Work machine control device, work machine, work machine control system, and work machine control method

Abstract

A work machine control device according to the present invention comprises a processor. The processor acquires a work position indicating the position of a work target of a work machine, acquires detection data of a first sensor that detects the absolute position of the work machine, executes, on the basis of the detection data of the first sensor, a first control for controlling a traveling device of the work machine such that the work machine travels to the work position, acquires detection data of a second sensor that detects relative positions between the work machine and the work target, and switches from the first control to a second control for controlling the traveling device such that the work machine travels to the work target on the basis of the detection data of the second sensor.

Description

Control device for working machine, working machine, control system for working machine, and control method for working machine

[0001] The present disclosure relates to a control device for a working machine, a working machine, a control system for a working machine, and a control method for a working machine.

[0002] In the technical field related to working machines, a control device for a working machine as disclosed in Patent Document 1 is known. In Patent Document 1, the control device for a working machine plans a transport route for a working machine that loads and unloads goods.

[0003] Japanese Patent Application Laid-Open No. 2023-138009

[0004] When running the working machine to the work target, there is a demand for a technology that can run the working machine to the work target even when the exact position of the work target is unknown.

[0005] The purpose of the present disclosure is to run the working machine to the work target.

[0006] According to the present disclosure, a control device for a working machine is provided. The control device includes a processor. The processor acquires a work position indicating the position of the work target of the working machine, acquires detection data of a first sensor that detects the absolute position of the working machine, controls the traveling device of the working machine to travel to the work position based on the detection data of the first sensor, acquires detection data of a second sensor that detects the relative position between the working machine and the work target, and switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.

[0007] According to the present disclosure, the working machine can be run to the work target.

[0008] Figure 1 is a side view showing a work machine according to the first embodiment. Figure 2 is a top view showing a work machine according to the first embodiment. Figure 3 is a configuration diagram showing a work machine according to the first embodiment. Figure 4 is a hardware configuration diagram showing an automation controller according to the first embodiment. Figure 5 is a block diagram showing the control system of the work machine according to the first embodiment. Figure 6 is a diagram illustrating a method for generating a travel path for the work machine according to the first embodiment. Figure 7 is a diagram illustrating the operation of an external sensor according to the first embodiment. Figure 8 is a diagram illustrating the operation of the work machine according to the first embodiment. Figure 9 is a flowchart illustrating the control method for the work machine according to the first embodiment. Figure 10 is a diagram illustrating a work position designated in a work area according to the second embodiment. Figure 11 is a diagram illustrating the operation of an external sensor according to the second embodiment. Figure 12 is a diagram illustrating a work position and work object according to the second embodiment.

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

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

[0011] <Work Machinery> Figure 1 is a side view showing work machine 1 according to this embodiment. Figure 2 is a top view showing work machine 1 according to this embodiment. Work machine 1 works at a work site. Examples of work sites include mines or quarries. A mine is a place or business where minerals are extracted. A quarry is a place or business where stone materials are extracted. Examples of mines include metal mines where metals are extracted, non-metallic mines where limestone is extracted, and coal mines where coal is extracted. In this embodiment, work machine 1 is a wheel loader that travels around the work site.

[0012] As shown in Figures 1 and 2, the work machine 1 comprises a vehicle frame 2, a work implement 3, a travel device 4, and a cab 5. The cab 5 is positioned on top of the vehicle frame 2. The work implement 3 and the travel device 4 are each attached to the vehicle frame 2.

[0013] The travel device 4 moves the work machine 1. The travel device 4 has a pair of front wheels 4A and a pair of rear wheels 4B. Each of the front wheels 4A and rear wheels 4B rotates while in contact with the ground at the work site. The work machine 1 moves as the front wheels 4A and rear wheels 4B rotate.

[0014] In this specification, the straight-line direction of the work machine 1 is defined as the front-rear direction of the work machine 1. In the front-rear direction, the side of the work machine 3 closer to the center of the work machine 1 is defined as the front, and the opposite side of the front is defined as the rear. The direction perpendicular to the contact surface of the front wheel 4A or rear wheel 4B that contacts a flat ground is defined as the up-down direction of the work machine 1. In the up-down direction, the side of the work machine 1 closer to the contact surface is defined as the lower side, and the opposite side of the lower side is defined as the upper side. When the work machine 1 is moving straight, the direction parallel to the axis of rotation of the front wheel 4A or rear wheel 4B is defined as the left-right direction of the work machine 1. In the left-right direction, one side when looking from the front is defined as the left side, and the other side is defined as the right side.

[0015] The vehicle frame 2 includes a front frame 2A and a rear frame 2B. The front frame 2A is positioned in front of the rear frame 2B. The front wheels 4A are attached to the front frame 2A. The rear wheels 4B are attached to the rear frame 2B. The front frame 2A and the rear frame 2B are connected via an articulated mechanism 8. The front frame 2A and the rear frame 2B are connected so as to bend from side to side. The work machine 1 is an articulated work machine in which the front frame 2A and the rear frame 2B are connected so as to bend from side to side.

[0016] The work machine 1 has a pair of steering cylinders 11 for changing the direction of travel of the work machine 1. The steering cylinders 11 are hydraulic cylinders. The rods of the steering cylinders 11 are connected to the front frame 2A. The cylinder tubes of the steering cylinders 11 are connected to the rear frame 2B. By extending and retracting the steering cylinders 11, the direction of travel of the work machine 1 is changed to the left and right. The steering cylinders 11 function as a steering device that adjusts the steering angle (articulation angle) of the travel device 4.

[0017] The work machine 1 performs its work using the work implement 3. The work implement 3 is attached to the front frame 2A. The work implement 3 includes a boom 14, a bucket 6, a bell crank 18, and a link 15. In this embodiment, the work implement 3 is a front-loading type work implement in which the opening of the bucket 6 faces forward.

[0018] The base end of the boom 14 is rotatably connected to the front frame 2A by a boom pin 9. The boom 14 includes a left boom member 14L and a right boom member 14R. The left boom member 14L and the right boom member 14R are connected via a connecting member that extends in the left-right direction. The boom pin 9 includes a left boom pin 9L that connects the left boom member 14L to the front frame 2A, and a right boom pin 9R that connects the right boom member 14R to the front frame 2A.

[0019] Bucket 6 is a work tool for excavation and loading. Bucket 6 is connected to the tip of the boom 14. Bucket 6 has a cutting edge 6A and a back surface 6B. Cutting edge 6A is the tip of bucket 6. Back surface 6B is a part of the outer surface of bucket 6. Back surface 6B is flat. Cutting edge 6A extends forward from back surface 6B. Bucket 6 is rotatably attached to the boom 14 by bucket pins 17. Bucket 6 has a left bracket 6L to which the left boom member 14L is attached, and a right bracket 6R to which the right boom member 14R is attached.

[0020] The central part of the bell crank 18 is rotatably connected to the boom 14 by a support pin 18A. The link 15 is connected to the lower end (tip) of the bell crank 18 via a connecting pin 18C. The link 15 connects the bell crank 18 and the bucket 6. In the left-right direction, the bell crank 18 and the link 15 are positioned between the left boom member 14L and the right boom member 14R, respectively.

[0021] The work machine 1 has a pair of boom cylinders 16 for operating the boom 14 and a bucket cylinder 19 for operating the bucket 6. The boom cylinders 16 are hydraulic cylinders. The bucket cylinders 19 are hydraulic cylinders.

