JP2021107638A - System and method for controlling working machine - Google Patents

Abstract

To provide a working machine allowing soil placing operation to be efficiently performed through automatic control of the working machine.SOLUTION: A controller determines a target slope on a soil placing area. The controller determines cubic volumes of a plurality of soil mountains arranged in the soil placing area and a plurality of target positions of the plurality of soil mountains in the soil placing area based on the target slope. The controller controls the working machine to place the plurality of soil mountains on the plurality of target positions. The controller controls the working machine based on the target slope to allow the plurality of soil mountains placed on the target positions to be leveled.SELECTED DRAWING: Figure 7

Description

The present disclosure relates to systems and methods for controlling work machines.

The work machine may carry out the work of transporting soil from one position to another (hereinafter referred to as "soil placement work"). For example, in Patent Document 1, the work machine carries a plurality of piles of soil and arranges them linearly on the ground. The work machine runs on a plurality of mountains and smoothes the plurality of mountains by a work machine such as a blade. As a result, a gradient is formed on the ground.

U.S. Pat. No. 9,803,336

The above-mentioned soil placement work requires skillful skills. In particular, deciding how to place multiple mountains on the ground is not easy for an inexperienced operator. An object of the present disclosure is to efficiently perform soil placement work by automatic control of a work machine.

The system according to the first aspect of the present disclosure is a system for controlling a work machine. The system according to this aspect includes a position sensor and a controller. The position sensor outputs position data indicating the position of the work machine. The controller acquires the position data. The controller acquires the information of the soil placement area. The controller determines the target slope of the soil area. From the target gradient, the controller determines the volume of the plurality of soil piles arranged in the soil placement area and the plurality of target positions of the plurality of piles in the soil placement area. The controller controls the work machine to place a plurality of ridges at a plurality of target positions. The controller controls the work machine based on the target gradient so as to level a plurality of peaks placed at a plurality of target positions.

The method according to the second aspect of the present disclosure is a method for controlling a work machine. The method according to this aspect includes the following processing. The first process is to acquire position data indicating the position of the work machine. The second process is to acquire information on the soil placement area. The third process is to determine the target slope of the soil area. The fourth process is to determine the volume of the plurality of soil piles arranged in the soil placement area and the plurality of target positions of the plurality of piles in the soil placement area from the target gradient. Is to control the work machine to place multiple peaks at multiple target positions. The sixth process is to control the work machine based on the target gradient so as to level the plurality of peaks placed at the plurality of target positions.

According to the present disclosure, soil placement work can be efficiently performed by automatic control of the work machine.

It is a side view which shows the work machine which concerns on embodiment. It is a block diagram which shows the structure of the drive system of a work machine and a control system. It is a flowchart which shows the process of automatic control of a work machine. It is a side view of the soil placement area. It is a side view of the soil placement area. It is a flowchart which shows the process of automatic control of a work machine. It is a figure which shows the side view and the top view of the earth-placed area. It is a block diagram which shows the structure of the drive system and the control system of the work machine which concerns on another embodiment.

Hereinafter, the control system and the control method of the work machine 1 according to the embodiment will be described with reference to the drawings. FIG. 1 is a side view showing the work machine 1 according to the embodiment. The work machine 1 according to the present embodiment is a bulldozer. The work machine 1 includes a vehicle body 11, a traveling device 12, and a work machine 13.

The vehicle body 11 has a driver's cab 14 and an engine chamber 15. A driver's seat (not shown) is arranged in the driver's cab 14. The engine chamber 15 is arranged in front of the driver's cab 14. The traveling device 12 is attached to the lower part of the vehicle body 11. The traveling device 12 has a pair of left and right tracks 16. In FIG. 1, only the left track 16 is shown. As the track 16 rotates, the work machine 1 travels.

The working machine 13 is attached to the vehicle body 11. The working machine 13 has a lift frame 17, a blade 18, and a lift cylinder 19. The lift frame 17 is attached to the vehicle body 11 so as to be movable up and down. The lift frame 17 supports the blade 18.

The blade 18 is arranged in front of the vehicle body 11. The blade 18 moves up and down as the lift frame 17 moves up and down. The lift cylinder 19 is connected to the vehicle body 11 and the lift frame 17. As the lift cylinder 19 expands and contracts, the lift frame 17 moves up and down.

FIG. 2 is a block diagram showing a configuration of the drive system 2 of the work machine 1 and the control system 3. As shown in FIG. 2, the drive system 2 includes an engine 22, a hydraulic pump 23, and a power transmission device 24.

