includes the target position. The determination unit 16 also determines whether the work machine is capable of performing the operation of releasing the object based on whether the largest rectangular area along the direction of movement of the work machine exists in the intersection area.

[0048] 9 and 10 are diagrams schematically illustrating a case in which it is determined that the releasing operation is not possible. As shown in FIG. 9, the operating region R4 does not include the target position P_target. In this case, it is determined that the releasing operation is not possible. Also, as shown in FIG. 10, in the intersection region R3, the front vertex P_min^L on side L_L is farther from the hydraulic excavator 90 than the back vertex P_max^R on side L_R. Therefore, there is no maximum rectangular region along the movable direction d. In this case, it is determined that the releasing operation is not possible.

[0049] The generator 14 is configured similarly to the exemplary embodiment, but is also configured as follows. The generator 14 generates control information for causing the holding unit to perform an operation of releasing an object in a space above the operating area where the height of the holding unit is equal to or greater than a threshold. For example, the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for operating the holding unit along the motion trajectory. For example, the generator 14 may generate a motion trajectory in which the entire holding unit passes through the space above the operating area without protruding from the space above the operating area within a range where the height of the holding unit is equal to or greater than the threshold. The threshold may be, for example, equal to or greater than the height of the release area. As a specific example, the threshold may be the height of the bottom surface of the vessel 81 or the height of the upper end of the side surface of the vessel 81, but is not limited thereto. Here, when calculating the movable area of ​​the holding unit, the height of the holding unit is temporarily fixed. However, when calculating the motion trajectory of the holding unit, the height of the holding unit is not necessarily fixed, but is calculated assuming that the height is variable within a range equal to or greater than the threshold.

[0050] Figure 11 is a schematic diagram showing a specific example of the motion trajectory of the holding unit. The X'Z plane shown in Figure 11 is a plane in which the movable direction d of the bucket 923 is the X' axis. As described above, the X' axis is included in the XY plane that includes the release region R1. The X' coordinate of the motion trajectory of the tip B of the bucket 923 is calculated so as to be within the range between the vertices P^_max^L and P_min^L of the motion region R4.

[0051] For example, the working posture in which the tip B is at position P11 is the working posture before releasing the soil and sand, and the X' coordinate of position P11 is set to be the X' coordinate of the vertex P_min^L on the front side of the operating area or further back than that X' coordinate.

[0052] Also, for example, the working posture in which the tip B is at position P13 is the working posture after the bucket 923 is fully opened and released, and the X' coordinate of position P13 is set to be the X' coordinate of the vertex P^_max^L at the back of the operating area or to be closer to the X' coordinate.

[0053] Furthermore, for example, the position P12 of the tip B is calculated according to the working posture that can connect P11 to P13. Furthermore, the position P12 may be set as the center point of the movement trajectory so as to approximately coincide with the X' coordinate of the target position P_target.

[0054] 11 shows one position P12 connecting the pre-release position P11 to the post-release position P13 for ease of explanation, but the number of connecting positions is not limited to one and may be multiple. Furthermore, the position connecting the positions P11 to P13 and the angle of the bucket 923 may be determined according to the amount and distribution of soil already released into the operating area R4. Furthermore, as shown in FIG. 11 , the Z coordinate (height) of the position P11 of the tip B before release is higher than the Z coordinate of the position P13 after release. In other words, the height of the tip B is not fixed and the operating trajectory is calculated.

[0055] The output unit 17 outputs the control information generated by the generation unit 14. The output destination of the control information may be, for example, an autonomous control device that autonomously controls the work machine. In this case, the autonomous control device autonomously controls the work machine using the control information output from the control device 1A. The output destination of the control information may also be, for example, a display device that is visible to an operator who manually controls the work machine. In this case, the operator can manually control the work machine by referring to the control information (e.g., operation trajectory, etc.) displayed on the display device.

[0056] (Flow of Control Method S1A) The control device 1A configured as described above executes the control method S1A. Fig. 12 is a flow chart showing the flow of the control method S1A. As shown in Fig. 12, the control method S1A includes steps S101 to S112.

[0057] In step S101, the first detection unit 11 detects an emission region. For example, the emission region R1 shown in Fig. 4 is detected. Step S101 is an example of a first detection process.

