Autonomous driving device

Abstract

This autonomous driving device comprises: a detection unit that detects, as a detection value, the height of a work object at a work object position or a value related to said height; and a controller that executes operation control of a work device. The operation control includes: a height acquisition process (step SA6) for acquiring the height of the work object at the work object position on the basis of the detection value; an assessment process (step SA7) for assessing whether the value of an abnormality assessment parameter including at least one of the detection value obtained by the detection unit and the height acquired through the height acquisition process corresponds to a prescribed abnormality condition; and a main control process for preventing the work device from executing prescribed work based on the height acquired through the height acquisition process in cases where it is assessed that the value of the abnormality assessment parameter corresponds to the prescribed abnormality condition (NO in step SA7).

Description

Automatic driving device

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[0001] The present disclosure relates to an automatic driving device.

[0002] Conventionally, an automatic driving device for a working machine having an upper revolving body and a working device mounted on the upper revolving body is known (see, for example, Patent Document 1).

[0003] The automatic driving device includes an imaging device mounted on the working machine and a controller that executes operation control of the working machine. The controller causes the working device to perform excavation work along an excavation row extending in the radial direction in a plan view, rotates the upper revolving body when the excavation work of the excavation row is completed, and causes the working device to perform excavation work along a new excavation row. The controller is configured to be able to calculate the excavation start height when the working device performs excavation work based on the distance image captured by the imaging device.

[0004] However, in the automatic driving device of Patent Document 1, the output value output from the imaging device (detection unit) may not function properly due to the influence of, for example, rain, snow, or dust. If the imaging device does not function properly, there is a risk that the acquisition accuracy of the excavation start height (the height of the work object at the excavation start position) by the controller will decrease.

[0005] In addition, in the automatic driving device of Patent Document 1, earth and sand generated by the excavation work of the working machine may interfere, and there may be a case where the imaging device cannot acquire the distance image of the work object at the excavation start position. As a result, there is a risk that the acquisition accuracy of the excavation start height by the controller will decrease.

[0006] When the acquisition accuracy of the excavation start height by the controller decreases, problems such as the excavation position being too high and idling when the working device starts excavation work, or conversely, the excavation position being too low and the working device floating due to the excavation reaction force occur. As a result, there is a risk that the working efficiency of the working device will be significantly reduced.

[0007] Japanese Unexamined Patent Application Publication No. 2022 - 160276

[0008] An object of the present disclosure is to enable the working machine to appropriately execute automatic driving without reducing the working efficiency even when the acquisition of the height of the work object at the work target position fails.

[0009] An automated driving device relating to one aspect of the present disclosure is an automated driving device for controlling the automated driving of a work machine having a work device, comprising: a detection unit that detects the height of a work object present at a work target position or a value related to said height as a detected value; and a controller that performs operation control of the work device, wherein the operation control includes: a height acquisition process that acquires the height of the work object at the work target position based on the detected value; a determination process that determines whether the value of an abnormality determination parameter, which includes at least one of the detected value and the height of the work object acquired by the height acquisition process, falls under a predetermined abnormal condition; and a main control process that, if it is determined that the value of the abnormality determination parameter does not fall under the predetermined abnormal condition, causes the work device to perform a predetermined operation at the work target position based on the height of the work object at the work target position acquired by the height acquisition process, while if it is determined that the value of the abnormality determination parameter falls under the predetermined abnormal condition, prevents the work device from performing the predetermined operation at the work target position.

[0010] Figure 1 is a side view showing a work machine equipped with an automatic driving device in Embodiment 1. Figure 2 is a block diagram showing the schematic configuration of the automatic driving device. Figure 3 is an explanatory plan view for illustrating the schematic of the automatic driving operation of the work machine realized by the automatic driving device. Figure 4 is an explanatory diagram illustrating an example of a situation in which the soil height calculated by the height acquisition unit shows an abnormal value. Figure 5 is a flowchart illustrating an example of automatic driving control performed by the controller. Figure 6 is a diagram corresponding to Figure 3 showing a modified example 1 of Embodiment 1. Figure 7 is a diagram illustrating a modified example 2 of Embodiment 1, showing a display image from the display unit of a tablet terminal. Figure 8 is a diagram corresponding to Figure 3 showing a modified example 3 of Embodiment 1. Figure 9A is an explanatory diagram of automatic driving control realized by the automatic driving device in Embodiment 2, showing the work machine discharging soil onto the top of the dump truck bed based on the automatic driving control. Figure 9B is an explanatory diagram of automatic driving control realized by the automatic driving device in Embodiment 2, showing the work machine performing leveling work based on the automatic driving control. Figure 10 is a schematic diagram showing a plurality of soil discharge positions set on the top of the dump truck bed. Figure 11 is a diagram corresponding to Figure 2, showing Embodiment 2. Figure 12 is a diagram corresponding to Figure 5, showing Embodiment 2.

[0011] The embodiments of this disclosure will be described below with reference to the drawings. Note that the following embodiments are merely examples of the embodiments of this disclosure and are not intended to limit the technical scope of this disclosure.

[0012] (Embodiment 1) Figure 1 is a side view showing a work machine 100 equipped with an automatic driving device 101 according to Embodiment 1 of the present disclosure. The work machine 100 shown in Figure 1 is a hydraulic excavator.

[0013] The work machine 100 comprises a lower traveling body 1, an upper rotating body 2 attached to the lower traveling body 1 so as to be able to rotate relative to the lower traveling body 1 around a vertically extending pivot axis Z, and a work device 3 attached to the upper rotating body 2.

[0014] The working device 3 includes a boom 4 rotatably attached to the upper slewing body 2, an arm 5 rotatably attached to the boom 4, and a bucket 6 rotatably attached to the arm 5.

[0015] The work machine 100 further comprises a boom cylinder 7, which is a hydraulic cylinder for rotating the boom 4; an arm cylinder 8, which is a hydraulic cylinder for rotating the arm 5; a bucket cylinder 9, which is a hydraulic cylinder for rotating the bucket 6; and a slewing motor 11, which is a hydraulic motor for slewing the upper slewing body 2.

[0016] The work machine 100 includes a posture detector 130 for detecting the posture of the work device 3 and a LIDAR (Light Detection and Ranging) 120.

[0017] The attitude detector 130 includes a boom sensor 131 for detecting the attitude of the boom 4, an arm sensor 132 for detecting the attitude of the arm 5, and a bucket sensor 133 for detecting the attitude of the bucket 6. The attitude detector 130 may further include a sensor for detecting the attitude of the upper slewing body 2.

[0018] The boom sensor 131 may be a sensor that detects the angle of the boom 4 with respect to the upper slewing body 2 or the angle of the boom 4 with respect to the horizontal plane, or it may be a sensor that detects the extension or retraction state of the boom cylinder 7.

[0019] The arm sensor 132 may be a sensor that detects the angle of the arm 5 with respect to the boom 4 or the angle of the arm 5 with respect to the horizontal plane, or it may be a sensor that detects the extension or retraction state of the arm cylinder 8.

[0020] The bucket sensor 133 may be a sensor that detects the angle of the bucket 6 with respect to the arm 5 or the angle of the bucket 6 with respect to the horizontal plane, or it may be a sensor that detects the extension and retraction state of the bucket cylinder 9. The sensor that detects the posture of the upper slewing body 2 may be a sensor that detects the posture of the upper slewing body 2 with respect to the horizontal plane, or it may be a sensor that detects the slewing angle of the upper slewing body 2 with respect to the lower traveling body 1.

[0021] The LIDAR 120 (an example of a detection unit) detects values ​​related to the height of the work object (in this example, soil E) within its measurement range (in this example, point cloud data including three-dimensional coordinate position information). The LIDAR 120 is positioned so that the entire predetermined work area 200 is included within its measurement range during the automatic operation of the work machine 100. In this example, the LIDAR 120 is attached to the upper end of the upper rotating body 2. The LIDAR 120 is also positioned slightly to the left of the center position in the vehicle width direction on the upper rotating body 2 (see Figure 3 described later). The LIDAR 120 obtains the distance from the light emission point to a number of reflection points (i.e., each point in the point cloud that defines the surface shape of the work object) by measuring the time from when the laser beam is emitted until the reflected light is received, and obtains point cloud data including the coordinate position of each point based on the obtained distance. The LIDAR 120 inputs the obtained point cloud data to the controller 110 (see Figure 2 described later).

