JP2023015628A - Autonomous operation system of construction machine - Google Patents

Abstract

To provide an autonomous operation system of a construction machine, a system for autonomously controlling the operation of a construction machine, which can estimate a self position of the construction machine with high accuracy.SOLUTION: An autonomous operation system comprises: a map memory unit 51 for memorizing an overall map that shows a movable range of a construction machine; a 3D-LiDAR25 for acquiring point cloud information of the periphery of the construction machine; a mapping unit 52 for creating an environment map of the periphery of the construction machine based on the point cloud information; and a self position estimation unit 53 for estimating the self position of the construction machine in the overall map based on the overall map and the environment map.SELECTED DRAWING: Figure 4

Description

The present invention relates to an autonomous operation system for construction machinery.

For example, in Patent Document 1, as an autonomous operation technology for automatically (autonomously) operating construction machinery, a global positioning system (GPS) or other satellite positioning system (GNSS) is used to estimate the self-position and the estimated self-position. A technique for autonomously operating a construction machine based on its position has been disclosed.

Japanese Unexamined Patent Application Publication No. 2008-8183

On the other hand, at construction sites, there are many locations with poor reception conditions for GNSS (GPS, etc.) along the travel routes of construction machinery, such as places with many obstructions, indoors, and in tunnels. It may be difficult to recognize the position correctly.

An autonomous operation system for a construction machine that solves the above problems is a system for autonomous operation control of a construction machine, comprising: a map storage unit for storing an overall map showing a movable range of the construction machine; a point group information acquisition unit that acquires group information; a mapping unit that creates an environment map around the construction machine based on the point group information; a self-position estimation unit that estimates the self-position of the construction machine.

According to the present invention, the self-position of a construction machine can be estimated with high accuracy even in a place where the reception environment of GNSS such as GPS is poor, and the construction machine can be preferably operated autonomously.

1 is a diagram showing a schematic configuration of an embodiment of an autonomous operation system for construction machinery; FIG. FIG. 1 is a diagram schematically showing the schematic configuration of a construction machine; 1 is a block diagram showing a schematic configuration of an instruction system; FIG. 1 is a block diagram showing a schematic configuration of a construction machine; FIG. (a) A diagram schematically showing a travel route when no obstacle exists, (b) A diagram schematically showing an example of a detour route generated when an obstacle exists, (c) An obstacle exists The figure which shows typically the other example of the detour route produced|generated when doing. 4 is a flowchart showing preparation processing; 4 is a flowchart showing autonomous driving processing;

An embodiment of an autonomous operation system (autonomous operation system for construction machinery) will be described with reference to FIGS. 1 to 7. FIG.
As shown in FIG. 1, an autonomous operation system 10 for a construction machine according to the present embodiment provides autonomous operation control for automatically (autonomously) traveling a construction machine 12 from point A to point B at a construction site 11, for example. It is a system that realizes The autonomous driving system 10 includes an instruction system 13 and an autonomous driving device 14 that are wirelessly communicable with each other. The instruction system 13 transmits various signals, such as the target position of the construction machine 12 and the attitude of the construction machine 12, to the autonomous operation device 14 based on the operator's operation and voice. The autonomous operation device 14 is mounted on the construction machine 12 and receives instructions from the instruction system 13 to drive and control the construction machine 12 .

The instruction system 13 and the autonomous driving device 14 are composed of various information processing devices. The information processing apparatus acquires various kinds of information and executes various processes based on the acquired information, programs and various data stored in a memory. The information processing device can be configured as a circuit including one or more dedicated hardware circuits such as ASIC, one or more processors that operate according to a computer program (software), or a combination thereof. A processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes. Memory or computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.

(Concerning construction machinery)
As shown in FIG. 2, one example of construction machine 12 is a carrier dump.
The carrier dump includes a crawler-type travel device 21 , a body portion 22 that can turn with respect to the travel device 21 , and a loading platform 23 that can tilt with respect to the body portion 22 .

The construction machine 12 is equipped with various sensors for detecting and acquiring information about the operating status of the construction machine 12, such as a sensor for detecting the surrounding environment of the construction machine 12 and a sensor for detecting the operation status of the construction machine 12. there is Detection results of various sensors are input to the autonomous driving device 14 .