[0022] The rod of the boom cylinder 16 is connected to the boom 14. The cylinder tube of the boom cylinder 16 is connected to the front frame 2A. As the boom cylinder 16 extends and retracts, the boom 14 rotates around the boom pin 9.

[0023] The rod of the bucket cylinder 19 is connected to the bell crank 18. The cylinder tube of the bucket cylinder 19 is connected to the front frame 2A. The rod of the bucket cylinder 19 is connected to the upper end (base end) of the bell crank 18 via a connecting pin 18B. As the bucket cylinder 19 extends and retracts, the bucket 6 rotates around the bucket pin 17.

[0024] Cab 5 is mounted on top of the rear frame 2B. Cab 5 is positioned behind the boom 14. The operator of the work machine 1 sits in cab 5.

[0025] Figure 3 is a configuration diagram showing the work machine 1 according to this embodiment. The work machine 1 comprises a drive unit 20, a power take-off 21 (PTO), a power transmission device 22, a brake device 23, a steering pump 24, a steering control valve 25, a steering cylinder 11, a work machine pump 26, a boom control valve 27, a bucket control valve 28, a boom cylinder 16, a bucket cylinder 19, a vehicle controller 50, and an automation controller 100.

[0026] The drive unit 20 generates the driving force necessary to operate the work machine 3 and the travel device 4. The drive unit 20 is the power source for the work machine 1. In this embodiment, the drive unit 20 is a diesel engine. The drive unit 20 may also be an electric motor. The power take-off 21 distributes the driving force generated by the drive unit 20 to the power transmission device 22, the steering pump 24, and the work machine pump 26.

[0027] The power transmission device 22 transmits the driving force generated by the drive unit 20 to the front wheels 4A and the rear wheels 4B, respectively. The power transmission device 22 controls the travel speed and direction of the work machine 1. The power transmission device 22 may be a transmission with a torque converter or a transmission with multiple gears. The brake device 23 reduces the travel speed of the work machine 1.

[0028] The steering pump 24 is driven based on the driving force generated by the drive unit 20. The steering pump 24 is a hydraulic pump. The hydraulic fluid discharged from the steering pump 24 is supplied to the steering cylinder 11 via the steering control valve 25. The steering control valve 25 controls the flow rate and direction of the hydraulic fluid supplied from the steering pump 24 to the steering cylinder 11. The steering cylinder 11 is operated by the hydraulic fluid from the steering pump 24.

[0029] The work equipment pump 26 is driven by the driving force generated by the drive unit 20. The work equipment pump 26 is a hydraulic pump. The hydraulic fluid discharged from the work equipment pump 26 is supplied to the boom cylinder 16 via the boom control valve 27. The hydraulic fluid discharged from the work equipment pump 26 is supplied to the bucket cylinder 19 via the bucket control valve 28. The boom control valve 27 controls the flow rate and direction of the hydraulic fluid supplied from the work equipment pump 26 to the boom cylinder 16. The bucket control valve 28 controls the flow rate and direction of the hydraulic fluid supplied from the work equipment pump 26 to the bucket cylinder 19. The boom cylinder 16 and the bucket cylinder 19 are each operated by the hydraulic fluid from the work equipment pump 26.

[0030] The steering cylinder 11 extends and retracts, changing the direction of travel of the traveling device 4 to the left or right. The boom cylinder 16 extends and retracts, causing the boom 14 to move up or down. The bucket cylinder 19 extends and retracts, causing a dumping operation or an digging operation.

[0031] The work machine 1 is equipped with an operating device 7. The operating device 7 generates an operation signal for operating the work machine 1 when operated by an operator. The operation signal generated by the operating device 7 is transmitted to the vehicle controller 50. Based on the operation signal from the operating device 7, the vehicle controller 50 outputs a command signal for operating the work machine 1. The operating device 7 includes a travel system operating device 7A and a work machine operating device 7B.

[0032] The travel system control device 7A generates operation signals to operate the travel system 4. The travel system control device 7A generates operation signals to operate at least one of the drive unit 20, the power transmission unit 22, the brake unit 23, and the steering cylinder 11. The travel system control device 7A includes an accelerator pedal 71, a brake pedal 72, a steering wheel 73, and a forward / reverse switching lever 74. The accelerator pedal 71 is operated to increase the travel speed of the work machine 1. The brake pedal 72 is operated to decrease the travel speed of the work machine 1 or to stop the work machine 1 from traveling. The steering wheel 73 is operated to change the direction of travel of the work machine 1. The forward / reverse switching lever 74 is operated to switch the work machine 1 between forward and reverse.

[0033] The implement operating device 7B generates an operating signal for operating the implement 3. The implement operating device 7B generates an operating signal for operating at least one of the boom cylinder 16 and the bucket cylinder 19. The implement operating device 7B includes a boom lever 75 and a bucket lever 76. The boom lever 75 is operated to operate the boom 14. The bucket lever 76 is operated to operate the bucket 6.

[0034] <Automation Controller> Figure 4 is a hardware configuration diagram showing the automation controller 100 according to this embodiment. The automation controller 100 is an example of a control device for the work machine 1. The automation controller 100 includes a computer 30. The computer 30 has a processor 31 such as a CPU (Central Processing Unit), a main memory 32 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 33, an input / output interface 34 including an input / output circuit, and a communication interface 35 including a communication circuit. The functions of the automation controller 100 are stored in the storage 33 as a computer program 36. The processor 31 reads the computer program 36 from the storage 33, loads it into the main memory 32, and executes processing according to the computer program 36. The computer program 36 may be distributed to the computer 30 via a network.

[0035] The vehicle body controller 50 also includes a computer. Similar to the automation controller 100, the vehicle body controller 50 has a processor, main memory, storage, input / output interface, and communication interface.

[0036] <Control System> Figure 5 is a block diagram showing the control system 10 of the work machine 1 according to this embodiment. The work machine 1 is equipped with the control system 10. The work machine 1 is automatically controlled by the control system 10. The control system 10 includes an automation controller 100, an automation sensor system 110, a vehicle body controller 50, a vehicle state sensor system 120, a user interface 130, a travel device 4, and a work machine 3. The automation controller 100, the automation sensor system 110, the vehicle body controller 50, the vehicle state sensor system 120, and the user interface 130 are each mounted on the work machine 1.

[0037] The automation controller 100 outputs control commands for automatically controlling the work machine 1. The automation sensor system 110 acquires detection data necessary for automatically controlling the work machine 1. The vehicle controller 50 outputs command signals for operating the travel device 4 and the work machine 3. The vehicle status sensor system 120 acquires detection data of the operating status of the work machine 1. The user interface 130 exchanges data with the operator.

[0038] The automation controller 100 can communicate with the vehicle controller 50. The automation controller 100 can communicate with the automation sensor system 110. In this embodiment, the operation mode of the work machine 1 can be switched between manual operation mode and automatic control mode. When the work machine 1 is operated in manual operation mode, the vehicle controller 50 outputs command signals to operate the travel device 4 and the work machine 3 based on the operation signals from the operation device 7. When the work machine 1 is operated in automatic control mode, the automation controller 100 outputs control commands. When the work machine 1 is operated in automatic control mode, the vehicle controller 50 outputs command signals to operate the travel device 4 and the work machine 3 based on the control commands from the automation controller 100.