[0058] In step S102, the second detection unit 12 detects the position and attitude of the work machine. For example, the boom axis P2 and bucket center P5 shown in FIG. 5 are detected and transformed into the same world coordinate system as the release area R1. The movable direction d is also identified. Step S102 is an example of the second detection process.

[0059] In step S103, the specifying unit 15 specifies a target position in the release area. For example, the target position P_target shown in Fig. 4 is specified. Step S103 is an example of the specifying process.

[0060] In step S104, the calculation unit 13 calculates the movable area in accordance with the position and attitude of the work machine. For example, the movable area R2 shown in Fig. 6 is calculated.

[0061] In step S105, the calculation unit 13 calculates an intersection area where the movable area and the emission area intersect. For example, as shown in Fig. 7, four intersection points P_max^R, P_max^L, P_min^R, and P_min^L and the vertex Vd of the emission area R1 are calculated as the vertices of the intersection area R3.

[0062] In step S106, the calculation unit 13 calculates the largest rectangular area along the movable direction in the intersection area as the motion area. For example, as shown in Figure 8, four vertices P_max^R, P^_max_L, P_min^L, and P^_min_R are calculated as the vertices of the motion area R4. The series of processes from step S104 to S106 is an example of the calculation process.

[0063] In step S107, the determination unit 16 determines whether or not the motion area has been calculated in step S106. If the determination in step S107 is No, step S111 (described later) is executed. If the determination in step S107 is Yes, the next step S108 is executed.

[0064] In step S108, the determination unit 16 determines whether the motion area calculated in step S106 includes the target position. If the determination in step S108 is No, step S111, which will be described later, is executed. If the determination in step S108 is Yes, the next step S109 is executed. The processes in steps S107 to S108 are each an example of a determination process.

[0065] In step S109, the generation unit 14 generates control information for controlling the work machine to perform the operation of releasing the holding unit. For example, a movement trajectory including positions P11, P12, and P13 shown in FIG. 11 may be generated. Control information including a sequence of working postures for realizing this movement trajectory may also be generated. Step S109 is an example of the generation process.

[0066] In step S110, the output unit 17 outputs the control information. Specific examples of the output destinations have been described above, and detailed description will not be repeated. This allows the work machine to accurately release the objects into the release area based on the control information, reducing the possibility of the objects spilling out of the release area.

[0067] On the other hand, if the determination result in step S107 or S108 is No, the determination unit 16 determines in step S111 that the release operation is not possible.

[0068] In step S112, the output unit 17 outputs that the discharge operation is not possible. Specific examples of the output destination are the same as those in step 110, and therefore detailed description will not be repeated. This makes it possible to prevent the work machine from performing a discharge operation that may cause the target object to spill out of the discharge area.

[0069] (Effects of the control device 1A) As described above, the control device 1A has the same configuration as the control device 1, and further includes an identification unit 15 that identifies a target position for releasing an object in the release area, and the calculation unit 13 calculates a motion area to include the target position. Therefore, in addition to the effects achieved by the control device 1, the control device 1A has the effect of releasing an object with high accuracy according to the target position for releasing the object.

[0070] Furthermore, the control device 1A employs a configuration in which the calculation unit 13 calculates the largest rectangular area in the intersection area along the direction of movement of the work machine as the operating area. Therefore, in addition to the effects of the control device 1, the control device 1A has the effect of being able to more accurately calculate the largest operating area that does not cause the target object to spill out of the release area.

[0071] Furthermore, the control device 1A employs a configuration in which the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory. Therefore, in addition to the effects of the control device 1, the control device 1A has the effect of being able to control the work machine to release an object along the motion trajectory in the motion area.

[0072] The control device 1A is also configured to include a determination unit 16 that determines whether or not a release operation is possible based on whether or not the operation area includes the target position. Therefore, in addition to the effects of the control device 1, the control device 1A has the effect of preventing the work machine from performing a release operation that would release the object outside the target position.

[0073] The control device 1A is also configured to include a determination unit 16 that determines whether or not a release operation is possible based on whether or not a rectangular area along the direction of movement of the holding unit exists in the release area. Therefore, in addition to the effects of the control device 1, the control device 1A has the effect of preventing the work machine from performing a release operation that would release the object outside the release area.