As sensors for detecting the surrounding environment of the construction machine 12, the construction machine 12 is equipped with a 3D-LiDAR (Light Detection and Ranging) 25, a 2D-LiDAR 26, a camera 27A, a camera 27B, and the like.

The 3D-LiDAR 25 is a sensor for measuring the distance from the irradiation position to the surface of an object existing in the measurement range, with the circumference of the construction machine 12 as the measurement range. Based on the measurement results of the 3D-LiDAR 25, the autonomous operation device 14 acquires point group information around the construction machine 12 centering on the construction machine 12.

The 2D-LiDAR 26 measures the distance to the surface of an object existing in the measurement range, with the periphery of the construction machine 12 such as the front and sides of the construction machine 12 set as the measurement range. Based on the measurement results of the 2D-LiDAR 26, the autonomous operation device 14 acquires point cloud information in front of the construction machine 12, that is, in the traveling direction. The autonomous driving device 14 detects obstacles based on these point group information.

The camera 27A images the front of the construction machine 12 . The camera 27A can also function as a sensor that detects obstacles in the traveling direction. Further, the construction machine 12 may be equipped with an ultrasonic rangefinder or the like having a detection range in front as a sensor for detecting obstacles in the traveling direction. The camera 27B captures an image of the front of the construction machine 12, for example, from the viewpoint of a worker on the construction machine 12. As shown in FIG.

The construction machine 12 is equipped with a rotary encoder 28, a linear encoder 29, an inclination sensor 30, and the like as sensors for detecting the operation status of the construction machine 12. FIG. The rotary encoder 28 separately detects the number of rotations of the left and right crawler belts that constitute the traveling device 21 . The linear encoder 29 detects the turning angle of the body portion 22 with respect to the travel device 21 . The tilt sensor 30 includes a sensor that detects the tilt angle of the turning section 22, a sensor that detects the tilt angle of the loading platform 23, and the like. In addition, the construction machine 12 is also equipped with a gyro sensor 31 that measures the acceleration (angular velocity) of the construction machine 12 . The autonomous operation device 14 transmits the operation status of the construction machine 12 based on the measurement results of these various sensors to the instruction system 13 as status information.

(About instruction system)
As shown in FIG. 3, the pointing system 13 includes a tablet 35, a voice pointing device 36, and a remote control device 37. As shown in FIG. Each of the tablet 35 , the voice instruction device 36 , and the remote control device 37 is configured to be able to communicate with the autonomous driving device 14 .

The tablet 35 has an input section 42 and a display section 43 .
The input unit 42 includes, for example, a touch panel and the like, and is configured to be operable by an operator. In this embodiment, the input unit 42 is configured to be capable of inputting the target position and relay position of the construction machine 12, the traveling speed and posture of the construction machine 12, the type and amount of cargo, and the like. The relay position is, for example, a position through which the construction machine 12 can reliably travel safely even if the area around the relay position has a high degree of danger. The tablet 35 transmits to the construction machine 12 an input signal indicating the content input through the input unit 42 .

The display unit 43 is, for example, a touch panel display capable of displaying various information. The display unit 43 is configured to display a map of the construction site 11 . This map is based on overall map information including the topography of the construction site 11 and existing structures. The overall map information is composed of point group information of the entire construction site 11 obtained by measuring the entire construction site 11 using 3D-LiDAR, for example. The overall map information is stored, for example, in a map storage unit 51 of the autonomous driving device 14, which will be described later. The tablet 35 displays a map based on the overall map information on the display unit 43 through communication with the autonomous driving device 14 . By tapping the screen of the display unit 43 on which the map of the construction site 11 is displayed, the operator designates the target position and intermediate position of the construction machine 12 .