[0039] The user interface 130 can communicate with the vehicle body controller 50 and the automation controller 100, respectively. The user interface 130 includes an input device 131 and an automation changeover switch 132.

[0040] The input device 131 is operated by an operator. The operation of the input device 131 generates input data. Examples of input devices 131 include a touch panel, buttons, and a computer keyboard. The input data generated by the operation of the input device 131 is input to the automation controller 100.

[0041] The automated changeover switch 132 is operated by an operator. When the automated changeover switch 132 is operated, the operation mode of the working machine 1 is switched between the manual operation mode and the automatic control mode. The operation signal generated by operating the automated changeover switch 132 is input to the vehicle body controller 50.

[0042] The automated sensor system 110 includes a position sensor 111, an azimuth sensor 112, and an external sensor 113.

[0043] The position sensor 111 detects the position of the working machine 1. The position of the working machine 1 is detected using a global navigation satellite system (GNSS: Global Navigation Satellite System). The global navigation satellite system includes a global positioning system (GPS: Global Positioning System). The global navigation satellite system detects the position in a global coordinate system defined by coordinate data of latitude, longitude, and altitude. The global coordinate system refers to a coordinate system fixed to the earth. The position sensor 111 includes a GNSS receiver and detects the position (absolute position) of the working machine 1 in the global coordinate system. Note that the position sensor 111 may detect the position (absolute position) of the working machine 1 in a site coordinate system defined at the work site. The position sensor 111 is an example of a first sensor that detects the absolute position of the working machine 1.

[0044] The azimuth sensor 112 detects the azimuth of the working machine 1. The azimuth of the working machine 1 includes an azimuth angle with respect to a reference azimuth. As the azimuth sensor 112, an inertial sensor (IMU: Inertial Measurement Unit) is exemplified. Note that the azimuth sensor 112 may include an arithmetic unit that calculates the azimuth from the position data detected by two GNSS antennas provided on the working machine 1. The arithmetic unit can calculate the azimuth from the vector connecting the two GNSS antennas.

[0045] The external sensor 113 detects objects around the construction machine 1. The external sensor 113 detects the relative position between the construction machine 1 and the objects around the construction machine 1. The objects around the construction machine 1 include the work object of the construction machine 1. The external sensor 113 is an example of a second sensor that detects the relative position between the construction machine 1 and the work object.

[0046] The external sensor 113 is a three-dimensional sensor that detects the three-dimensional shape of the objects around the construction machine 1. As an example of the external sensor 113, a laser sensor (LiDAR: Light Detection and Ranging) that detects an object by emitting laser light is exemplified. Note that the external sensor 113 may be a radar sensor (RADAR: Radio Detection and Ranging) that detects an object by emitting radio waves, or a stereo camera. As shown in FIGS. 1 and 2, in the present embodiment, the external sensor 113 is disposed on the upper surface of the cab 5.

[0047] Note that the external sensor 113 does not have to be provided on the construction machine 1. The external sensor 113 only needs to be able to detect the relative position between the construction machine 1 and the work object, and may be disposed outside the construction machine 1. The external sensor 113 may be provided, for example, on a drone that can fly over the work site.

[0048] The vehicle body controller 50 can communicate with the vehicle state sensor system 120. The vehicle state sensor system 120 includes an articulation angle sensor 121, a vehicle speed sensor 122, a boom angle sensor 123, and a bucket angle sensor 124.

[0049] The articulation angle sensor 121 detects the articulation angle, which is the angle formed by the front frame 2A and the rear frame 2B. The articulation angle is the steering angle of the construction machine 1. The articulation angle sensor 121 is the steering angle sensor of the construction machine 1.

[0050] The vehicle speed sensor 122 detects the traveling speed of the construction machine 1. The vehicle speed sensor 122 detects the traveling speed of the construction machine 1 by detecting, for example, the rotational speed of the output shaft of the power transmission device 22.

[0051] The boom angle sensor 123 and the bucket angle sensor 124 are examples of work machine attitude sensors that detect the posture of the work machine 3. The boom angle sensor 123 detects the angle of the boom 14 relative to the front frame 2A. An example of the boom angle sensor 123 is a rotary encoder provided on the boom pin 9. The bucket angle sensor 124 detects the angle of the bucket 6 relative to the boom 14. An example of the bucket angle sensor 124 is a rotary encoder provided on the support pin 18A. The boom angle sensor 123 may also be a stroke sensor located on the boom cylinder 16. The bucket angle sensor 124 may be a potentiometer or proximity switch attached to the bucket pin 17, or a stroke sensor located on the bucket cylinder 19.

[0052] The detection data from the automated sensor system 110 is input to the automated controller 100. The detection data from the vehicle condition sensor system 120 is input to the vehicle body controller 50. The vehicle body controller 50 outputs the detection data from the vehicle condition sensor system 120 to the automated controller 100. The automated controller 100 acquires the detection data from the vehicle condition sensor system 120. The traveling device 4 and the work machine 3 each operate based on command signals from the vehicle body controller 50.

[0053] The vehicle controller 50 has multiple functional units. The functions of the vehicle controller 50 are performed by the processor 31 of the computer 30. The functional units of the vehicle controller 50 include a brake control unit 51, an accelerator control unit 52, a steering control unit 53, and a work equipment control unit 54.

[0054] The brake control unit 51 outputs a command signal to activate the brake device 23. Based on the command signal output from the brake control unit 51, the travel speed of the travel device 4 is reduced or the travel device 4 is stopped. The accelerator control unit 52 outputs a command signal to adjust the output of the drive unit 20. The accelerator control unit 52 outputs a command signal to control the power transmission device 22. Based on the command signal output from the accelerator control unit 52, the travel speed of the travel device 4 is increased or adjusted. The steering control unit 53 outputs a command signal to operate the steering cylinder 11. Based on the command signal output from the steering control unit 53, the travel direction of the travel device 4 is adjusted. The work machine control unit 54 outputs a command signal to operate at least one of the boom cylinder 16 and the bucket cylinder 19. Based on the command signal output from the work machine control unit 54, the work machine 3 is operated.

[0055] The automation controller 100 has multiple functional units. The functions of the automation controller 100 are performed by the processor 31 of the computer 30. The functional units of the automation controller 100 include a recognition unit 101, a route planning unit 102, a route tracking control unit 103, and a storage unit 104.

[0056] The memory unit 104 stores the data necessary for automatically controlling the work machine 1.

[0057] The recognition unit 101 acquires detection data from the position sensor 111. Based on the detection data from the position sensor 111, the recognition unit 101 recognizes the absolute position of the work machine 1. The recognition unit 101 acquires detection data from the external sensor 113. Based on the detection data from the external sensor 113, the recognition unit 101 recognizes objects around the work machine 1. As described above, objects around the work machine 1 include the work object of the work machine 1. Based on the detection data from the external sensor 113, the recognition unit 101 recognizes the work object.

[0058] Recognizing the work object includes recognizing the relative position between the work machine 1 and the work object. Recognizing the work object includes recognizing the type of work object. Recognizing the type of work object includes recognizing the shape and size of the work object. Examples of operations that the work machine 1 can perform include loading operations, where the load held in the bucket 6 is loaded onto the loading target; soil removal operations, where the load held in the bucket 6 is discharged onto the soil removal target; and excavation operations, where the bucket 6 excavates the soil removal target. An example of a work object for the work machine 1 is a dump truck 150, which is the work object for loading operations. Examples of work objects for the work machine 1 are a hopper, a belt conveyor, and the ground at the work site, which are the work objects for soil removal operations. An example of a work object for the work machine 1 is a stockpile, which is the work object for excavation operations. A stockpile refers to a pile of material. Examples of material include soil, rocks, or ore excavated at the work site.