The hydraulic pump 23 is driven by the engine 22 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 23 is supplied to the hydraulic actuator 25. The hydraulic actuator 25 includes the lift cylinder 19 described above. Although one hydraulic pump 23 is shown in FIG. 2, a plurality of hydraulic pumps may be provided.

A control valve 26 is arranged between the hydraulic actuator 25 and the hydraulic pump 23. The control valve 26 is a proportional control valve and controls the flow rate of hydraulic oil supplied from the hydraulic pump 23 to the lift cylinder 19. The control valve 26 may be a pressure proportional control valve. Alternatively, the control valve 26 may be an electromagnetic proportional control valve.

The power transmission device 24 transmits the driving force of the engine 22 to the traveling device 12. The power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears. Alternatively, the power transmission device 24 may be another type of power transmission device such as HST (Hydro Static Transmission).

The control system 3 includes a controller 31, a machine position sensor 32, a communication device 33, a storage 34, and an input device 35. The controller 31 is programmed to control the work machine 1 based on the acquired data. The controller 31 includes a memory 38 and a processor 39. The memory 38 includes, for example, a RAM (Random Access Memory) and a ROM (Read Only Memory). The storage 34 includes, for example, a semiconductor memory, a hard disk, or the like. The memory 38 and the storage 34 record computer commands and data for controlling the work machine 1.

The processor 39 is, for example, a CPU, but may be another type of processor 39. The processor 39 executes a process for controlling the work machine 1 based on computer commands and data stored in the memory 38 or the storage 34. The communication device 33 is, for example, a module for wireless communication, and communicates with an external device of the work machine 1. The communication device 33 may use a mobile communication network. Alternatively, the communication device 33 may use a LAN (Local Area Network) or another network such as the Internet.

The machine position sensor 32 detects the position of the work machine 1. The mechanical position sensor 32 includes, for example, a GNSS (Global Navigation Satellite System) receiver such as a GPS (Global Positioning System). The machine position sensor 32 is mounted on the vehicle body 11. Alternatively, the machine position sensor 32 may be mounted at another position such as the working machine 13. The controller 31 acquires the current position data indicating the current position of the work machine 1 from the machine position sensor 32.

The input device 35 can be operated by an operator. The input device 35 includes, for example, a touch screen. Alternatively, the input device 35 may include other controls such as hard keys. The input device 35 accepts an operation by the operator and outputs a signal indicating the operator's operation to the controller 31.

The controller 31 controls these devices by outputting command signals to the engine 22, the hydraulic pump 23, the power transmission device 24, and the control valve 26. For example, the controller 31 operates the hydraulic actuator 25 by controlling the capacity of the hydraulic pump 23 and the opening degree of the control valve 26. As a result, the working machine 13 can be operated.

The controller 31 runs the work machine 1 by controlling the rotation speed of the engine 22 and the power transmission device 24. For example, when the power transmission device 24 is an HST, the controller 31 controls the capacity of the hydraulic pump of the HST and the capacity of the hydraulic motor. When the power transmission device 24 is a transmission having a plurality of transmission gears, the controller 31 controls an actuator for gear shifting. Further, the controller 31 turns the work machine 1 by controlling the power transmission device 24 so that the left and right crawler belts 16 have a speed difference.

The controller 31 automatically runs the work machine 1 by controlling the engine 22 and the power transmission device 24. Further, the controller 31 automatically controls the working machine 13 by controlling the engine 22, the hydraulic pump 23, and the control valve 26.

Hereinafter, the automatic control of the soil placement work performed by the work machine 1 at the work site will be described. FIG. 3 is a flowchart showing a process of automatic control of the work machine 1. As shown in FIG. 3, in step S101, the controller 31 acquires the current position data. The controller 31 acquires the current position data from the machine position sensor 32.

In step S102, the controller 31 acquires the area data. The area data is data indicating the position of the soil placement area 40 of the work site. FIG. 4 is a side view of the soil placement area 40. For example, the area data includes the plane coordinates and height of the surface of the earth-placed area 40. The earth-placed area 40 includes the farthest end 41 and the latest end 42. The farthest end 41 is located in front of the nearest end 42 in the predetermined working direction A1. The controller 31 may receive the area data from an external computer. The area data may be predetermined and stored in the storage in the storage 34. The area data may be input by the operator via the input device 35.