Further, the display unit 43 is configured to selectively display the status information transmitted from the autonomous driving device 14 to the instruction system 13 . The status information includes an environment map to be described later, the self-position of the construction machine 12 on the overall map, the travel route of the construction machine 12, the acceleration and speed of the construction machine 12, the posture of the construction machine 12, and the captured images of the cameras 27 (27A, 27B). , the presence or absence of obstacles on the travel route, and other information relating to the operation status of the construction machine 12 . The operator grasps the operation status of the construction machine 12 from the status information displayed on the display section 43 .

The voice instruction device 36 is configured to be portable by an operator, for example. The voice instruction device 36 accepts instructions to the construction machine 12 by voice uttered by the operator. The voice instruction device 36 includes a switch for switching on and off, a microphone for converting the operator's voice into an electric signal, and the like. The voice instruction device 36 transmits the electrical signal converted by the microphone when the switch is in the ON state to the construction machine 12 as an audio signal representing the operator's voice. Note that the voice instruction device 36 may be built in the tablet 35 .

The remote control device 37 is a device that allows an operator to remotely control the construction machine 12 . The remote control device 37 is installed, for example, in an operation room provided at a location different from the construction site 11 .
The remote control device 37 has an operation section 46 and a viewpoint display section 47 . The operation unit 46 is composed of various switches, operation levers, and the like that can be operated by the operator. The viewpoint display unit 47 is configured to be able to display the captured image captured by the camera 27</b>B among the status information transmitted by the autonomous driving device 14 . The operator operates the operation section 46 while looking at the viewpoint display section 47 . The remote control device 37 transmits to the autonomous operation device 14 a manual operation signal indicating the operation content of the operation unit 46 by the operator.

(Regarding the autonomous driving device)
As shown in FIG. 4, the autonomous driving device 14 of this embodiment includes a map storage unit 51, a mapping unit 52, a self-position estimation unit 53, an automatic route generation unit 54, a voice control unit 55, a travel control unit 56, a turning control It has a unit 57 , a dump control unit 58 , and a data storage unit 59 .

The map storage unit 51 stores overall map information. The overall map information is information indicating a map of the construction site 11, like the overall map information stored in the tablet 35. FIG.
The mapping unit 52 creates an environment map, which is a map of the surroundings of the construction machine 12 . Specifically, based on the point group information from the 3D-LiDAR 25, the mapping unit 52 creates a map centered on the construction machine 12 as an environment map. The environment map is a map including topography and existing facilities around the construction machine 12 . Also, the environment map is a map that includes objects other than existing objects, such as new installations and workers working around them. The autonomous driving device 14 transmits the environment map created by the mapping unit 52 to the instruction system 13 .

The self-position estimation unit 53 estimates the self-position of the construction machine 12 at the construction site 11 . Specifically, the self-position estimating unit 53 compares the overall map and the environment map, and identifies which area in the overall map the environment map corresponds to based on their feature points. The self-position estimation unit 53 then estimates the center position of the specified area as the self-position of the construction machine 12 at the construction site 11 . The autonomous driving device 14 transmits the self-position estimated by the self-position estimation unit 53 to the instruction system 13 .

The automatic route generation unit 54 automatically generates a route for the construction machine 12 in autonomous operation, and sets the generated route as a travel route for the construction machine 12 .
Upon receiving the target position from the tablet 35, the automatic route generator 54 generates a basic travel route from the self position to the target position, and sets the created basic travel route as the travel route. The basic travel route is composed of positions on the overall map that continue from the self position to the target position. The basic travel route is based on the topography of the construction site 11 and the positions of existing structures included in the overall map information, and the construction machine 12 can easily travel, and the distance from the existing structures is a safe distance (for example, 2 m) or more. This is the route that is preserved. Also, the basic travel route is a route that leads to the target position via the relay position if the relay position is indicated. The safe distance can be arbitrarily set through the tablet 35 or the like.

During autonomous operation, the automatic route generator 54 generates a route for the construction machine 12 on the environmental map based on the environmental map. The automatic route generator 54 generates a route based on the basic travel route each time an environment map is created, and sets the created route as the travel route.