[0059] The recognition unit 101 can recognize the work object by processing the detection data from the external sensor 113, for example, based on a pattern matching method. The recognition unit 101 can recognize the work object by comparing the detection data from the external sensor 113 with a reference pattern pre-stored in the storage unit 104. The recognition unit 101 can recognize that the type of work object is, for example, a dump truck 150, by processing the detection data from the external sensor 113.

[0060] The route planning unit 102 generates a movement path for the automatically controlled work machine 1. The movement path of the work machine 1 includes the travel path 140 of the travel device 4 and the operation path of the work machine 3.

[0061] When generating a travel route 140 for the travel device 4, the route planning unit 102 acquires a work position 141 indicating the location of the work target. The route planning unit 102 acquires the work position 141, for example, from an input device 131. The operator can input the work position 141 to the automation controller 100 by operating the input device 131. When the input device 131 is operated, input data indicating the work position 141 is generated and input to the automation controller 100. Alternatively, the work position 141 may be input to the automation controller 100 from an external computer located outside the work machine 1. If there is a control computer that manages the work site, the route planning unit 102 may acquire the work position 141 from the control computer. Based on the work position 141, the route planning unit 102 generates a travel route 140 for the work machine 1 to the work position 141.

[0062] The path-following control unit 103 outputs control commands for automatically controlling the travel device 4 and the work machine 3. The path-following control unit 103 outputs control commands for automatically controlling the travel device 4 so that the travel device 4 of the work machine 1 travels in accordance with the travel path 140 generated by the path planning unit 102. Based on the control commands from the path-following control unit 103, the vehicle controller 50 outputs a command signal to the travel device 4 so that the travel device 4 travels in accordance with the travel path 140. The path-following control unit 103 outputs control commands for automatically controlling the work machine 3 so that the work machine 3 operates in accordance with the operation path generated by the path planning unit 102. Based on the control commands from the path-following control unit 103, the vehicle controller 50 outputs a command signal to the work machine 3 so that the work machine 3 operates in accordance with the operation path.

[0063] <Generating the Travel Path> Figure 6 is a diagram illustrating the method for generating the travel path 140 of the work machine 1 according to this embodiment. Below, an example will be described in which the work machine 1 travels around the work site to perform loading work to load cargo onto a dump truck 150. The work object of the work machine 1 is the dump truck 150. The dump truck 150 has a dump body 151 into which cargo is loaded. The dump body 151 is a container into which cargo is loaded. The work object of the work machine 1 may be considered to be the dump body 151 of the dump truck 150.

[0064] As shown in Figure 6, a work position 141 indicating the location of the dump truck 150 is designated at the work site. As described above, the work position 141 may be designated by the operator using the input device 131, or it may be designated by an external computer such as a control computer.

[0065] The working position 141 is the target position of the work object when the working machine 1 performs work on the work object. In this embodiment, the working position 141 is the target position of the dump truck 150 when the working machine 1 performs loading work on the dump truck 150. The working position 141 is, for example, the target stopping position of the dump truck 150 on which the loading work is performed. The working position 141 may also be considered as the target position of the working machine 1 when the working machine 1 performs work on the work object. The working position 141 may also be considered as the target stopping position of the working machine 1 when the working machine 1 performs loading work on the dump truck 150.

[0066] The dump truck 150 enters the work area 141 for loading and then stops at the work area 141. Multiple dump trucks 150 enter the work area 141 sequentially. The stopping positions of the multiple dump trucks 150 relative to the work area 141 may differ from each other. If the dump truck 150 is a manned dump truck operated by a driver, the stopping positions of the multiple dump trucks 150 may differ from each other, for example due to differences in driving operation. If the dump truck 150 is an unmanned dump truck that operates without driver operation, the stopping positions of the multiple dump trucks 150 may differ from each other, for example due to control errors in the driving control of the unmanned dump truck. As shown in Figure 6, the dump truck 150 may stop at a position outside the work area 141.

[0067] The route planning unit 102 acquires the working position 141 of the dump truck 150. The working position 141 is defined in the global coordinate system. The route planning unit 102 generates a travel route 140 for the work machine 1 to the working position 141. The recognition unit 101 can recognize the current position 142 of the work machine 1, which is defined in the global coordinate system, based on the detection data of the position sensor 111. The route planning unit 102 generates a travel route 140 for the work machine 1 from its current position 142 to the working position 141. The position of the travel route 140 is defined in the global coordinate system. The route planning unit 102 generates a travel route 140 for the work machine 1 so as to connect the current position 142 and the working position 141.

[0068] In this embodiment, the work site is surveyed in advance. Based on the survey data, three-dimensional data representing the three-dimensional shape of the work site's terrain is calculated. The survey includes detecting the three-dimensional shape of the work site using a three-dimensional sensor. For example, if a drone equipped with a three-dimensional sensor flies over the work site and the three-dimensional sensor mounted on the drone detects the work site, the three-dimensional data of the work site may be calculated based on the detection data from the three-dimensional sensor mounted on the drone. The three-dimensional data of the work site may be calculated by the automation controller 100 or by an external computer such as a control computer. The route planning unit 102 calculates the optimal travel route 140 based on the three-dimensional data of the work site. If there are obstacles in the work site that obstruct the movement of the work machine 1, the location and size of the obstacles are calculated based on the survey data. The route planning unit 102 calculates the travel route 140 so as to avoid the obstacles. The route planning unit 102 generates the travel route 140 based on an existing route search algorithm, such as the A* search algorithm.

[0069] The path-following control unit 103 outputs a first control command to automatically control the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141, based on the detection data of the position sensor 111. In the following description, the control of the travel device 4 based on the detection data of the position sensor 111 will be appropriately referred to as the first control. The first control includes controlling the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141, based on the detection data of the position sensor 111.

[0070] The path-following control unit 103 performs a first control to control the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141 based on the detection data of the position sensor 111. In the first control, the path-following control unit 103 outputs a first control command to automatically control the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141.

[0071] The first control includes controlling the travel device 4 so that the work machine 1 follows the travel path 140 based on the detection data of the position sensor 111. In the first control, the path following control unit 103 outputs a first control command so that the travel device 4 of the work machine 1 follows the travel path 140 based on the detection data of the position sensor 111. The path following control unit 103 outputs a first control command to control the travel device 4 so that the deviation between the detected position of the work machine 1 detected by the position sensor 111 and the position of the travel path 140 is reduced. Based on the first control command from the path following control unit 103, the vehicle controller 50 outputs a command signal to the travel device 4 so that the work machine 1 follows the travel path 140.

[0072] The route planning unit 102 may generate a target direction for the work machine 1 when it is traveling along the travel route 140. The route following control unit 103 outputs a first control command to control the travel device 4 so that the deviation between the detected direction of the work machine 1 detected by the direction sensor 112 and the target direction defined in the travel route 140 is reduced. The vehicle controller 50 outputs a command signal to the travel device 4 based on the first control command from the route following control unit 103. The steering control unit 53 may adjust the travel direction of the travel device 4 based on the detection data of the articulated angle sensor 121 so that the deviation between the detected direction of the work machine 1 and the target direction is reduced.