In step S103, the controller 31 determines the target gradient 43. The target gradient 43 extends from the latest end 42 of the soil placement area 40 toward the farthest end 41. In step S104, the controller 31 determines the target locus 44. The target locus 44 is parallel to the target gradient 43 and is located above the target gradient 43. In step S105, the controller 31 determines the target position 51-58 of the soil pile 61-68 within the soil placement area 40. The process for determining the target gradient 43, the target locus 44, and the target position 51-58 of the mountain 61-68 will be described later.

In step S106, the controller 31 controls the work machine 1 to arrange the peaks 61-68 at each target position 51-58. The controller 31 starts soil placement from the target position 51 located at the farthest end 41. The controller 31 finishes the soil placement at the target position 58 located at the nearest end 42. The controller 31 arranges the ridges 61-68 in order from the target positions 51-58 near the farthest end 41. The controller 31 arranges the plurality of ridges 61-68 so that at least a part of the plurality of ridges 61-68 is higher than the target gradient 43.

The controller 31 carries soil a plurality of times with respect to one target position to form a mountain at the target position. The controller 31 acquires the setting data of the soil placement. The set data includes the number of soil transports for each target position 51-58. The controller 31 may receive the setting data from an external computer. The setting data may be determined in advance and stored in the storage in the storage 34. The setting data may be input by the operator via the input device 35.

For example, in the order from the farthest end 41 to the latest end 42, n times and m times are alternately set at the target positions 51-58 as the number of times of transportation. n times is more than m times. Specifically, in the example shown in FIG. 3, the plurality of target positions 51-58 include the first to eighth target positions 51-58. The first target position 51 is located at the farthest end 41. The eighth target position 58 is located at the nearest end 42. The number of times of transportation of the first target position 51 is n times. The number of times of transportation of the second target position 52 is m times. The number of times of transportation of the third target position 53 is n times. The number of times of transportation of the fourth target position 54 is m times. After that, the number of transportations is similarly assigned to the 5th to 8th target positions 55-58.

In step S107, the controller 31 controls the work machine 1 according to the target locus 44. The controller 31 moves the blade 18 along the target locus 44 while moving the work machine 1 in the predetermined work direction A1 within the soil placement area 40. As a result, the piles of soil 61-68 are leveled by the blade 18. Then, when the work machine 1 runs on the leveled soil, the soil is compacted, and as shown in FIG. 5, a gradient 45 is formed according to the target gradient 43.

In step S108, the controller 31 determines whether the formed gradient 45 has reached the specified gradient. For example, the controller 31 detects the tilt angle of the formed gradient 45. When the inclination angle of the formed gradient 45 matches the inclination angle of the specified gradient, the controller 31 determines that the formed gradient 45 has reached the specified gradient. When the formed gradient 45 does not reach the specified gradient, the process returns to step S101, and the processes of steps S101 to S109 described above are repeated. As a result, as shown in FIG. 5, the gradients 46 and 47 of the plurality of layers are stacked until the formed gradient 45 reaches the specified gradient.

Next, a process for determining the target gradient 43, the target locus 44, and the target position 51-58 of the mountain 61-68 will be described. FIG. 6 is a flowchart showing a process for determining a target gradient 43, a target locus 44, and a target position 51-58 of a mountain 61-68. As shown in FIG. 6, in step S201, the controller 31 determines the compression height H1 of the farthest mountain 61. As shown in FIG. 3, the farthest mountain 61 is a mountain placed at the target position 51 of the farthest end 41. The compression height H1 is the height of the farthest mountain 61 after being compacted by the work machine 1. The controller 31 acquires the compression ratio of the farthest mountain 61. The compression ratio is included in the above-mentioned setting data. The controller 31 calculates the compression height H1 of the farthest mountain 61 from the height and the compression ratio of the farthest mountain 61.

In step S202, the controller 31 determines the target gradient 43, and the controller 31 determines the straight line connecting the height position of the farthest mountain 61 after compression and the latest end 42 as the target gradient 43.

In step S203, the controller 31 determines the displacement H2 at the height of the farthest mountain 61. As shown in FIG. 3, the controller 31 calculates the displacement H2 of the height of the farthest mountain 61 due to the rolling compaction of the work machine 1. In step S204, the controller 31 determines the target locus 44. The controller 31 determines the target locus 44 by displacing the target gradient 43 upward by the displacement H2 at the height of the farthest mountain 61.