[0022] [Outline of Automatic Operation] The work machine 100 is further equipped with an automatic operation device 101. Figure 2 is a block diagram showing the schematic configuration of the automatic operation device 101. Figure 3 is an explanatory plan view illustrating the schematic of the automatic operation of the work machine 100 realized by this automatic operation device 101.

[0023] First, the general outline of the automatic operation will be explained with reference to Figure 3. In this automatic operation, the work machine 100 automatically alternates between excavating soil E (an example of a work object) within a work area 200 predetermined on the ground G, and disposing of the excavated soil E at a disposal location not shown. In this embodiment 1, the explanation of this disposal operation will be omitted. Furthermore, in the following explanation, the front-to-back and left-to-right directions of the work area 200 are defined as shown by the direction axis in Figure 3.

[0024] In this example, the work area 200 is rectangular in shape when viewed from above. The work area 200 may be physically demarcated by concrete walls, or it may be a conceptual area that is not physically demarcated. Eight (or more) excavation start positions P1 to P8 are set within the work area 200. In the following description, the symbol P will be used when there is no need to distinguish between the eight excavation start positions P1 to P8.

[0025] The eight excavation start positions P1 to P8 are set in two rows in the front-to-back direction. The rear row includes four excavation start positions P1 to P4, and the front row includes four excavation start positions P5 to P8. The eight excavation start positions P1 to P8 are arranged at equal intervals in the front-to-back, left-to-right, and right directions. The work machine 100 performs excavation work along each excavation row K1 to K8 (see the white arrows in Figure 3) that extends from each excavation start position P1 to P8 towards the work machine 100. The work machine 100 repeatedly performs excavation work in each excavation row K1 to K8 until a predetermined excavation completion condition is met. Here, the excavation completion condition includes, for example, the condition that the excavation depth reaches or exceeds a predetermined target depth. In the following description, the symbol K is used when there is no need to particularly distinguish between each excavation row K1 to K8.

[0026] Here, each excavation start position P1 to P8 has a set order in which the excavation work by the work machine 100 will begin. The numbers in the white circles for each excavation start position P1 to P8 in Figure 3 schematically indicate this order. A higher number in the order means that the excavation work by the work machine 100 will be performed later. Therefore, in the example in Figure 3, the work machine 100 starts excavating from excavation start position P1, and after the excavation of the excavation row K1 at excavation start position P1 is completed, it starts excavating from excavation start position P2, and after the excavation of the excavation row K2 at excavation start position P2 is completed, it starts excavating from excavation start position P3, and so on, until the excavation of the excavation row K8 at excavation start position P8 is finally completed. After the excavation of the excavation row K8 at excavation start position P8 is completed, the work machine 100 returns to a predetermined standby position (for example, the position in Figure 1) and ends its automatic operation.

[0027] [Details of the Automated Driving System] Returning to Figure 2, the details of the automated driving system 101 will be explained. The automated driving system 101 comprises a controller 110, the LIDAR 120, an attitude detector 130, an input device 140, a work device drive unit 150, a driving mechanism unit 160, and a tablet terminal 170. The controller 110 is connected to the LIDAR 120, the attitude detector 130, the input device 140, the work device drive unit 150, and the driving mechanism unit 160 so as to be able to send and receive signals. The controller 110 is also configured to communicate with the tablet terminal 170.

[0028] The controller 110 controls the operation of the work machine 100 to enable automatic operation by the work machine 100. The controller 110 includes a computer that includes a processing unit and memory.

[0029] The controller 110 includes an excavation start position setting unit 111, an excavation start order setting unit 112, a height acquisition unit 113, an abnormality determination unit 114, a main control unit 115, a storage unit 116, and a communication unit 117. Each of the excavation start position setting unit 111, the excavation start order setting unit 112, the height acquisition unit 113, the abnormality determination unit 114, and the main control unit 115 is realized by the computer executing a control program stored in memory. The storage unit 116 is realized by a storage medium such as a hard disk or memory. The communication unit 117 is realized by a wireless communication module or the like that transmits and receives data wirelessly. Note that the communication method by the communication unit 117 is not limited to a wireless method but may also be a wired method.

[0030] The excavation start position setting unit 111 recognizes the position of the work area 200 based on position data acquired using, for example, GPS (Global Positioning System), and sets excavation start positions P1 to P8 (see Figure 3) within the recognized work area 200. When setting excavation start positions P1 to P8, for example, the left rear vertex of the work area 200 is used as a reference point, and a point at a predetermined position from this reference point is set as excavation start position P1. Based on this excavation start position P1, the remaining excavation start positions P2 to P8 can be set based on a pre-set arrangement pattern (in this example, a pattern of arranging in two rows, front and back, at equal intervals). The excavation start position setting unit 111 stores the set excavation start positions P1 to P8 in the storage unit 116.

[0031] The excavation start order setting unit 112 sets (assigns) excavation order numbers for the excavation start positions P1 to P8 set by the excavation start position setting unit 111. Here, the excavation order number is a number that defines the order in which the work machine 100 attempts to excavate. In this example, the excavation start order setting unit 112 sets excavation order numbers 1 to 8 in this order for each of the eight excavation start positions P1 to P8.

[0032] The height acquisition unit 113 performs height acquisition processing. The height acquisition processing is a process that calculates (acquires) the height of the upper end position of the soil E at each excavation start position P1 to P8 relative to the ground G (i.e., the installation surface of the work machine 100) based on three-dimensional point cloud data (point cloud data that defines the surface of the soil E, which is the work object, and includes three-dimensional coordinate position information) received from the LIDAR 120. The height calculated by the height acquisition unit 113 is a positive value if the upper end position of the soil E is located above the ground G, and a negative value if it is located below.

[0033] The abnormality determination unit 114 determines whether the abnormality determination parameters meet predetermined abnormality conditions. The abnormality determination parameters include the detected value (three-dimensional point cloud data) from the LIDAR 120 and the height of the soil E obtained by the height acquisition unit 113 through the height acquisition process.

[0034] Here, the predetermined abnormal conditions include a first abnormal condition in which the value detected by the LIDAR 120 is an abnormal value, and a second abnormal condition in which the height of the soil E at each excavation start position P1 to P8 acquired by the height acquisition unit 113 is an abnormal height. The abnormality determination unit 114 determines that the value of the abnormality determination parameter corresponds to the predetermined abnormal condition if at least one of the first abnormal condition and the second abnormal condition is met. On the other hand, if neither the first abnormal condition nor the second abnormal condition is met, the abnormality determination unit 114 determines that the value of the abnormality determination parameter does not correspond to the predetermined abnormal condition (i.e., it does not apply).

[0035] Here, we will explain the first and second abnormal conditions mentioned above in detail.

[0036] The first abnormal condition is a condition for identifying that the LIDAR 120 is not functioning properly due to the effects of, for example, rain, snow, or dust (e.g., dirt on the detection surface). Here, whether or not the detected value by the LIDAR 120 is an abnormal value can be determined based on whether or not the detected value falls within a predetermined normal range (the range of values ​​that the LIDAR 120 can take when it is functioning properly). It should be noted that the factors causing the LIDAR 120 to not function properly are not limited to the effects of rain, snow, or dust, but can include various factors such as electrical or mechanical failure of the LIDAR 120.