[0074] [Modification] In the second exemplary embodiment, an example has been described in which the motion area is calculated as the largest rectangular area that is included in the intersection area and that is aligned with the direction of movement of the work machine. This is not limiting, and the motion area may be any rectangular area that is included in the intersection area, and does not necessarily have to be the largest rectangular area. For example, the motion area may be a rectangular area in the intersection area that is aligned with the direction of movement of the work machine and has the target position approximately at its center.

[0075] Furthermore, in the second exemplary embodiment, the surface on which the work machine is positioned has been described as being substantially the same as the plane including the release area. However, this is not limiting, and for example, if it is difficult to approximate the surface on which the work machine is positioned and the plane including the release area to be the same plane, the work machine's movement area projected onto the plane including the release area may be calculated. Alternatively, the release area projected onto the surface on which the work machine is positioned may be calculated.

[0076] Furthermore, in each exemplary embodiment, the work machine is not limited to a hydraulic excavator, but may be another work machine that holds and releases an object (for example, a wheel loader), etc. Furthermore, in each exemplary embodiment, the release area does not necessarily have to be a rectangular area.

[0077] [Software Implementation Example] Some or all of the functions of the control devices 1 and 1A (hereinafter also referred to as "each of the above devices") may be implemented by hardware such as an integrated circuit (IC chip), or by software.

[0078] In the latter case, each of the above devices is realized by, for example, a computer that executes instructions of a program, which is software that realizes each function. An example of such a computer (hereinafter referred to as computer C) is shown in Figure 13. Figure 13 is a block diagram showing the hardware configuration of computer C that functions as each of the above devices.

[0079] The computer C includes at least one processor C1 and at least one memory C2. The memory C2 stores a program P for causing the computer C to function as each of the above-mentioned devices. In the computer C, the processor C1 reads and executes the program P from the memory C2, thereby realizing the functions of each of the above-mentioned devices.

[0080] The processor C1 may be, for example, a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a tensor processing unit (TPU), a quantum processor, a microcontroller, or a combination thereof. The memory C2 may be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.

[0081] The computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and for temporarily storing various data. The computer C may also include a communication interface for transmitting and receiving data to and from other devices. The computer C may also include an input / output interface for connecting input / output devices such as a keyboard, a mouse, a display, and a printer.

[0082] The program P can also be recorded on a non-transitory, tangible recording medium M that can be read by the computer C. Such a recording medium M can be, for example, a tape, a disk, a card, a semiconductor memory, or a programmable logic circuit. The computer C can acquire the program P via such a recording medium M. The program P can also be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. The computer C can also acquire the program P via such a transmission medium.

[0083] Furthermore, the functions of each of the devices may be realized by a single processor provided in a single computer, by multiple processors provided in a single computer working in cooperation, or by multiple processors provided in each of multiple computers working in cooperation. Furthermore, the programs for causing each of the devices to realize the functions may be stored in a single memory provided in a single computer, or may be distributed and stored in multiple memories provided in a single computer, or may be distributed and stored in multiple memories provided in each of multiple computers.

[0084] [Appendix A] The present disclosure includes the techniques described in the following appendices. However, the present disclosure is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0085] (Appendix A1) A control device comprising: a first detection means that detects a release area where an object held by a holding part of a work machine should be released; a second detection means that detects the position and attitude of the work machine; a calculation means that calculates an operation area where the holding part performs the operation of releasing the object in an intersection area where the release area intersects with a movable area of ​​the holding part according to the position and attitude; and a generation means that generates control information for controlling the work machine so that the holding part performs the release operation in the operation area.

[0086] (Appendix A2) The control device according to appendix A1, further comprising: a specifying unit that specifies a target position for releasing the object in the release area; and the calculating unit calculates the motion area so as to include the target position.

[0087] (Supplementary Note A3) The control device according to Supplementary Note A1 or A2, wherein the calculation means calculates, as the operating area, a maximum rectangular area that is aligned with a direction of movement of the work machine in the intersection area.

[0088] (Supplementary Note A4) The control device according to any one of Supplementary Notes A1 to A3, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

[0089] (Appendix A5) The control device according to appendix A2, further comprising: a determination unit that determines whether or not the releasing action is possible based on whether or not the action area includes the target position.

[0090] (Supplementary Note A6) The control device according to Supplementary Note A3, further comprising: a determination unit that determines whether or not the ejection action is possible based on whether or not the rectangular area exists.