In step S205, the controller 31 determines the shape of the ridges 61-68. For example, the above-mentioned setting data includes data that approximately indicates the three-dimensional shape of the peaks 61-68 according to the number of times of transportation. The controller 31 determines the shape of the ridges 61-68 arranged at each target position 51-58 by referring to the data.

In step S206, the controller 31 determines the target positions 51-58. FIG. 7 shows a side view and a top view of the soil placement area 40. As shown in FIG. 7, the controller 31 determines the plurality of target positions 51-58 so that at least a part of the plurality of peaks 61-68 is spaced from each other. The controller 31 determines the target position 51-58 so that the volume of the leveling portions 73,75-78 of each ridge 61-68 matches the volume of the spacing 83,85-88 between the ridges 61-68. do. The leveling portions 73 and 75-78 are portions located above the target gradient 43 in each mountain 61-68.

Specifically, in the example of FIG. 7, the controller 31 determines the third target position 53 so that the volume of the third leveling portion 73 matches the volume of the third interval 83. The third leveling portion 73 is a leveling portion of the mountain 63 at the third target position 53. The third interval 83 is an interval between the mountain 63 at the third target position 53 and the mountain 62 at the second target position 52. The controller 31 determines the fifth target position 55 so that the volume of the fifth leveling portion 75 matches the volume of the fifth interval 85. The fifth leveling portion 75 is a leveling portion of the mountain 65 at the fifth target position 55. The fifth interval 85 is an interval between the mountain 65 at the fifth target position 55 and the mountain 64 at the fourth target position 54. Similarly, the controller 31 determines the sixth target position 56 so that the volume of the sixth leveling portion 76 matches the volume of the sixth interval 86. The controller 31 determines the seventh target position 57 so that the volume of the seventh leveling portion 77 coincides with the volume of the seventh interval 87.

For a mountain that does not include a portion located above the target gradient 43, the controller 31 determines as a target position a position separated by a predetermined distance D1 from the target position of the mountain located immediately before. The target position is fixed for the mountain at the latest end 42. Therefore, the controller 31 adjusts the number of times the mountain at the latest end 42 is transported so that the volume of the leveled portion of the mountain at the latest end 42 matches the volume of the interval in front of the mountain at the end position. In the example shown in FIG. 7, the controller 31 adjusts the number of times of transporting the mountain 68 at the eighth target position 58 so that the volume of the eighth leveling portion 78 matches the volume of the eighth interval 88.

In the control system 3 and the control method of the work machine 1 according to the present embodiment described above, from the target gradient 43 and the volumes of the plurality of peaks 61-68, the plurality of targets of the plurality of peaks 61-68 in the soil placement area 40 Positions 51-58 are determined. The controller 31 controls the work machine 1 so as to place the plurality of ridges 61-68 at the plurality of target positions 51-58. The controller 31 controls the work machine 1 based on the target gradient 43 so as to level the plurality of peaks 61-68 placed at the plurality of target positions 51-58. As a result, the piles of soil 61-68 are leveled by the blade 18. Then, when the work machine 1 runs on the leveled soil, the soil is compacted and a gradient is formed according to the target gradient 43. As described above, in the control system 3 and the control method of the work machine 1 according to the present embodiment, the soil placement work can be efficiently performed by the automatic control of the work machine 1.

Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention. The work machine 1 is not limited to the bulldozer, and may be another machine such as a wheel loader. The traveling device 12 is not limited to the crawler belt, and may include tires. The work machine 1 may be a vehicle that can be remotely controlled. In that case, the driver's cab may be omitted from the work machine 1.

A part of the control system 3 may be arranged outside the work machine 1. For example, the controller 31 may have a plurality of controllers 31 that are separate from each other. As shown in FIG. 8, the controller 31 may include a remote controller 311 arranged outside the work machine 1 and an in-vehicle controller 312 mounted on the work machine 1. The remote controller 311 and the vehicle-mounted controller 312 may be able to communicate wirelessly via the communication devices 33 and 36. Then, a part of the functions of the controller 31 described above may be executed by the remote controller 311 and the remaining functions may be executed by the in-vehicle controller 312. For example, the process of determining the target gradient 43, the target locus 44, and the target position 51-58 of the mountain 61-68 may be executed by the remote controller 311. The process of operating the work machine 1 may be executed by the vehicle-mounted controller 312.