[0037] The second abnormal condition is for identifying a situation where the LIDAR 120 is functioning normally, but the height of the soil E calculated by the height acquisition unit 113 shows an abnormal value. Figure 4 is an explanatory diagram illustrating an example of this situation. In this figure, the soil E that constitutes the slope 300 on the near side from the perspective of the work machine 100, which was generated during excavation, is located on the measurement axis of the LIDAR 120. Therefore, in the situation shown in Figure 4, the height of the soil E at the excavation start position P calculated by the height acquisition unit 113 becomes an abnormal height that differs from the actual height. In such a situation, the output value of the LIDAR 120 changes discontinuously at the excavation start position P. Therefore, as an example of the second abnormal condition, a condition can be adopted in which the output value of the LIDAR 120 becomes a discontinuous value at the excavation start position P compared to the surrounding area (for example, within a predetermined radius). Whether or not the value is discontinuous can be determined, for example, based on whether or not the differential value of the output value of the LIDAR 120 at the excavation start position P is greater than or equal to a predetermined value.

[0038] If the main control unit 115 determines that the value of the abnormality determination parameter does not meet the predetermined abnormality conditions (i.e., does not meet them), it causes the work device 3 to perform excavation work based on the height of the soil E at the excavation start position P acquired by the height acquisition unit 113.

[0039] Specifically, the main control unit 115 calculates a target movement path based on the height of the soil E at each excavation start position P1 to P8 calculated by the height acquisition unit 113 (height of the upper end of the soil E), the predetermined penetration angle and penetration amount of the bucket tip SP, and the amount of the bucket 6 pulled back. The main control unit 115 then drives the work device 3 so that the bucket tip SP moves along the calculated target movement path. When driving the work device 3, the main control unit 115 inputs a command signal to the work device drive unit 150, which will be described later. On the other hand, if the main control unit 115 determines that the value of the abnormality determination parameter matches a predetermined abnormal condition, it is configured not to allow the work device 3 to perform excavation work. The processing performed by this main control unit 115 corresponds to the main control processing.

[0040] The storage unit 116 stores in advance the penetration angle and penetration amount of the bucket tip SP and the pulling amount of the bucket 6 when the main control unit 115 causes the working device 3 to perform excavation work. The storage unit 116 also stores the position information of each excavation start position P1 to P8 set by the excavation start position setting unit 111.

[0041] The communication unit 117 performs wireless communication with the tablet terminal 170 held by the operator.

[0042] The tablet terminal 170 has a display unit 171. The tablet terminal 170 displays various information regarding the operating state of the working machine 100 received from the controller 110 via the communication unit 117 on the display unit 171.

[0043] The input device 140 is configured to enable the operator to input an instruction to start the automatic driving control. When an instruction to start the automatic driving control is input to the input device 140, the input device 140 inputs a start signal indicating this to the controller 110. The input device 140 may be mounted on the working machine 100 or may be installed at a location away from the working machine 100 and configured to be communicable with the working machine 100 wirelessly or by wire.

[0044] The working device drive unit 150 includes a boom flow regulator for adjusting the flow rate and supply direction of the hydraulic oil supplied to the boom cylinder 7, an arm flow regulator for adjusting the flow rate and supply direction of the hydraulic oil supplied to the arm cylinder 8, a bucket flow regulator for adjusting the flow rate and supply direction of the hydraulic oil supplied to the bucket cylinder 9, and a swing flow regulator (none of which are shown) for adjusting the flow rate and supply direction of the hydraulic oil supplied to the swing motor 11. Each flow regulator includes, for example, a control valve and an electromagnetic proportional valve for adjusting the pilot pressure supplied to the pilot port of this control valve. The working device drive unit 150 drives the electromagnetic proportional valve in accordance with a command signal input from the main control unit 115.

[0045] The traveling mechanism unit 160 includes, for example, a pair of left and right crawlers provided on the lower traveling body 1, a hydraulic drive motor that rotationally drives the pair of crawlers, a hydraulic pump driven by an engine, and a motor flow regulator for adjusting the flow rate and supply direction of the hydraulic oil supplied from the hydraulic pump to the hydraulic drive motor. The motor flow regulator includes, for example, a control valve and an electromagnetic proportional valve that adjusts the pilot pressure supplied to the pilot port of this control valve. The traveling mechanism unit 160 drives the electromagnetic proportional valve according to a command signal input from the main control unit 115.

[0046] Next, referring to the flowchart of FIG. 5, the details of the automatic operation control executed by the controller 110 will be described.

[0047] In step SA1, the excavation start position setting unit 111 recognizes the position of the work area 200 and sets a plurality of excavation start positions P1 to P8 (an example of work target positions) within the work area 200. Further, the excavation start position setting unit 111 stores the position information of each set excavation start position P1 to P8 in the storage unit 116.

[0048] In step SA2, the excavation start order setting unit 112 sets (assigns) an excavation order number to each of the excavation start positions P1 to P8.

[0049] In step SA3, the main control unit 115 determines the excavation start position P (excavation start position P1 in this example) to which the excavation order number 1 is set as the start position of the current excavation work by the work device 3.

[0050] In step SA4, the main control unit 115 sets the number of height acquisition try times at the excavation start position P determined in step SA3 to 0.

[0051] In step SA5, the main control unit 115 adds 1 to the number of height acquisition try times.

[0052] In step SA6, the height acquisition unit 113 first performs an acquisition process to acquire detected values ​​(coordinate values ​​of three-dimensional point cloud data) from the LIDAR 120. Then, based on the acquired detected values, the height acquisition unit 113 performs a height acquisition process at the excavation start position P determined in step SA3 or step SA10 described later. As a result, the height acquisition unit 113 acquires the height of the soil E at the excavation start position P (more specifically, the height of the upper end of the soil E).

[0053] In step SA7, the abnormality determination unit 114 acquires the detected value of the LIDAR 120 and the height of the soil E, which were acquired by the height acquisition unit 113 in step SA6, as abnormality determination parameters. The abnormality determination unit 114 then determines whether the acquired abnormality determination parameter values ​​do not meet the predetermined abnormality conditions. If the determination is NO (i.e., the predetermined abnormality conditions are met), the process proceeds to step SA11. If the determination is YES (i.e., the predetermined abnormality conditions are not met and the process is normal), the process proceeds to step SA8.

[0054] In step SA8, the main control unit 115 inputs a command signal to the work device drive unit 150 to have the work device 3 perform excavation work, based on the height of the soil E obtained by the height acquisition process in step SA6. Specifically, after the bucket tip SP is driven into the soil E at a predetermined penetration angle and depth at the excavation start position P, a command signal is input to the work device drive unit 150 to pull the bucket 6 towards the work machine 100.

[0055] In step SA9, the main control unit 115 determines whether the excavation completion conditions are met. Specifically, based on the values ​​detected by the LIDAR 120, the main control unit 115 obtains the depth of the deepest part of the soil E belonging to the excavation row K starting from the excavation start position P, and determines whether the obtained depth has reached or exceeded a preset target depth. If the main control unit 115 determines that the obtained depth of soil E is less than the target depth, it returns to step SA4 and continues the excavation work in the current excavation row K. On the other hand, if it determines that the obtained depth of soil E has reached or exceeded the target depth, it proceeds to step SA10, assuming that the excavation completion conditions have been met.

[0056] In step SA10, the main control unit 115 increments the current excavation sequence number by one. The main control unit 115 then determines the excavation start position P corresponding to the incremented excavation sequence number as the next excavation start position P for the work device 3. After processing in step SA10, the process returns to step SA4.

[0057] If the determination in step SA7 is NO, the process proceeds to step SA11, in which the main control unit 115 determines whether the current number of height acquisition attempts is equal to or greater than the threshold. If this determination is NO (i.e., the number of height acquisition attempts is less than the threshold), the process returns to step SA5 and executes the height acquisition process again. However, if this determination is YES (i.e., the number of height acquisition attempts is equal to or greater than the threshold), the process proceeds to step SA12.

[0058] In step SA12, the main control unit 115 determines that it is impossible to obtain the height of the soil E at the currently targeted excavation start position P. The main control unit 115 then identifies the excavation start position P as a position where height acquisition is impossible and stores the position information of the excavation start position P in the storage unit 116.