During autonomous operation, the automatic route generator 54 generates a detour based on the set travel route and the environment map, and sets the generated detour as a partial travel route.
The automatic route generation unit 54 determines whether there is an obstacle on the travel route based on the environment map, and generates a detour to avoid collision with the obstacle when the obstacle is present. Specifically, the automatic route generation unit 54 filters the point group information of the 2D-LiDAR 26 in addition to the point group information of the 3D-LiDAR 25 used to create the environment map. Point group information indicating feature points of non-obstacles such as the ground, rain, snow, sand, dust, and other floating objects is removed from the group information. Then, the automatic route generation unit 54 determines the presence or absence of obstacles using the point group information from which non-obstacles have been removed. As a result, for example, an uphill in front of the construction machine 12 is less likely to be detected as an obstacle, so erroneous detection of an obstacle can be easily avoided.

For example, when an obstacle 62 exists on a travel route 61 as shown in FIG. 5(a), the automatic route generation unit 54 generates a detour 63 that bypasses the obstacle 62 as shown in FIG. 5(b). do. Specifically, based on the environment map and the travel route, the automatic route generation unit 54 selects an object whose separation distance from the construction machine 12 is less than the safe distance when the travel route 61 on the environment map is traveled. An obstacle 62 is detected. An obstacle 62 is an object that is not included in the overall map information. The automatic route generation unit 54 that has detected the obstacle 62 generates a detour route 63 that bypasses the obstacle 62 and that is separated from existing objects on the environment map by a safe distance or more. Further, as shown in FIG. 5(c), the automatic route generation unit 54, when the obstacle 64 exists in the detour 63 that bypasses the obstacle 62 shown in FIG. A detour 65 that bypasses 64 is generated.

In addition, the automatic route generator 54 acquires the environmental conditions of the construction machine 12 during autonomous operation, and generates detours according to the environmental conditions. The environmental condition indicates the environment related to the traveling of the construction machine 12, such as the weather, the rigidity of the road surface, and the condition of the road surface. Specifically, the automatic route generation unit 54 performs filtering on the point group information of the 3D-LiDAR 25 and 2D-LiDAR 26 in obstacle detection, and performs feature points according to the environmental situation, that is, for obstacle detection. Feature points such as mud and puddles on the removed ground, rainfall, snowfall, fog, and suspended matter such as sand and dust are extracted. The automatic route generator 54 acquires the environmental conditions of the construction machine 12 based on the extracted feature points. The automatic route generation unit 54 detects obstacles according to the acquired environmental conditions (for example, the presence or absence of floating objects such as mud and puddles on the ground, rain and snow, fog, sand and dust, etc.) Generates a detour to avoid the obstacle accordingly.

More specifically, for example, when the weather is rainy and the rigidity of the track is low (for example, the ground is dirt), the automatic route generation unit 54 selects a position lower than the surroundings, that is, rainwater tends to accumulate and the road becomes muddy. Generate detours around easy locations. Further, for example, when the weather is snow, the automatic route generation unit 54 generates a detour that bypasses an uphill with a gradient greater than a predetermined gradient.

Further, the automatic route generation unit 54 generates a plurality of detours based on the above-described obstacles and environmental conditions, and selects an optimum detour from the plurality of generated detours. For example, the automatic route generation unit 54 generates a detour with a safe distance from obstacles and a plurality of detours with a larger distance from obstacles than the safe distance, while considering the environmental conditions. Then, the automatic route generation unit 54 scores the traveling distance, safety, etc. of each detour, and selects the most appropriate optimal detour based on the scored values.

The autonomous driving device 14 transmits the travel route set by the automatic route generation unit 54 to the instruction system 13 . As a result, the traveling route of the construction machine 12 can be confirmed on the tablet 35 or the like. Further, when safe driving cannot be ensured even if a detour is used, the autonomous driving device 14 makes an emergency stop of the autonomous driving and transmits a signal to that effect to the instruction system 13 .

The voice control unit 55 analyzes the voice signal from the voice instruction device 36 to grasp the contents of instructions from the operator and control the construction machine 12 . For example, the voice control unit 55 holds in advance sample waveforms of voice signals indicating various instructions. The voice control unit 55 comprehends the instruction content of the operator by comparing the waveform of the voice signal from the voice instruction device 36 with a pre-stored sample waveform of the voice signal.