The automatic control of the work machine 1 may be a semi-automatic control performed in combination with a manual operation by an operator. Alternatively, the automatic control may be a fully automatic control performed without manual operation by the operator. For example, as shown in FIG. 8, the work machine 1 may be remotely controlled by the operator operating the operation device 37 arranged outside the work machine 1.

The process for performing the soil placement work is not limited to the above-mentioned process, and may be changed. For example, a part of the above processing may be changed or omitted. A process different from the above process may be added to the process for performing the soil placement work. The number of transports, the target position, and the arrangement or number of peaks are not limited to those of the above-described embodiment, and may be changed.

Soil placement work may be performed simultaneously by a plurality of work machines 1. In that case, the controllers 31 mounted on the plurality of work machines 1 may autonomously execute the above control. Alternatively, the controller 31 common to the plurality of work machines 1 may execute the above control on the plurality of work machines 1.

According to the present disclosure, soil placement work can be efficiently performed by automatic control of the work machine.

1 Work machine 31 Controller 32 Machine position sensor 41 Farthest end 42 Nearest end 43 Target gradient 44 Target locus 51-58 Target position

Claims (16)

A system for controlling work machines
A position sensor that outputs position data indicating the position of the work machine, and
The controller that acquires the position data and
With
The controller
Get information on the soil area and
Determine the target slope of the soil area and
From the target gradient, the volumes of the plurality of soil piles arranged in the soil placement area and the plurality of target positions of the plurality of soil piles in the soil placement area are determined.
The work machine is controlled so as to place the plurality of ridges at the plurality of target positions.
The work machine is controlled based on the target gradient so as to level the plurality of peaks placed at the plurality of target positions.
system.
The controller determines the plurality of target positions so that at least a part of the plurality of peaks is spaced from each other.
The system according to claim 1.
The controller changes the spacing between the plurality of peaks according to the target slope.
The system according to claim 2.
The controller changes the spacing between the plurality of ridges according to the volume of the plurality of ridges.
The system according to claim 2.
The controller arranges the plurality of ridges so that at least a part of the plurality of ridges is higher than the target slope.
The system according to claim 2.
The controller determines the target position from the volume of the portion of the plurality of peaks located above the target gradient and the volume of the interval between the plurality of peaks.
The system according to claim 5.
The soil placement area includes the most recent end and the farthest end.
The plurality of mountains include the farthest mountain placed at the farthest end.
The controller
Obtain the compressibility of the farthest mountain due to the rolling compaction of the work machine,
The target gradient is determined from the height of the farthest mountain and the compression ratio.
The system according to claim 1.
The work machine includes a work machine.
The controller
The displacement of the height of the farthest mountain due to the rolling compaction of the work machine is acquired.
By displacing the target gradient upward by the displacement of the height, the target locus is determined.
The work machine is controlled so as to move the work machine along the target locus.
The system according to claim 7.
A method for controlling work machines
Acquiring position data indicating the position of the work machine and
Obtaining information on the soil area and
Determining the target slope of the soil area and
From the target gradient, the volume of the plurality of soil piles arranged in the soil placement area and the plurality of target positions of the plurality of soil piles in the soil placement area can be determined.
Controlling the work machine so as to place the plurality of ridges at the plurality of target positions,
Controlling the work machine based on the target gradient so as to level the plurality of peaks placed at the plurality of target positions.
How to prepare.
Further provided, the plurality of target positions are determined so that at least a part of the plurality of mountains is spaced from each other.
The method according to claim 9.
It further comprises changing the spacing between the plurality of peaks according to the target slope.
The method according to claim 10.
It further comprises changing the spacing between the plurality of ridges according to the volume of the plurality of ridges.
The method according to claim 10.
It further comprises arranging the plurality of mountains so that at least a part of the plurality of mountains is higher than the target slope.
The method according to claim 10.
Further, the target position is determined from the volume of the portion of the plurality of mountains located above the target gradient and the volume of the interval between the plurality of mountains.
13. The method of claim 13.
The soil placement area includes the most recent end and the farthest end.
The plurality of mountains include the farthest mountain placed at the farthest end.
To obtain the compressibility of the farthest mountain due to the rolling compaction of the work machine,
Further, the target gradient is determined from the height of the farthest mountain and the compression ratio.
The method according to claim 9.
The work machine includes a work machine.
Acquiring the displacement of the height of the farthest mountain due to the rolling compaction of the work machine, and
By displacing the target gradient upward by the displacement of the height, the target locus can be determined.
Further comprising controlling the work machine to move the work machine along the target locus.
15. The method of claim 15.

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