[0059] In step SA13, the main control unit 115 obtains the current excavation sequence number and determines whether the condition is met that the obtained value is not the maximum value of the excavation sequence number (8 in this example). If it is determined that this condition is met (i.e., the current excavation sequence number is not the maximum value and the determination in step SA13 is YES), the process proceeds to step SA10 and automatic operation control continues. On the other hand, if it is determined that this condition is not met (i.e., the current excavation sequence number is the maximum value and the determination in step SA13 is NO), automatic operation control is terminated.

[0060] As described above, according to the automatic operation device 101 of this embodiment, the controller 110 is configured not to allow the work device 3 to perform excavation work (an example of a predetermined work) if it determines that the abnormality determination parameters (in this example, the detected value of the LIDAR 120 and the height of the soil E obtained by the height acquisition unit 113 in step SA6) correspond to the predetermined abnormality conditions (NO in step SA7).

[0061] With this configuration, if the acquisition of the soil height E at each excavation start position P based on the value detected by the LIDAR 120 fails (i.e., if the value of the abnormality judgment parameter corresponds to a predetermined abnormal condition and the judgment in step SA7 is NO), the excavation work by the work device 3 will not be performed. This prevents the work device 3 from performing a misfire during excavation and prevents the work machine 100 from floating up due to the excavation reaction force caused by excessive depth, thereby improving work efficiency.

[0062] Furthermore, in this embodiment, if the controller 110 determines that the abnormality determination parameter meets a predetermined abnormality condition (NO in step SA7), it repeatedly performs height acquisition processing (step SA6) and abnormality determination processing (step SA7) for the same excavation start position P (an example of a work target position) without changing the excavation start position P by the work device 3. When the number of height acquisition attempts reaches a threshold (a predetermined number), the controller 110 changes the excavation start position P by the work device 3 without performing excavation work at the current excavation start position P, and then performs operation control of the work device 3 at the changed excavation start position.

[0063] With this configuration, the height acquisition process and anomaly detection process are repeatedly executed for the same excavation start position P, thus reducing the possibility of unnecessary changes to the excavation start position P due to misjudgments during the anomaly detection process.

[0064] (Modification 1) Figure 6 is a diagram corresponding to Figure 3 showing Modification 1 of Embodiment 1. In this Modification 1, the content of the process for setting the drilling start order for each drilling start position P is different from that of Embodiment 1.

[0065] In other words, in this modified example 1, the drilling start order setting unit 112 calculates the distance between the LIDAR 120 and each drilling start position P in a plan view when setting the drilling order number (sequence), and is configured to set an earlier order for drilling start positions P that are closer in the calculated distance. The numbers in the white circles in Figure 6 are examples of drilling order numbers set by the drilling start order setting unit 112. In this example, it can be seen that the earliest order number 1 is assigned to the drilling start position P6, which is closest in distance to the LIDAR 120 (more specifically, the detection surface of the LIDAR 120) in a plan view, and the latest order number 8 is assigned to the drilling start position P4, which is furthest away.

[0066] In this modified automatic operation device 101, excavation work is performed sequentially starting from the excavation start position P that is closest in planar distance (distance in a plan view) to the LIDAR 120 and other devices installed on the work machine 100. Therefore, the possibility of detecting an abnormal height that differs from the actual height during the height acquisition process (step SA6) can be reduced. In this regard, as explained in Figure 4, if an excavation start position P that is far from the LIDAR 120 is excavated first, the height of the soil E at that excavation start position P will be relatively lower than the height of the soil E located closer to the LIDAR 120. As a result, the soil E located closer to the LIDAR 120 (for example, the soil E that makes up the slope 300 in Figure 4) interposes between the LIDAR 120 and the excavation start position P, causing a problem in which detection by the LIDAR 120 is hindered. In contrast, in the above configuration, this problem can be avoided by setting an earlier excavation sequence for excavation start positions P that are closer to the LIDAR 120. In other words, in the above configuration, excavation is performed earlier at the excavation start position P closer to the LIDAR 120, so when excavation starts at the excavation start position P further away, it is highly likely that the excavation on the side in front of it has already been completed. Therefore, the risk of soil E on the side in front interfering with detection by the LIDAR 120 by being interposed between the LIDAR 120 and the excavation start position P can be reduced.

[0067] (Modification 2) Figure 7 is a diagram illustrating modification 2 of Embodiment 1, and shows the display image of the display unit 171 of the tablet terminal 170.

[0068] In this modified example, the controller 110 transmits drilling-related information related to drilling at each drilling start position P1 to P8 to the tablet terminal 170 and performs a display process to display it on the display unit 171.

[0069] This excavation-related information includes first information I1 regarding whether or not the height of the soil E at each excavation start position P1 to P8 can be obtained, and second information I2 regarding the completion status of the excavation work. In the example shown in Figure 7, as an example, the first information I1 is displayed in the upper half of the display unit 171, and the second information I2 is displayed in the lower half of the display unit 171.

[0070] The first information I1 includes information on whether or not it is possible to obtain the height of the soil E at each excavation start position P1 to P8. In this example, the first information I1 assigns either "possible" or "impossible" information to each of the excavation start positions P1 to P8. Here, "possible" means that it is possible to obtain the height of the soil E, and "impossible" means that it is impossible to obtain the height of the soil E (see step SA12). The controller 110 displays "impossible" for excavation start positions P1 to P8 that were determined in step SA12 to be positions where height acquisition is impossible, while displaying "possible" for excavation start positions P that were not determined to be positions where height acquisition is impossible.

[0071] In the second information I2, each of the excavation start positions P1 to P8 is assigned either "Completed" information indicating that the excavation has been completed, or information on the number of times the excavation work has been performed if each of the excavation start positions P1 to P8 is a position where height acquisition is impossible. The controller 110 assigns "Completed" information to any excavation start position P that the excavation completion condition is met in the processing of step SA9, indicating that the excavation work has been completed. On the other hand, if the controller 110 determines in the processing of step SA12 that the height cannot be acquired for the current excavation start position P, it calculates the number of times the work device 3 has performed the excavation work in the excavation row K starting from that excavation start position P up to that point, and assigns the calculated number of excavations to that excavation start position P (the flowchart for this process is omitted).

[0072] As explained above, in this modified example, the controller 110 is configured to display, on the display unit 171 of the tablet terminal 170, first information corresponding to whether or not each of the multiple excavation start positions P is a position where height acquisition is impossible, and second information corresponding to the number of times the excavation work has been performed when it is a position where height acquisition is impossible.

[0073] With this configuration, the operator can easily recognize which of the multiple excavation start positions P is a position where height acquisition is impossible by looking at the first information displayed on the display unit 171. Therefore, a sense of security can be given to the operator without causing them to mistakenly believe that the automatic operation device 101 has malfunctioned. In addition, the operator can easily recognize the number of times excavation work has been performed at a position where height acquisition is impossible by looking at the second information displayed on the display unit 171, and thus obtain guidance on how to proceed with the work thereafter.

[0074] Furthermore, the controller 110 may be configured to display only one of the first information I1 and the second information I2 on the display unit 171. Also, the display unit 171 does not necessarily have to be located on the tablet terminal 170, but may be a fixed computer display or the like.

[0075] (Modification 3) Figure 8 is a diagram corresponding to Figure 3 showing modification 3 of Embodiment 1. In this modification, the controller 110 differs from Embodiment 1 in that, after executing automatic operation control (processing of steps SA1 to SA13) in the work area 200A that is currently being excavated, it sets up a new work area 200B, moves the work machine 100 to the front of the new work area 200B, and executes the same automatic operation control (processing of steps SA1 to SA13). Note that in the example of Figure 8, only two work areas 200 are shown to simplify the explanation, but it is not limited to this, and three or more work areas 200 may be set up.

[0076] When the controller 110 sets a new work area 200B, the width X in the left-right direction of the work area 200B is stored in advance in the storage unit 116.