[0073] The route planning unit 102 may generate a target travel speed for the work machine 1 when it is traveling along the travel route 140. The route following control unit 103 outputs a first control command to control the travel device 4 so that the deviation between the detected travel speed of the work machine 1 detected by the vehicle speed sensor 122 and the target travel speed defined in the travel route 140 is reduced. The vehicle body controller 50 outputs a command signal to the travel device 4 based on the first control command from the route following control unit 103. At least one of the brake control unit 51 and the accelerator control unit 52 may adjust the travel speed of the travel device 4 based on the detection data of the vehicle speed sensor 122 so that the deviation between the detected travel speed of the work machine 1 and the target travel speed is reduced.

[0074] The route planning unit 102 generates the operation path for the work implement 3. The route following control unit 103 outputs work implement control commands to automatically control the work implement 3 so that it operates in accordance with the operation path generated by the route planning unit 102. Based on the work implement control commands from the route following control unit 103, the vehicle controller 50 outputs command signals to the work implement 3 so that it operates in accordance with the operation path. Based on the detection data from the boom angle sensor 123 and the bucket angle sensor 124, the work implement control unit 54 outputs command signals to the work implement 3 so that it operates in accordance with the operation path.

[0075] <Switching from First Control to Second Control> Figure 7 is a diagram illustrating the operation of the external sensor 113 according to this embodiment. As the work machine 1 travels toward the work position 141 following the travel path 140, the distance from the work machine 1 to the work position 141 gradually decreases. The recognition unit 101 recognizes the current position 142 of the work machine 1 based on the detection data of the position sensor 111. The recognition unit 101 can recognize the distance from the current position 142 of the work machine 1 to the work position 141.

[0076] When the distance from the current position 142 of the work machine 1 to the work position 141 decreases, the dump truck 150 is positioned within the detection range 113A of the external sensor 113. For example, when the distance from the current position 142 to the work position 141 becomes less than or equal to a predetermined distance Ds, the dump truck 150 is positioned within the detection range 113A of the external sensor 113. When the dump truck 150 is positioned within the detection range 113A of the external sensor 113, the recognition unit 101 can recognize the dump truck 150 based on the detection data of the external sensor 113.

[0077] When the recognition unit 101 recognizes the dump truck 150 based on the detection data of the external sensor 113, the path-following control unit 103 can output a second control command to automatically control the travel device 4 of the work machine 1 so that the work machine 1 travels to the dump truck 150, based on the detection data of the external sensor 113. In the following description, the control of the travel device 4 based on the detection data of the external sensor 113 will be appropriately referred to as the second control. The second control includes controlling the travel device 4 of the work machine 1 so that the work machine 1 travels to the dump truck 150 based on the detection data of the external sensor 113.

[0078] The path-following control unit 103 performs a second control to control the travel device 4 of the work machine 1 so that the work machine 1 travels to the dump truck 150, based on the detection data of the external sensor 113. In the second control, the path-following control unit 103 outputs a second control command to automatically control the travel device 4 of the work machine 1 so that the work machine 1 travels to the dump truck 150.

[0079] The path-following control unit 103 switches from first control to second control when it determines that the recognition unit 101 has recognized the dump truck 150 based on the detection data from the external sensor 113. In other words, the path-following control unit 103 switches from first control to second control when the distance from the current position 142 to the work position 141 becomes less than or equal to a specified distance Ds, and it determines that the recognition unit 101 has recognized the dump truck 150 based on the detection data from the external sensor 113.

[0080] The second control includes controlling the travel device 4 so that the work machine 1 travels from the middle of the travel path 140 to the dump truck 150 based on the detection data of the external sensor 113. In the second control, the path following control unit 103 outputs a second control command so that the work machine 1 approaches the dump body 151 based on the detection data of the external sensor 113. The path following control unit 103 outputs a second control command to control the travel device 4 so that the relative distance between the work machine 1 and the dump body 151 detected by the external sensor 113 becomes shorter. The path following control unit 103 outputs a second control command so that the relative distance between the closest part of the work machine 1 to the dump body 151 and the dump body 151 becomes shorter. The closest part of the work machine 1 to the dump body 151 is the part of the work machine 1 that is most likely to come into contact with the dump body 151. The closest part of the work machine 1 to the dump body 151 includes the front end of the work machine 1. The closest point of the work machine 1 to the dump body 151 includes the front end of the work machine 3. The closest point of the work machine 1 to the dump body 151 includes the front end of the front wheel 4A. Based on the second control command from the path following control unit 103, the vehicle controller 50 outputs command signals to the travel device 4 and the work machine 3 so that the work machine 1 approaches the dump body 151.

[0081] In switching from the first control to the second control, the path following control unit 103 gradually switches from controlling the travel device 4 based on the detection data of the position sensor 111 to controlling the travel device 4 based on the detection data of the external sensor 113. Based on the detection data of the position sensor 111, the path following control unit 103 calculates the first relative position between the current position 142 of the work machine 1 and the work position 141. The path following control unit 103 also calculates the second relative position between the work machine 1 and the dump truck 150 based on the detection data of the external sensor 113. The path following control unit 103 gradually switches from controlling the travel device 4 based on the first relative position to controlling the travel device 4 based on the second relative position. Based on the first and second relative positions, the path following control unit 103 gradually shifts the destination of the work machine 1 from the work position 141 to the dump truck 150.

[0082] As shown in Figure 7, when switching from the first control to the second control, the route planning unit 102 generates a branching route 143 connecting an intermediate position 140A on the travel route 140 and the center position 151A of the dump body 151, based on the detection data of the external sensor 113. The intermediate position 140A is the current position 142 of the work machine 1 at the time of switching from the first control to the second control. Alternatively, the intermediate position 140A may also be the current position 142 of the work machine 1 at the time the recognition unit 101 recognizes the dump truck 150 based on the detection data of the external sensor 113.

[0083] Figure 8 is a diagram illustrating the operation of the work machine 1 according to this embodiment. As shown in Figure 8, the system switches from the first control to the second control, and the traveling device 4 travels along the branched path 143 to approach the dump body 151, thereby positioning the work machine 1 opposite the dump body 151. The path-following control unit 103 outputs a second control command to stop the traveling device 4 when the work machine 1 and the dump body 151 are facing each other. The path-following control unit 103 outputs a work machine control command to load the cargo held in the bucket 6 onto the dump body 151. Based on the second control command and the work machine control command from the path-following control unit 103, the vehicle controller 50 outputs command signals to the traveling device 4 and the work machine 3 to load the cargo held in the bucket 6 onto the dump body 151.

[0084] In the example shown in Figure 8, the work position 141 and the center position 151A of the dump body 151 are far apart. When only the first control is executed, the work machine 1 travels toward the work position 141 and stops at a position opposite the work position 141. When the work machine 1 stops at a position opposite the work position 141, it may be difficult for the work machine 1 to load cargo onto the dump body 151. In this embodiment, when the work machine 1 approaches the dump truck 150 to a position where the external sensor 113 can detect the dump truck 150, the control switches from the first control to the second control. When the second control is executed, the work machine 1 can travel toward the dump truck 150. As a result, the work machine 1 can load cargo onto the dump body 151.

[0085] When loading the cargo held in the bucket 6 onto the dump body 151, the dump truck 150 is detected by the external sensor 113. The path-following control unit 103 can output a work implement control command to control the work implement 3 so that it does not come into contact with the dump body 151.