[0091] [Appendix B] The present disclosure includes the technologies described in the following appendices. However, the present disclosure is not limited to the technologies described in the following appendices, and various modifications are possible within the scope of the claims.

[0092] (Appendix B1) A control method including: a first detection process in which at least one processor detects a release area where an object held by a holding unit of a work machine should be released; a second detection process in which the at least one processor detects the position and attitude of the work machine; a calculation process in which the at least one processor calculates an operation area in which the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit according to the position and attitude intersects with the release area; and a generation process in which the at least one processor generates control information for controlling the work machine so that the holding unit performs the release operation in the operation area.

[0093] (Appendix B2) The control method described in Appendix B1 further includes a specification process in which the at least one processor specifies a target position in the release area to release the object, and in the calculation process, the at least one processor calculates the operating area to include the target position.

[0094] (Supplementary Note B3) The control method according to Supplementary Note B1 or B2, wherein in the calculation process, the at least one processor calculates, as the operating area, the largest rectangular area in the intersection area that is aligned with the direction of movement of the work machine.

[0095] (Appendix B4) The control method according to any one of Appendices B1 to B3, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

[0096] (Supplementary Note B5) The control method according to Supplementary Note B2, further comprising: a determination process in which the at least one processor determines whether or not the ejection action is possible based on whether or not the action area includes the target position.

[0097] (Supplementary Note B6) The control method according to Supplementary Note B3, further including a determination process in which the at least one processor determines whether or not the ejection action is possible based on whether or not the rectangular area exists.

[0098] [Appendix C] The present disclosure includes the technologies described in the following appendices. However, the present disclosure is not limited to the technologies described in the following appendices, and various modifications are possible within the scope of the claims.

[0099] (Appendix C1) A control program that causes a computer to function as a control device, the control program causing the computer to function as: first detection means that detects a release area where an object held by a holding part of a work machine should be released; second detection means that detects the position and attitude of the work machine; calculation means that calculates an operation area where the holding part performs the operation of releasing the object in an intersection area where the release area intersects with the movable area of ​​the holding part according to the position and attitude; and generation means that generates control information for controlling the work machine so that the holding part performs the release operation in the operation area.

[0100] (Appendix C2) The control program according to Appendix C1, further causing the computer to function as a specifying means for specifying a target position for releasing the object in the release area, and the calculation means calculates the operating area so as to include the target position.

[0101] (Supplementary Note C3) The control program according to Supplementary Note C1 or C2, wherein the calculation means calculates, as the motion area, a maximum rectangular area in the intersection area that is aligned with a direction of movement of the work machine.

[0102] (Appendix C4) The control program according to any one of Appendices C1 to C3, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

[0103] (Supplementary Note C5) The control program according to Supplementary Note C2, further causing the computer to function as a determination means for determining whether or not the ejection action is possible based on whether or not the action area includes the target position.

[0104] (Supplementary Note C6) The control program according to Supplementary Note C3, further causing the computer to function as a determination means for determining whether or not the ejection action is possible based on whether or not the rectangular area exists.

[0105] [Appendix D] The present disclosure includes the techniques described in the following appendices. However, the present disclosure is not limited to the techniques described in the following appendices, and various modifications are possible within the scope of the claims.

[0106] (Appendix D1) A control device comprising at least one processor, the at least one processor executing: a first detection process that detects a release area where an object held by a holding part of a work machine should be released; a second detection process that detects the position and attitude of the work machine; a calculation process that calculates an operation area where the holding part performs an operation to release the object in an intersection area where the release area intersects with a movable area of ​​the holding part according to the position and attitude; and a generation process that generates control information for controlling the work machine so that the holding part performs the release operation in the operation area.

[0107] The control device may further include a memory, and the memory may store a program for causing the at least one processor to execute each of the processes.

[0108] (Appendix D2) The control device described in Appendix D1, wherein the at least one processor further performs a specification process to specify a target position for releasing the object in the release area, and in the calculation process, the at least one processor calculates the operating area to include the target position.

[0109] (Supplementary Note D3) The control device according to Supplementary Note D1 or D2, wherein in the calculation process, the at least one processor calculates, as the operating area, a maximum rectangular area in the intersection area that is aligned with a direction of movement of the work machine.