[0077] After the controller 110 performs automatic operation control (processing steps SA1 to SA13) for the work area 200A, it sets up a new work area 200B at a position extended horizontally from the work area 200 (a position adjacent to the right in the example of Figure 8). At this time, the controller 110 determines whether there is space remaining equal to the horizontal width of the work area 200 in the direction of movement of the work machine 100 (horizontal direction in the example of Figure 8). In the example of Figure 8, the controller 110 determines whether the horizontal dimension X of the space to the right of the work area 200A is greater than or equal to the horizontal width L of the newly set work area 200B.

[0078] The controller 110 then determines that a new work area 200B can be set if it determines that the dimension X is greater than or equal to the width L. The controller 110 then inputs a command signal to the travel mechanism 160 to move the work machine 100 to the right by the width L of the new work area 200B. As shown by the dashed line in Figure 8, the controller 110 moves the work machine 100 to a workable position in the new work area 200B (a position where all excavation work starting from the excavation start position P can be performed by the work device 3 with the work machine 100 stopped). The controller 110 then executes steps SA1 to SA13 for the new work area 200B.

[0079] Furthermore, if the controller 110 determines that the dimension X is less than the width L, it terminates the automatic operation control.

[0080] As explained above, in this modified example, the controller 110 is configured to set a work area 200A and set an excavation start position P within the set work area 200A when executing automatic operation control. The controller 110 then determines whether the automatic operation control (processing steps SA1 to SA13) at the excavation start positions P (specifically all excavation start positions P) within the set work area 200A has been completed. If the controller 110 determines that it has been completed, it determines whether there is space to set a new work area 200B adjacent to the work area 200A. If the controller 110 determines that there is space to set a new work area 200B, it sets a new work area 200B and sets an excavation start position P within the new work area 200, and moves the work machine 100 to a position where the work device 3 can perform excavation work at each excavation start position P. Note that the process of setting the excavation start positions P and the movement of the work machine 100 may be performed in parallel.

[0081] With this configuration, if there is space to set up a new work area 200B, the work machine 100 will automatically move to a workable position in the new work area 200B, thereby improving work efficiency as much as possible.

[0082] (Embodiment 2) Next, Embodiment 2 will be described with reference to Figures 9 to 12. In this embodiment, the target of the height acquisition process based on the detected value of the LIDAR 120 is a mound of soil e placed on the upper surface 22a of the cargo bed 22 of a dump truck 20 (an example of a vehicle) (hereinafter referred to as the cargo bed surface), and the work machine 100 performs leveling work on the soil e based on the height of the soil e acquired by the height acquisition process, which is different from Embodiment 1. Note that the same reference numerals are used for the same components as in Embodiment 1, and their detailed descriptions are omitted.

[0083] Figure 9A is a schematic diagram showing how the work machine 100 discharges soil e onto the top surface 22a of the dump truck 20 based on automatic driving control. Figure 9B is a schematic diagram showing how the work machine 100 performs leveling work based on automatic driving control.

[0084] The automatic operation of the work machine 100 realized by the automatic operation control of this embodiment can be broadly divided into soil removal work (see Figure 9A) and soil leveling work (see Figure 9B).

[0085] During the soil removal operation, the soil e held in the bucket 6 of the work device 3 is sequentially discharged to multiple soil removal positions Q1 to Q9 set on the upper surface 22a of the loading platform. As a result, multiple mounds of soil e are arranged on the upper surface 22a of the loading platform along the front-to-rear direction of the vehicle.

[0086] During the leveling operation, the bucket 6 is moved along the vehicle's longitudinal direction (an example of a predetermined direction) while maintaining it at a predetermined height above the top surface 22a of the loading platform. In this way, the back surface 6a of the bucket 6 of the working device 3 (the side opposite to the side that holds the soil e) is brought into contact with the multiple mounds of soil e as it moves along the vehicle's longitudinal direction. This reduces the unevenness of the multiple mounds of soil e on the top surface 22a of the loading platform, leveling it to a nearly flat surface.

[0087] Figure 10 is a schematic diagram showing nine (or more) soil removal positions Q1 to Q9 set on the upper surface 22a of the loading platform. In the example shown in Figure 10, the nine soil removal positions Q1 to Q9 are set to be adjacent to each other in the front-to-back direction at the center of the upper surface 22a of the loading platform in the vehicle width direction. These soil removal positions Q1 to Q9 are set by the soil removal position setting unit 181 (see Figure 10) of the controller 110 and stored in the storage unit 186.

[0088] Figure 11 is a block diagram showing the schematic configuration of the automatic driving device 101 of this embodiment. In this embodiment, the functional configuration of the controller 110 differs from that of Embodiment 1. In the following description, the same reference numerals are used for components that are the same as those in Embodiment 1, and their detailed descriptions are omitted.

[0089] In other words, in this embodiment, the controller 110 includes a soil discharge position setting unit 181, a soil discharge order setting unit 182, a height acquisition unit 183, an abnormality determination unit 184, a main control unit 185, a storage unit 186, and a communication unit 187. Each of the soil discharge position setting unit 181, soil discharge order setting unit 182, height acquisition unit 183, abnormality determination unit 184, and main control unit 185 is realized by the computer executing a control program stored in memory. The storage unit 116 is realized by a storage medium such as a hard disk or memory. The communication unit 117 is realized by a wireless communication module or the like that transmits and receives data wirelessly. Note that the communication method by the communication unit 117 is not limited to a wireless method but may also be a wired method.

[0090] The soil discharge position setting unit 181 recognizes the position of the dump truck 20's cargo bed 22 based on position data acquired using, for example, GPS (Global Positioning System), and sets soil discharge positions Q1 to Q9 on the recognized cargo bed surface 22a. When setting soil discharge positions Q1 to Q9, a point located at a predetermined position from an arbitrary reference point on the cargo bed surface 22a (for example, one corner in a plan view) is set as soil discharge position Q1, and the remaining soil discharge positions Q2 to Q9 are set based on a pre-set arrangement pattern (in this example, an arrangement pattern where points are adjacent to each other in the front-to-back direction) using soil discharge position Q1 as a reference. The soil discharge position setting unit 181 stores the set soil discharge positions Q1 to Q8 in the storage unit 186.

[0091] The soil discharge sequence setting unit 182 sets (assigns) soil discharge sequence numbers for the soil discharge positions Q1 to Q8 set by the soil discharge position setting unit 181. Here, the soil discharge sequence number is a number that defines the order in which the work machine 100 attempts to discharge soil. In this example, the soil discharge sequence setting unit 182 sets soil discharge sequence numbers 1 to 9 in this order for each of the nine soil discharge positions Q1 to Q8. In the following explanation, the symbol Q is used when there is no need to distinguish between soil discharge positions Q1 to Q8.

[0092] The height acquisition unit 183 performs height acquisition processing. The height acquisition processing is a process that calculates (acquires) the height from the top surface 22a of the loading platform to the top edge of the soil e at each soil discharge position Q1 to Q9, based on three-dimensional point cloud data (point cloud data that defines the surface of the soil E on which the work object is located, and includes three-dimensional coordinate position information) received from the LIDAR 120.

[0093] The abnormality determination unit 184 determines whether the value of the abnormality determination parameter corresponds to a predetermined abnormality condition. The abnormality determination parameter includes the value detected by the LIDAR 120 (three-dimensional point cloud data) and the height of the soil e obtained by the height acquisition unit 183 through the height acquisition process.

[0094] Here, the predetermined abnormal conditions include a first abnormal condition in which the value detected by the LIDAR 120 is an abnormal value, and a second abnormal condition in which the height of soil e at each soil removal position Q1 to Q9 acquired by the height acquisition unit 183 is an abnormal height. The abnormality determination unit 184 determines that the value of the abnormality determination parameter corresponds to the predetermined abnormal condition if at least one of the first abnormal condition and the second abnormal condition is met. On the other hand, if neither the first abnormal condition nor the second abnormal condition is met, the abnormality determination unit 184 determines that the value of the abnormality determination parameter does not correspond to the predetermined abnormal condition (i.e., it does not apply).