[0086] <Control Method for the Work Machine> Figure 9 is a flowchart showing the control method for the work machine 1 according to this embodiment. The route planning unit 102 acquires the work position 141 (step S1). The recognition unit 101 acquires detection data from the position sensor 111 that detects the absolute position of the work machine 1 (step S2). The detection data from the position sensor 111 indicates the current position 142 of the work machine 1 as defined in the global coordinate system. The route planning unit 102 generates a travel route 140 for the work machine 1 from the current position 142 to the work position 141 (step S3).

[0087] After the travel path 140 is generated, the path-following control unit 103 performs a first control to control the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141 based on the detection data of the position sensor 111 (step S4). The path-following control unit 103 controls the travel device 4 so that the work machine 1 travels following the travel path 140 based on the detection data of the position sensor 111.

[0088] The path-following control unit 103 determines whether the distance from the current position 142 of the work machine 1 to the work position 141 is less than or equal to a predetermined distance Ds (step S5). The predetermined distance Ds is the maximum distance between the current position 142 and the work position 141 when the work position 141 is located within the detection range 113A of the external sensor 113. The predetermined distance Ds is known data derived, for example, from the specification data of the external sensor 113, and is stored in advance in the storage unit 104.

[0089] In step S5, if the path following control unit 103 determines that the distance from the current position 142 of the work machine 1 to the work position 141 is not less than or equal to the specified distance Ds (step S5: No), the path following control unit 103 continues the first control.

[0090] In step S5, if it is determined that the distance from the current position 142 of the work machine 1 to the work position 141 is less than or equal to a specified distance Ds (step S5: Yes), the path following control unit 103 switches from the first control to the second control, which controls the travel device 4 so that the work machine 1 travels to the dump truck 150 based on the detection data of the external sensor 113 (step S6). Based on the detection data of the external sensor 113, the path following control unit 103 controls the travel device 4 so that the work machine 1 travels from an intermediate position 140A on the travel path 140 to the dump truck 150.

[0091] After the work machine 1 approaches the dump truck 150, the path-following control unit 103 outputs a control command to perform a loading operation in which the load held in the bucket 6 is loaded onto the dump body 151 (step S7). Based on the control command from the path-following control unit 103, the vehicle controller 50 outputs command signals to the travel device 4 and the work machine 3 so that the load held in the bucket 6 is loaded onto the dump body 151.

[0092] <Effects> As described above, the processor 31 of the automation controller 100 includes a route planning unit 102 that acquires the working position 141 of the dump truck 150, which is the work target of the work machine 1; a recognition unit 101 that acquires detection data from a position sensor 111 that detects the absolute position of the work machine 1 and detection data from an external sensor 113 that detects the relative position between the work machine 1 and the dump truck 150; and a route following control unit 103 that can execute a first control that controls the travel device 4 of the work machine 1 so that the work machine 1 travels to the working position 141 based on the detection data from the position sensor 111, and a second control that controls the travel device 4 of the work machine 1 so that the work machine 1 travels to the dump truck 150 based on the detection data from the external sensor 113. When the work machine 1 is to travel to the dump truck 150, the route following control unit 103 executes the first control in a first state where the work machine 1 is separated from the dump truck 150 by a specified distance Ds or more, and executes the second control in a second state where the work machine 1 is approached to the dump truck 150 by a specified distance Ds or less.

[0093] In the first state, when the work machine 1 is separated from the dump truck 150, it is difficult for the external sensor 113 to detect the dump truck 150. Even if the exact position of the dump truck 150 is unknown, once the working position 141 of the dump truck 150 is specified, the path-following control unit 103 can perform a first control to control the travel device 4 so that the work machine 1 travels toward the working position 141 based on the detection data of the position sensor 111.

[0094] In the second state, when the work machine 1 approaches the dump truck 150, the external sensor 113 can detect the dump truck 150. Since the external sensor 113 detects the relative position between the work machine 1 and the dump truck 150, the path-following control unit 103 can perform a second control to control the travel device 4 so that the work machine 1 approaches the dump truck 150 based on the detection data from the external sensor 113.

[0095] If the work position 141 and the actual position of the dump truck 150 are far apart, and the first control is performed but the second control is not, the work machine 1 may arrive at a work position 141 that is not appropriate for the dump truck 150. For example, if the absolute position of the work machine 1 and the absolute position of the dump truck 150 in the global coordinate system are obtained, but the relative position between the work machine 1 and the dump truck 150 is not obtained, the work machine 1 may approach the dump truck 150 from a direction that makes it difficult to load cargo onto the dump body 151. Even if the dump truck 150 is equipped with a GNSS receiver and the bearing of the dump truck 150 can be obtained based on the dump truck 150's travel history (past and current positions), the accuracy of the dump truck 150's bearing is low, making it difficult for the work machine 1 to move to an appropriate position where the work machine 3 and the dump truck 150 do not interfere with each other and are not too far apart. If the work machine 1 arrives at the work position 141, which is far from the actual location of the dump truck 150, it will be difficult for the work machine 1 to load the cargo onto the dump body 151 of the dump truck 150.

[0096] In this embodiment, the first control is performed when the work machine 1 is separated from the dump truck 150, and the second control is performed when the work machine 1 approaches the dump truck 150. Therefore, even if the work position 141 and the actual position of the dump truck 150 are far apart, the execution of the second control ensures that the actual position of the dump truck 150 is correctly recognized. As a result, the work machine 1 can reach the actual position of the dump truck 150. Since the work machine 1 can reach the actual position of the dump truck 150, it can load cargo onto the dump body 151 of the dump truck 150.

[0097] The processor 31 of the automation controller 100 includes a route planning unit 102 that generates a travel route 140 for the work machine 1 to the work position 141. In the first control, the route following control unit 103 outputs a first control command that controls the travel device 4 so that the work machine 1 travels along the travel route 140 based on the detection data of the position sensor 111. As a result, the work machine 1 can travel from a position away from the dump truck 150 to the work position 141.

[0098] In the second control, the path-following control unit 103 outputs a second control command to control the travel device 4 so that the work machine 1 approaches the dump truck 150 from an intermediate position 140A on the travel path 140, based on the detection data of the external sensor 113. The work machine 1 can then travel from the intermediate position 140A on the travel path 140 to the dump truck 150.

[0099] When the work machine 1 arrives at a position facing the dump body 151, the external sensor 113 detects the three-dimensional shape of the dump truck 150. Based on the detection data from the external sensor 113, the path-following control unit 103 can load the cargo held in the bucket 6 onto the dump body 151 while suppressing contact between the bucket 6 and the dump body 151.

[0100] In this embodiment, in the first state where the work machine 1 is separated from the dump truck 150, the position sensor 111 is used to detect the absolute position of the work machine 1. In the second state where the work machine 1 is close to the dump truck 150, the ambient sensor 113 is used to detect the relative position between the work machine 1 and the dump truck 150. By using SLAM (Simultaneous Localization and Mapping) technology, which estimates the position of the work machine 1 using the detection data from the ambient sensor 113, it may be possible to estimate the position of the work machine 1 even in the first state where the work machine 1 is separated from the dump truck 150. When using SLAM technology, the processing load on the computer 30 may increase, potentially increasing the cost of the control system 10. In this embodiment, in the first state where the work machine 1 is separated from the dump truck 150, the position sensor 111 is used to detect the position of the work machine 1. Therefore, the processing load on the computer 30 is reduced, and the increase in the cost of the control system 10 is suppressed.