[0110] (Appendix D4) The control device according to any one of appendices D1 to D3, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

[0111] (Supplementary Note D5) The control device according to Supplementary Note D2, wherein the at least one processor further executes a determination process of determining whether or not the ejection action is possible based on whether or not the action area includes the target position.

[0112] (Supplementary Note D6) The control device according to Supplementary Note D3, wherein the at least one processor further executes a determination process of determining whether or not the ejection action is possible based on whether or not the rectangular area exists.

[0113] [Appendix E] The present disclosure includes the technologies described in the following appendices. However, the present disclosure is not limited to the technologies described in the following appendices, and various modifications are possible within the scope of the claims.

[0114] (Appendix E1) A non-transient recording medium having recorded thereon a program that causes a computer to function as a control device, the control program causing the computer to execute: a first detection process that detects a release area where an object held by a holding unit of a work machine should be released; a second detection process that detects the position and attitude of the work machine; a calculation process that calculates an operation area where the holding unit performs the operation of releasing the object in an intersection area where the release area intersects with a movable area of ​​the holding unit according to the position and attitude; and a generation process that generates control information for controlling the work machine so that the holding unit performs the release operation in the operation area.

[0115] This application claims priority based on Japanese Patent Application No. 2024-135204, filed on August 14, 2024, the disclosure of which is incorporated herein in its entirety by reference.

[0116] 1, 1A Control device 11 First detection unit 12 Second detection unit 13 Calculation unit 14 Generation unit 15 Identification unit 16 Determination unit 17 Output unit 80 Dump truck 81 Vessel 90 Hydraulic excavator 91 Swing unit 92 Movable unit 93 Travel unit 921 Boom 922 Arm 923 Bucket C1 Processor C2 Memory

Claims

1. A control device comprising: a first detection means for detecting a release area where an object held by a holding unit of a work machine should be released; a second detection means for detecting the position and attitude of the work machine; a calculation means for calculating an operating area where the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit corresponding to the position and attitude intersects with the release area; and a generation means for generating control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

2. The control device according to claim 1, further comprising: a specifying means for specifying a target position for releasing the object in the release area; and wherein the calculation means calculates the operating area so as to include the target position.

3. A control device according to claim 1 or 2, wherein the calculation means calculates the largest rectangular area in the intersection area along the direction of movement of the work machine as the operating area.

4. A control device according to claim 1 or 2, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

5. The control device according to claim 2, further comprising: a determining means for determining whether or not the ejection action is possible based on whether or not the action area includes the target position.

6. The control device according to claim 3, further comprising: a determining means for determining whether or not the ejection action is possible based on whether or not the rectangular area exists.

7. A control method including: a first detection process in which at least one processor detects a release area where an object held by a holding unit of a work machine should be released; a second detection process in which the at least one processor detects the position and attitude of the work machine; a calculation process in which the at least one processor calculates an operating area in which the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit according to the position and attitude intersects with the release area; and a generation process in which the at least one processor generates control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

8. The control method according to claim 7, further comprising a specification process in which the at least one processor specifies a target position in the release region for releasing the object, and in the calculation process, the at least one processor calculates the operating region so as to include the target position.

9. A control method according to claim 7 or 8, wherein in the calculation process, the at least one processor calculates the largest rectangular area in the intersection area along the direction of movement of the work machine as the operating area.

10. A control method according to any one of claims 7 to 9, wherein the control information includes a motion trajectory of the holding unit or a sequence of working postures of the work machine for moving the holding unit along the motion trajectory.

11. The control method according to claim 8, further comprising a determination process in which the at least one processor determines whether or not the ejection action is possible based on whether or not the action area includes the target position.

12. The control method according to claim 9, further comprising a determination process in which the at least one processor determines whether or not the ejection action is possible based on whether or not the rectangular area exists.

13. A control program that causes at least one processor to execute the following: a first detection process that detects a release area where an object held by a holding unit of a work machine should be released; a second detection process that detects the position and attitude of the work machine; a calculation process that calculates an operating area where the holding unit performs the operation of releasing the object in an intersection area where the movable area of ​​the holding unit according to the position and attitude intersects with the release area; and a generation process that generates control information for controlling the work machine so that the holding unit performs the release operation in the operating area.

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