[0095] Here, we will explain the first and second abnormal conditions mentioned above in detail.

[0096] The first abnormal condition is a condition for identifying that the LIDAR 120 is not functioning properly due to the effects of, for example, rain, snow, or dust (e.g., dirt on the detection surface). Here, whether or not the detected value by the LIDAR 120 is an abnormal value can be determined based on whether or not the detected value falls within a predetermined normal range (the range of values ​​that the LIDAR 120 can take when it is functioning properly). It should be noted that the factors causing the LIDAR 120 to not function properly are not limited to the effects of rain, snow, or dust, but can include various factors such as electrical or mechanical failure of the LIDAR 120.

[0097] The second abnormal condition is used to identify a situation where the LIDAR 120 is functioning normally, but the height of the soil e calculated by the height acquisition unit 113 shows an abnormal value. As an example of the second abnormal condition, one can adopt the condition that the output value of the LIDAR 120 is discontinuous at the soil disposal location Q compared to the surrounding area (for example, within a predetermined radius). Whether or not the value is discontinuous can be determined, for example, based on whether or not the differential value of the LIDAR 120 output value at the soil disposal location Q is greater than or equal to a predetermined value.

[0098] If the main control unit 185 determines that the value of the abnormality determination parameter does not meet the predetermined abnormality conditions (i.e., does not meet them), it causes the work device 3 to perform the leveling operation described above based on the height of the soil e at the soil removal position Q acquired by the height acquisition unit 183.

[0099] Specifically, the main control unit 185 controls the posture of the work device 3 based on the height of the soil e at each soil discharge position Q1 to Q9 (height of the upper end of the soil e) calculated by the height acquisition unit 183, so that the back surface 6a of the bucket 6 is positioned at a height obtained by multiplying the average value of the soil e heights at each soil discharge position Q1 to Q9 by a predetermined ratio (for example, 50% to 90%). After that, the main control unit 185 drives the work device 3 so that the bucket 6 moves across the entire range of soil discharge positions Q1 to Q9. When driving the work device 3, the main control unit 185 inputs a command signal to the work device drive unit 150.

[0100] Here, the main control unit 185 is configured to prevent the work device 3 from performing the leveling work described above if it determines that the value of the abnormality determination parameter at all soil removal positions Q1 to Q9 corresponds to a predetermined abnormality condition.

[0101] Figure 12 is a flowchart showing the contents of the automatic driving control performed by the controller 110 of this embodiment.

[0102] In step SB1, the soil discharge position setting unit 181 recognizes the position of the top surface 22a of the loading platform and sets multiple soil discharge positions Q1 to Q9 on the top surface 22a of the loading platform. The soil discharge position setting unit 181 also stores the position information of each set soil discharge position Q1 to Q9 in the storage unit 186.

[0103] In step SB2, the soil removal sequence setting unit 182 sets (assigns) a soil removal sequence number for each of the soil removal positions Q1 to Q9. Figure 10 shows an example of how these soil removal sequence numbers are set. The numbers in the white circles representing each soil removal position Q1 to Q9 represent the soil removal sequence numbers set by the soil removal sequence setting unit 182.

[0104] In step SB3, the main control unit 185 determines the soil removal position Q (in this example, soil removal position Q1), to which soil removal sequence number 1 is set, as the starting position for the soil removal operation by the work device 3.

[0105] In step SB4, the main control unit 185 sets the number of attempts to acquire the height at the soil removal position Q determined in step SB3 to 0.

[0106] In step SB5, the main control unit 185 increments the number of height acquisition attempts by one.

[0107] In step SB6, the work device 3 performs soil removal work at the soil removal position Q determined in step SB3 or step SB10 described later, and the height of the soil e removed by the soil removal work is acquired. When the work device 3 performs soil removal work, a command signal is input to the work device drive unit 150 to cause the work device 3 to perform soil removal work. When acquiring the height of the removed soil e, the height acquisition unit 183 first performs an acquisition process to acquire the detected value (coordinate value of three-dimensional point cloud data) from the LIDAR 120. Based on the acquired detected value, the height acquisition unit 183 performs a height acquisition process at the soil removal position Q determined in step SB3 or step SB10 described later. As a result, the height acquisition unit 183 acquires the height of the soil e at the soil removal position Q (specifically, the height of the upper end position of the soil e).

[0108] In step SB7, the abnormality determination unit 184 acquires the detected value of the LIDAR 120 and the height of the soil e, which were obtained in step SB6, as abnormality determination parameters. The abnormality determination unit 184 then determines whether the acquired abnormality determination parameter values ​​do not meet the predetermined abnormality conditions. If the determination is NO (i.e., the predetermined abnormality conditions are met), the process proceeds to step SB11; on the other hand, if the determination is YES (i.e., the predetermined abnormality conditions are not met and the process is normal), the process proceeds to step SB8.

[0109] In step SB8, the main control unit 185 stores the height of the soil e obtained in the height acquisition process of step SB6 in the storage unit 186.

[0110] In step SB9, the main control unit 185 obtains the current soil removal sequence number and determines whether the condition is met that the obtained value is not the maximum value of the soil removal sequence number (9 in this example). If it is determined that this condition is not met (i.e., the current soil removal sequence number is the maximum value and the determination in step SB9 is NO), the process proceeds to step SB12. On the other hand, if it is determined that this condition is met (i.e., the current soil removal sequence number is not the maximum value and the determination in step SB9 is YES), the process proceeds to step SB10.

[0111] In step SB10, the main control unit 185 increments the current soil removal sequence number by one. The main control unit 185 then determines the soil removal position Q, to which the incremented soil removal sequence number is set, as the next soil removal position Q for the work device 3. After processing in step SB10, the process returns to step SB4.

[0112] If the determination in step SB7 is NO, step SB11 is performed, in which the main control unit 185 determines whether the current number of height acquisition attempts is equal to or greater than a threshold. If this determination is NO (i.e., the number of height acquisition attempts is less than a threshold), the process returns to step SB5 and executes the height acquisition process again. However, if this determination is YES (i.e., the number of height acquisition attempts is equal to or greater than a threshold), the system determines that it is impossible to acquire the height of soil e at the currently targeted soil removal location Q, and proceeds to step SB9 without storing the height of soil e in the storage unit 186 (i.e., skipping step SB8).

[0113] If the determination in step SB9 is NO, the system proceeds to step SB12, in which the main control unit 185 determines whether the height of soil e at at least one of the nine soil removal positions Q1 to Q9 is stored in the storage unit 186. If this determination is NO (i.e., if the system fails to obtain the height of soil e at all soil removal positions Q1 to Q9), the system terminates the automatic operation control without performing the leveling work by the work device 3. If this determination is YES, the system proceeds to step SB13.

[0114] In step SB13, the main control unit 185 inputs a command signal to the work device drive unit 150 to cause the work device 3 to perform the leveling work described above, and then terminates the automatic operation control.

[0115] As shown in this modified example, the automatic driving device 101 of this disclosure is also useful when the predetermined operation performed by the work device 3 is leveling soil e. With this automatic driving device 101, it is possible to avoid problems such as the work device 3 missing its target during leveling work, or the bucket 6 being too low during leveling work and interfering with the cargo bed 22 of the dump truck 20. Therefore, it is possible to suppress the decrease in work efficiency caused by missing its target, and to prevent damage to the dump truck 20 due to interference between the bucket 6 and the cargo bed 22.

[0116] Furthermore, in this modified example, the controller 110 is configured to cause the work device 3 to perform leveling work based on the height of the soil e obtained by the height acquisition process at at least one of the multiple excavation start positions P, when it is determined that the value of the abnormality determination parameter does not fall under a predetermined abnormality condition at that at least one excavation start position P.

[0117] With this configuration, if a height acquisition process is performed at at least one of the multiple excavation start positions P, the leveling work by the work device 3 is performed based on the height acquired by the height acquisition process, thereby improving work efficiency.

[0118] (Other Embodiments) Although embodiments and modified versions of the automatic driving device 101 of the present disclosure have been described above, the present disclosure is not limited thereto.