[0101] [Second Embodiment] A second embodiment will now be described. In the following description, components that are the same as or equivalent to those in the first embodiment described above will be denoted by the same reference numerals, and the descriptions of those components will be simplified or omitted.

[0102] Figure 10 is a diagram illustrating the work position 141 designated in the work area 144 according to this embodiment. In this embodiment, the route planning unit 102 sets the work area 144 at the work site. The work area 144 refers to the area where the work object exists. The route planning unit 102 may set the work area 144 based on input data from the input device 131. The operator can input the work area 144 to the automation controller 100 by operating the input device 131. The work area 144 may also be input to the automation controller 100 from an external computer such as a control computer. The route planning unit 102 may set the work area 144 based on input data from the external controller.

[0103] The route planning unit 102 sets the work area 144 and then acquires the work position 141. Similar to the first embodiment described above, the work position 141 may be specified by the operator using the input device 131 or by an external computer. The work position 141 is specified inside the work area 144. The route planning unit 102 acquires the work position 141 specified in the work area 144.

[0104] In this embodiment, the work area 144 is defined as the soil removal area where the soil removal operation of the work machine 1 is performed. The work position 141 is defined as the target soil removal position from which the load of the bucket 6 is removed.

[0105] After the route planning unit 102 acquires the work position 141, the recognition unit 101 recognizes the current position 142 of the work machine 1 based on the detection data from the position sensor 111. The route planning unit 102 generates a travel route 140 for the work machine 1 from the current position 142 to the work position 141.

[0106] After the travel path 140 is generated, the path-following control unit 103 performs a first control to control the travel device 4 of the work machine 1 so that the work machine 1 travels to the work position 141 based on the detection data of the position sensor 111. The path-following control unit 103 controls the travel device 4 so that the work machine 1 travels following the travel path 140 based on the detection data of the position sensor 111.

[0107] Figure 11 is a diagram illustrating the operation of the external sensor 113 according to this embodiment. The path-following control unit 103 switches from the first control to the second control when it determines that the distance from the current position 142 of the work machine 1 to the work position 141 is less than or equal to a specified distance Ds. In the second control, the path-following control unit 103 switches to a second control that controls the travel device 4 so that the work machine 1 travels to the work target 145 based on the detection data of the external sensor 113. The travel device 4 is controlled so that the work machine 1 approaches the work target 145 from an intermediate position 140A on the travel path 140. As shown in Figure 11, when the control switches from the first control to the second control, the path planning unit 102 generates a branching path 143 connecting the intermediate position 140A on the travel path 140 and the work target 145 based on the detection data of the external sensor 113. The travel device 4 of the work machine 1 travels following the branching path 143.

[0108] Figure 12 is a diagram illustrating the work position 141 and work target 145 according to this embodiment. Stock piles 146 are formed in the work area 144 when soil removal work is performed in the work area 144. For example, if stock piles 146 have already been formed at work position 141, it is difficult for the work machine 1 to discharge the load held in the bucket 6 to work position 141. If the path-following control unit 103 determines, based on the detection data from the external sensor 113, that stock piles 146 have already been formed at work position 141, it determines the ground adjacent to work position 141 in the work area 144 as the work target 145. After determining the ground in the work area 144 as the work target 145, the path-following control unit 103 switches to a second control that controls the travel device 4 so that the work machine 1 travels to the work target 145. Stock piles 146 have not yet been formed on the ground adjacent to work position 141. Based on the detection data from the external sensor 113, the path-following control unit 103 determines a work target 145 that is different from the work position 141 where the stock pile 146 has already been formed in the work area 144.

[0109] After the work machine 1 approaches the work target 145, which is part of the ground in the work area 144, the path-following control unit 103 outputs a control command to perform soil removal work, which involves discharging the load held in the bucket 6 to the work target 145. Based on the control command from the path-following control unit 103, the vehicle controller 50 outputs command signals to the travel device 4 and the work machine 3 so that the load held in the bucket 6 is discharged to the work target 145, which is the ground adjacent to the work position 141.

[0110] As described above, in this embodiment as well, the work machine 1 can be driven to the work target 145.

[0111] [Other Embodiments] In the embodiments described above, the steering cylinder 11, boom cylinder 16, and bucket cylinder 19 are all hydraulic cylinders. At least one of the steering cylinder 11, boom cylinder 16, and bucket cylinder 19 may be an electrically operated cylinder.

[0112] In the above-described embodiment, the work machine 1 is automatically controlled by the automation controller 100. Furthermore, the operation mode of the work machine 1 can be switched between manual operation mode and automatic control mode. In manual operation mode, the work machine 1 is operated by an operator riding in the cab 5 using an operating device 7 located in the cab 5. The work machine 1 may also be remotely operated. The operating device 7 may be located outside the work machine 1, and the operation signal generated by operating the operating device 7 may be transmitted to the vehicle controller 50 via a wireless communication system.

[0113] In the above-described embodiment, the position of the work machine 1 is detected by a position sensor 111 including a GNSS receiver. Alternatively, the position of the work machine 1 may be detected by a total station. By attaching the target of the total station to the work machine 1, the total station can detect the position of the work machine 1.

[0114] In the above-described embodiment, the functions of the automation controller 100 may be provided on an external computer located outside the work machine 1. At least one of the functions of the recognition unit 101, the route planning unit 102, the route following control unit 103, and the storage unit 104 may be located on the external computer.

[0115] In the above-described embodiment, the work machine 1 is a wheel loader. The work machine 1 may also be a front-loading bulldozer, a motor grader, or an excavator.

[0116] [Note] The present disclosure may also adopt the following configurations: (Note 1) A control device for a work machine, comprising a processor, the processor acquiring a work position indicating the position of a work object of the work machine, acquiring detection data from a first sensor that detects the absolute position of the work machine, controlling the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor, acquiring detection data from a second sensor that detects the relative position between the work machine and the work object, and switching from control based on the detection data from the first sensor to control based on the detection data from the second sensor. (Note 2) The control device for a work machine according to Note 1, wherein the processor generates a travel path for the work machine to the work position, and the control based on the detection data from the first sensor includes controlling the travel device so that the work machine travels along the travel path based on the detection data from the first sensor. (Note 3) The control device for a work machine according to Note 2, wherein the control based on the detection data from the second sensor includes controlling the travel device so that the work machine travels to the work object based on the detection data from the second sensor. (Note 4) The control device for a work machine according to Note 3, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels from the middle of the travel path to the work object based on the detection data of the second sensor. (Note 5) The control device for a work machine according to any one of Notes 1 to 4, wherein the processor sets a work area in which the work object is located and acquires the work position specified in the work area. (Note 6) The control device for a work machine according to any one of Notes 1 to 5, wherein the processor recognizes the current position of the work machine based on the detection data of the first sensor, and when it determines that the distance from the current position to the work position is less than or equal to a specified distance, it switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.(Note 7) The processor recognizes the work object based on the detection data of the second sensor, and when the work object is recognized, switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor, the control device for a work machine according to any one of Notes 1 to 6. (Note 8) The work object includes the dump body of a dump truck, the control device for a work machine according to any one of Notes 1 to 7. (Note 9) A work machine comprising a work machine, a traveling device, and the control device for a work machine according to any one of Notes 1 to 8. (Note 10) A control system for a work machine, comprising a processor, wherein the processor acquires a work position indicating the position of the work object of the work machine, acquires detection data from a first sensor that detects the absolute position of the work machine, controls the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor, acquires detection data from a second sensor that detects the relative position between the work machine and the work object, and switches from control based on the detection data from the first sensor to control based on the detection data from the second sensor. (Note 11) The control system for a work machine according to Note 10, wherein the processor generates a travel path for the work machine to the work position, and the control based on the detection data from the first sensor includes controlling the travel device so that the work machine travels along the travel path based on the detection data from the first sensor. (Note 12) The control system for a work machine according to Note 11, wherein the control based on the detection data from the second sensor includes controlling the travel device so that the work machine travels to the work object based on the detection data from the second sensor. (Note 13) The control system for a work machine according to Note 12, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels from the middle of the travel path to the work object based on the detection data of the second sensor.(Note 14) A control system for a work machine according to any one of Notes 10 to 13, wherein the processor sets a work area in which the work object is located and acquires the work position designated in the work area. (Note 15) A control method for a work machine, wherein a control device equipped with a processor for a work machine performs the following: acquires a work position indicating the position of the work object of the work machine; acquires detection data from a first sensor that detects the absolute position of the work machine; controls the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor; acquires detection data from a second sensor that detects the relative position between the work machine and the work object; and switches from control based on the detection data from the first sensor to control based on the detection data from the second sensor.

[0117] 1...Working machine, 2...Vehicle frame, 2A...Front frame, 2B...Rear frame, 3...Working machine, 4...Traction system, 4A...Front wheels, 4B...Rear wheels, 5...Cab, 6...Bucket, 6A...Cutting edge, 6B...Rear, 6L...Left bracket, 6R...Right bracket, 7...Operating device, 7A...Traction system operating device, 7B...Working machine operating device, 8...Articulation mechanism, 9...Boom pin, 9L...Left boom pin, 9R...Right boom pin, 10...Control system, 11...Steering cylinder, 14...Boom, 14L...Left boom member, 14R...Right boom member, 15...Link, 16...Boom cylinder 17... Bucket pin, 18... Bell crank, 18A... Support pin, 18B... Connecting pin, 18C... Connecting pin, 19... Bucket cylinder, 20... Drive unit, 21... Power take-off, 22... Power transmission unit, 23... Brake unit, 24... Steering pump, 25... Steering control valve, 26... Work equipment pump, 27... Boom control valve, 28... Bucket control valve, 30... Computer, 31... Processor, 32... Main memory, 33... Storage, 34... Input / output interface, 35... Communication interface, 36... Computer program, 50... Vehicle Body controller, 51...Brake control unit, 52...Accelerator control unit, 53...Steering control unit, 54...Work machine control unit, 71...Accelerator pedal, 72...Brake pedal, 73...Steering wheel, 74...Forward / reverse lever, 75...Boom lever, 76...Bucket lever, 100...Automation controller (control device for work machine), 101...Recognition unit, 102...Path planning unit, 103...Path following control unit, 104...Memory unit, 110...Automation sensor system, 111...Position sensor (first sensor), 112...Orientation sensor, 113...External environment sensor (second sensor) , 113A...Detection range, 120...Vehicle status sensor system, 121...Articulated angle sensor, 122...Vehicle speed sensor, 123...Boom angle sensor, 124...Bucket angle sensor, 130...User interface, 131...Input device, 132...Automation changeover switch, 140...Travel path, 140A...Intermediate position, 141...Work position, 142...Current position, 143...Branching path, 144...Work area, 145...Work target, 146...Stock pile, 150...Dump truck, 151...Dump body, 151A...Center position, Ds...Specified distance.

Claims

1. A control device for a work machine, comprising a processor, the processor acquires a work position indicating the position of the work object of the work machine, acquires detection data from a first sensor that detects the absolute position of the work machine, controls the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor, acquires detection data from a second sensor that detects the relative position between the work machine and the work object, and switches from control based on the detection data from the first sensor to control based on the detection data from the second sensor.

2. The control device for a work machine according to claim 1, wherein the processor generates a travel path for the work machine to the work position, and the control based on the detection data of the first sensor includes controlling the travel device so that the work machine travels along the travel path based on the detection data of the first sensor.

3. The control device for a work machine according to claim 2, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels to the work object based on the detection data of the second sensor.

4. The control device for a work machine according to claim 3, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels from the middle of the travel path to the work object based on the detection data of the second sensor.

5. The control device for a work machine according to claim 1, wherein the processor sets a work area in which the work object is located and acquires the work position specified in the work area.

6. The control device for a work machine according to claim 1, wherein the processor recognizes the current position of the work machine based on the detection data of the first sensor, and when it determines that the distance from the current position to the work position is less than or equal to a specified distance, it switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.

7. The control device for a work machine according to claim 1, wherein the processor recognizes the work object based on the detection data of the second sensor, and when the work object is recognized, switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.

8. The control device for the work machine according to claim 1, wherein the work object includes the dump body of a dump truck.

9. A work machine comprising a work machine, a traveling device, and a control device for the work machine described in claim 1.

10. A control system for a work machine, comprising a processor, the processor acquiring a work position indicating the position of the work object of the work machine, acquiring detection data from a first sensor that detects the absolute position of the work machine, controlling the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor, acquiring detection data from a second sensor that detects the relative position between the work machine and the work object, and switching from control based on the detection data from the first sensor to control based on the detection data from the second sensor.

11. The control system for a work machine according to claim 10, wherein the processor generates a travel path for the work machine to the work position, and the control based on the detection data of the first sensor includes controlling the travel device so that the work machine travels along the travel path based on the detection data of the first sensor.

12. The control system for a work machine according to claim 11, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels to the work object based on the detection data of the second sensor.

13. The control system for a work machine according to claim 12, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels from the middle of the travel path to the work object based on the detection data of the second sensor.

14. The control system for a work machine according to claim 10, wherein the processor sets a work area in which the work object is located and acquires the work position specified in the work area.

15. The control system for a work machine according to claim 10, wherein the processor recognizes the current position of the work machine based on the detection data of the first sensor, and when it determines that the distance from the current position to the work position is less than or equal to a specified distance, it switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.

16. The control system for a work machine according to claim 10, wherein the processor recognizes the work object based on the detection data of the second sensor, and when the work object is recognized, switches from control based on the detection data of the first sensor to control based on the detection data of the second sensor.

17. The control system for a work machine according to claim 10, wherein the work object includes the dump body of a dump truck.

18. A control method for a work machine, comprising a control device equipped with a processor for the work machine, which performs the following actions: acquiring a work position indicating the position of the work object of the work machine; acquiring detection data from a first sensor that detects the absolute position of the work machine; controlling the travel device of the work machine so that the work machine travels to the work position based on the detection data from the first sensor; acquiring detection data from a second sensor that detects the relative position between the work machine and the work object; and switching from control based on the detection data from the first sensor to control based on the detection data from the second sensor.

19. The method for controlling a work machine according to claim 18, wherein the processor generates a travel path for the work machine to the work position, and the control based on the detection data of the first sensor includes controlling the travel device so that the work machine travels along the travel path based on the detection data of the first sensor.

20. The control method for a work machine according to claim 19, wherein the control based on the detection data of the second sensor includes controlling the travel device so that the work machine travels to the work object based on the detection data of the second sensor.

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