[0119] (1) In the above embodiment 1, the controller 110 is configured to stop the height acquisition process for an excavation start position P (step SA12) that has been determined to be a position where height acquisition is not possible among the excavation start positions P1 to P8, but it is not limited to this. That is, the controller 110 may be configured to execute the operation control of the work device 3, including the height acquisition process, again if predetermined conditions are met after the determination that an excavation start position P has been determined to be a position where height acquisition is not possible. With this configuration, even if an excavation start position P has been determined to be a position where height acquisition is not possible, if the situation subsequently becomes such that height acquisition is possible (for example, if the abnormality of the LIDAR 120 is resolved, or if the shape of the soil E that was interfering with detection by the LIDAR 120 changes or is removed), the height acquisition process can be executed again for that excavation start position P.

[0120] Here, the predetermined conditions may include at least one of the following: a predetermined time has elapsed since the first excavation operation by the work device 3 was started from one of the multiple excavation start positions P1 to P8; and the controller 110 has received a request from an external terminal (for example, an input device 140 or a tablet terminal 170) to re-execute the excavation operation for a position where height acquisition is impossible (i.e., a request to re-execute the processing from step SA4 onwards). As an example, if this predetermined condition is met, the controller 110 may return to step SA3 even if it is in the process of executing the processing from step SA5 onwards. With this configuration, it is possible to attempt to re-execute the height acquisition process for a position where height acquisition is impossible without performing complex control processing.

[0121] (2) In each of the embodiments and modifications described above, the detection sensor is composed of a LIDAR 120 that acquires values ​​related to the height of the soil E, which is the work object (point cloud data including three-dimensional coordinate position), but is not limited thereto. The detection sensor may be a sensor that detects the height of the soil E, which is the work object, itself. Other examples of detection sensors include, for example, a millimeter-wave radar or a stereo camera.

[0122] (3) In each of the above embodiments and modifications, the automatic driving device 101 has one controller 110, but it is not limited to this, and each function performed by the controller 110 may be realized by multiple controllers. For example, a separate controller having the function of the height acquisition unit 113 may be provided.

[0123] (4) In each of the embodiments and modifications described above, the automatic driving device 101 may be attached to the work machine 100, or it may be installed in a location away from the work machine 100 and configured to communicate with the work machine 100 wirelessly or by wire. Alternatively, for example, only the controller 110 of the automatic driving device 101 may be installed in a location away from the work machine 100.

[0124] (5) In each of the embodiments and modifications described above, the abnormality determination parameter includes the value detected by the LIDAR 120 and the height of the work object (soil E or soil e) obtained by the height acquisition process, but is not limited to this. That is, the abnormality determination parameter may include only one of the values ​​detected by the LIDAR 120 or the height of the work object (soil E or soil e) obtained by the height acquisition process. Furthermore, the threshold value (a value that defines the range of values ​​or the range of derivative values) used in the determination process to determine whether or not a predetermined abnormality condition is met may be any value.

[0125] (6) The scope of the art of this disclosure includes any combination of the embodiments described above.

[0126] The specific embodiments described above mainly include the following configurations.

[0127] (1) An automatic driving device relating to one aspect of the present disclosure is an automatic driving device for controlling the automatic driving of a work machine having a work device, comprising: a detection unit that detects the height of a work object present at a work target position or a value related to said height as a detected value; and a controller that performs operation control of the work device, wherein the operation control includes: a height acquisition process that acquires the height of the work object at the work target position based on the detected value; a determination process that determines whether the value of an abnormality determination parameter, which includes at least one of the detected value and the height of the work object acquired by the height acquisition process, falls under a predetermined abnormal condition; and a main control process that, if it is determined that the value of the abnormality determination parameter does not fall under the predetermined abnormal condition, causes the work device to perform a predetermined operation at the work target position based on the height of the work object at the work target position acquired by the height acquisition process, while if it is determined that the value of the abnormality determination parameter falls under the predetermined abnormal condition, prevents the work device from performing the predetermined operation at the work target position.

[0128] With this configuration, if the height of the work object at the work location fails to be obtained (i.e., if the value of the abnormality determination parameter matches a predetermined abnormality condition), the predetermined work by the work device will not be performed, thus improving work efficiency. Here, the abnormality determination parameter includes at least one of the value detected by the detection unit and the height of the work object obtained by the height acquisition process. The former, the value detected by the detection unit, is useful for determining whether the detection unit itself is abnormal. The latter, the height of the work object obtained by the height acquisition process, is useful for determining whether the detection unit itself is functioning normally, but whether the correct height can be obtained due to the influence of changes in the shape of the work object around the work location.

[0129] (2) In the automatic driving device described in (1), in the main control process, if the value of the abnormality determination parameter is determined to be in accordance with the predetermined abnormality conditions in the determination process, after the determination, the height acquisition process and the determination process are repeatedly executed on the same work target position without changing the work target position by the work device. If the number of times the height acquisition process is executed reaches a predetermined number of times without the abnormality determination parameter being in accordance with the predetermined abnormality conditions, the work target position by the work device is changed without having the work device perform the predetermined work at the work target position, and the operation control of the work device is executed on the changed work target position.

[0130] With this configuration, the height acquisition process and the judgment process are repeatedly executed for the same work target position, thus reducing the possibility of the work target position being unnecessarily changed due to a misjudgment during the judgment process.

[0131] (3) In the automatic driving device of (1) or (2) above, the number of work target positions is multiple, the predetermined work is an excavation work, the detection unit is provided on the work machine, the controller sets an order in which to attempt to perform the predetermined work for each of the multiple work target positions, and executes the operation control of the work device for each of the work target positions while sequentially changing the work target positions according to the set order, and when setting the order, it is preferable that the distance between the detection unit and each of the work target positions in a plan view is calculated, and the work target positions that are closer in the calculated distance are set to an earlier order.

[0132] With this configuration, excavation work (predetermined work) is performed sequentially starting from the work target location that is closest in planar distance (distance in a plan view) from the detection unit installed on the work machine. This reduces the possibility of detecting an abnormal height that differs from the actual height during the height acquisition process. In other words, if work target locations that are farther from the detection unit are excavated first, the height of the work object (e.g., soil on the ground) at that work target location will be relatively lower than the height of work objects located closer to the detection unit. As a result, a problem arises where work objects located closer to the detection unit interfere with detection by the detection unit. In contrast, with the above configuration, this problem can be avoided by setting an earlier order for work target locations that are closer to the detection unit.

[0133] (4) In the automatic driving device described in (2) above, there are multiple work target positions, and the controller is configured to execute the operation control for each of the multiple work target positions while sequentially changing the work target positions according to a predetermined order for each of the multiple work target positions, and when the number of times the height acquisition process is executed reaches a predetermined number of times during the execution of the operation control for each of the work target positions, the controller is configured to determine the current work target position as a height acquisition impossible position where the height cannot be acquired, and to change the work target position by the work device to the next work target position in the order, and it is preferable that the controller is configured to execute the operation control again for a work target position that has been determined to be a height acquisition impossible position among the multiple work target positions if a predetermined condition is met after the determination.

[0134] With this configuration, even if a work target location is initially determined to be a location where height acquisition is impossible, if the situation subsequently becomes such that height acquisition becomes possible (for example, if the abnormality of the detection unit itself is resolved, or if the shape of the work target that was interfering with detection by the detection unit changes or the work target is removed), the height acquisition process can be executed again for that work target location.

[0135] (5) In the automatic driving device described in (4) above, it is preferable that the predetermined conditions include at least one of the following: a predetermined time has elapsed since the first predetermined work was started by the work device at one of the multiple work target positions; and the controller has received a request from an external terminal to re-execute the operation control for the position where height cannot be obtained.

[0136] This configuration allows for a re-attempt at obtaining height information for positions where height information could not be obtained, without requiring complex control processing.

[0137] (6) The automatic driving device according to (4) or (5) further comprises a display unit for displaying information, and the controller is preferably configured to further perform a display process to display on the display unit at least one of the following for each of the plurality of work target positions: first information indicating whether or not it falls under the height acquisition impossible position, and second information indicating the number of times the predetermined work is performed when it falls under the height acquisition impossible position.

[0138] With this configuration, operators (e.g., managers of automated driving systems) can easily recognize which of the multiple work target locations is a location where height acquisition is impossible by looking at the first information displayed on the display unit. Therefore, operators can be reassured without being led to mistakenly believe that the automated driving system has malfunctioned. In addition, operators can easily recognize the number of times a predetermined task has been performed at a location where height acquisition is impossible by looking at the second information displayed on the display unit, thus providing guidance on how to proceed with subsequent tasks.

[0139] (7) In any one of the automatic operation devices described in (1) to (6) above, the predetermined operation is preferably an excavation operation.

[0140] The configuration of the automated driving device described herein is particularly useful when the prescribed operation is excavation. This automated driving device can prevent the work equipment from misfiring during excavation and the lifting of the work object caused by the excavation reaction force due to excessive depth, thereby improving work efficiency.

[0141] (8) In the automatic driving device of (1) above, there are a plurality of work target positions, the work device has a bucket for holding the work target, the plurality of work target positions are set in a predetermined direction on the upper surface of the vehicle's cargo bed, the work target is a mountain-shaped work target positioned at each of the plurality of work target positions, and the predetermined work is preferably a leveling operation in which the work target at each work target position is leveled to the predetermined height by moving the bucket along the predetermined direction so as to pass over each of the work target positions while maintaining the bucket at a predetermined height from the upper surface of the cargo bed.

[0142] Thus, the automated driving system of this disclosure is useful even when the prescribed task is leveling the workpiece. This automated driving system makes it possible to avoid problems such as the workpiece missing its target during leveling operations and the bucket being too low to interfere with the vehicle's cargo bed during leveling operations. Therefore, it is possible to suppress the decrease in work efficiency caused by missing its target and prevent damage to the vehicle due to interference between the bucket and the cargo bed.

[0143] (9) In the automatic driving device described in (8) above, the controller is configured to perform the operation control for each of the plurality of work target positions, and in the main control process, if the determination process at each of the work target positions determines that the value of the abnormality determination parameter at at least one of the plurality of work target positions does not fall under the predetermined abnormality condition, it is preferable to have the work device perform the leveling work as the predetermined work based on the height of the work object obtained by the height acquisition process at that at least one work target position.

[0144] With this configuration, if a height acquisition process is performed at at least one of the multiple work target locations, leveling work is performed based on the height acquired by that height acquisition process, thereby improving work efficiency.

[0145] (10) In the automatic driving device of (1) above, the work machine is configured to be movable, and the controller, when executing the operation control, sets a work area and sets the work target position within the set work area, determines whether the execution of the operation control of the work device at the work target position within the set work area is completed, and if it is determined that it is completed, it determines whether there is space to set a new work area adjacent to the work area, and if it is determined that there is, sets the new work area and sets the work target position within the new work area, and preferably moves the work machine to a position where the work device can perform the predetermined work with respect to the work target position.

[0146] With this configuration, if there is space to set up a new work area, the work machine will automatically move to a workable position in the new work area, thereby improving work efficiency as much as possible.

Claims

An automatic driving device for controlling the automatic operation of a work machine having a work device, A detection unit that detects the height of the work object located at the work target position or a value related to said height as a detected value, The device comprises a controller that performs operation control of the work device, The aforementioned operation control is, Based on the detected value, a height acquisition process is performed to acquire the height of the work object at the work target position, A determination process that determines whether the value of an abnormality determination parameter, which includes at least one of the detected value and the height of the work object obtained by the height acquisition process, falls under a predetermined abnormality condition, Automatic operation device, which includes a main control process that, if it is determined that the value of the abnormality determination parameter does not fall under the predetermined abnormality conditions, causes the work device to perform a predetermined operation at the work target position based on the height of the work object at the work target position obtained in the height acquisition process, while if it is determined that the value of the abnormality determination parameter falls under the predetermined abnormality conditions, prevents the work device from performing the predetermined operation at the work target position. 　 In the automatic driving device according to claim 1, In the main control process, if the determination process determines that the value of the abnormality determination parameter corresponds to the predetermined abnormality condition, the height acquisition process and the determination process are repeatedly executed on the same work target position without changing the work target position by the work device after the determination. If the number of times the height acquisition process is executed reaches a predetermined number of times without the abnormality determination parameter no longer corresponding to the predetermined abnormality condition, the work target position by the work device is changed without having the work device perform the predetermined work at the work target position, and the operation control of the work device is executed on the changed work target position. 　 In the automatic driving device according to claim 1 or 2, The number of work target locations is multiple, The detection unit is provided in the work machine, The aforementioned specified work is excavation work, The controller is configured to set an order in which to attempt to perform the predetermined work for each of the multiple work target positions, and to execute the operation control of the work device for each of the work target positions while sequentially changing the work target positions according to the set order, and when setting the order, the distance between the detection unit and each work target position in a plan view is calculated, and the work target position that is closer in the calculated distance is set to an earlier order, in this automatic operation device. 　 In the automatic driving device according to claim 2, The number of work target locations is multiple, The controller is configured to execute the operation control for each of the multiple work target positions while sequentially changing the work target position according to a predetermined order for each of the work target positions, and when the number of times the height acquisition process is executed reaches a predetermined number of times during the execution of the operation control for each work target position, the controller is configured to determine the current work target position as a height acquisition impossible position where the height cannot be acquired, and to change the work target position by the work device to the next work target position in the order. The controller is configured to perform the operation control again on a work target position that has been determined to be a position where height acquisition is impossible, even if such position has been determined to be a position where height acquisition is impossible, if predetermined conditions are met after the determination. 　 In the automatic driving device according to claim 4, An automatic driving device in which the predetermined conditions include at least one of the following: a predetermined time has elapsed since the first predetermined work was started by the work device at one of the multiple work target positions; and the controller has received a request from an external terminal to re-execute the operation control for the position where height cannot be obtained. 　 In the automatic driving device according to claim 4 or 5, It further includes a display unit for displaying information, The controller is configured to further perform a display process on the display unit to display at least one of the following for each of the plurality of work target positions: first information indicating whether or not it falls under the position where height acquisition is impossible, and second information indicating the number of times the predetermined work is performed when it falls under the position where height acquisition is impossible. 　 In the automatic driving device according to any one of claims 1 to 6, The aforementioned predetermined operation is an excavation operation, as described in the automated operation device. 　 In the automatic driving device according to claim 1, The number of work target locations is multiple, The work device has a bucket for holding the work object, The aforementioned multiple work target positions are set on the upper surface of the vehicle's cargo bed, aligned in a predetermined direction. The work objects are mountain-shaped work objects placed at each of the multiple work location positions, The predetermined operation is an automatic operation device in which the bucket is moved along the predetermined direction so as to pass over each of the work target positions while maintaining the bucket at a predetermined height above the top surface of the loading platform, thereby leveling the work target at each work target position to the predetermined height. 　 In the automatic driving device according to claim 8, The controller is configured to perform the operation control for each of the plurality of work target positions, In the main control process, if the determination process at each of the work target positions determines that the value of the abnormality determination parameter at at least one of the plurality of work target positions does not fall under the predetermined abnormality condition, the automatic operation device causes the work device to perform the leveling work as the predetermined work, based on the height of the work target obtained by the height acquisition process at that at least one work target position. 　 In the automatic driving device according to claim 1, The aforementioned work machine is configured to be mobile, The controller is configured to set a work area and set the work target position within the set work area when executing the operation control, to determine whether the execution of the operation control of the work device at the work target position within the set work area has been completed, and if it is determined that it has been completed, to determine whether there is space to set a new work area adjacent to the work area, and if it is determined that there is, to set a new work area and set the work target position within the new work area, and to move the work machine to a position relative to the work target position in which the work device can perform the predetermined work.

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