In addition, the voice control unit 55 grasps the content of the operator's instruction as it is with respect to the voice signal indicating the stop of the construction machine 12 . Thus, when an unforeseen situation occurs, the construction machine 12 can be brought to an emergency stop by voice. On the other hand, the voice control unit 55 transmits a confirmation signal to the voice instruction device 36 in response to a voice signal for causing the construction machine 12 to travel or change the posture of the construction machine 12, and waits for a response to the confirmation signal. Understand operator instructions. As a result, malfunction of the construction machine 12 due to voice can be avoided.

The travel control unit 56 drives and controls the travel device 21 of the construction machine 12 .
In autonomous operation, the traveling control unit 56 drives the traveling device 21 so that the construction machine 12 travels along the traveling route set by the automatic route generating unit 54 based on the self-position estimated by the self-position estimating unit 53. Control.

Further, the travel control unit 56 drives and controls the travel device 21 after calibrating the drive control of the travel device 21 . Specifically, based on the detection results of various sensors and the environmental conditions acquired by the automatic route generating unit 54, the travel control unit 56 controls the construction machine to operate under predetermined set conditions regardless of the environmental conditions. The driving device 21 is driven and controlled so that the motor 12 travels. The setting conditions are, for example, the speed when going straight, the speed when going around a curve, and the like. The traveling control unit 56 drives and controls the traveling device 21 based on the detection result of the gyro sensor 31 and the environmental conditions, for example, so that the traveling speed when traveling straight or when traveling in a curve becomes the respective set speed. Note that the travel control unit 56 may be configured to hold a plurality of setting conditions according to the type of cargo, the load amount, etc., and select the setting condition based on the input signal. Further, the load amount may be calculated based on the detection results of various sensors, such as the driving amount of the travel device 21 and the speed of the construction machine 12, after considering the rigidity of the road surface and the state of the road surface in the environmental conditions. good.

In addition, the travel control unit 56 drives and controls the travel device 21 so that the construction machine 12 travels according to the input signal from the tablet 35, the instruction content grasped by the voice control unit 55, and the manual operation signal from the remote control device 37. do.

The turning control unit 57 drives and controls the turning device 66 to perform a turning operation for turning the main body 22 with respect to the travel device 21 . The turning control unit 57 turns the main body 22 based on an input signal from the tablet 35 , a voice instruction signal from the voice instruction device 36 and a manual operation signal from the remote control device 37 .

The dump control unit 58 performs a dump operation (lifting/lowering operation) of the loading platform 23 with respect to the main unit 22 by driving and controlling the dump device 67 . The dumping control unit 58 performs a dumping operation of the loading platform 23 based on an input signal from the tablet 35 , a voice instruction signal from the voice instruction device 36 and a manual operation signal from the remote control device 37 .

The data storage unit 59 stores operation data, which are various data during autonomous operation. The operation data is data that associates the detection results of various sensors, the environmental conditions of the construction machine 12, the driving amount of the travel device 21, and the like. By having such a data storage unit 59, the operation data can be used for setting various conditions in autonomous operation using machine learning, for example.

(Regarding the flow of autonomous driving)
As shown in FIG. 6 , the autonomous driving device 14 starts preparatory processing upon receiving the target position from the instruction system 13 .

In the preparation process, first, the mapping unit 52 generates an environment map (step S101), and the self-position estimation unit 53 estimates the self-position of the construction machine 12 based on the environment map and the overall map (step S102). .

Next, the automatic route generator 54 sets the travel route of the construction machine 12 (step S103). Specifically, the automatic route generator 54 generates a basic travel route based on the self-position estimated in step S101 and the designated target position, and sets the created basic travel route as the travel route. Note that when a relay position is indicated, the automatic route generator 54 generates a basic travel route that passes through the relay position. When the travel route is set, the autonomous driving device 14 ends the preparation process and starts the autonomous driving process.

As shown in FIG. 7, in the autonomous operation process, the travel control unit 56 causes the construction machine 12 to travel along the set travel route, while the mapping unit 52 creates an environment map (step S201). The estimation unit 53 estimates the self-position (step S202). Then, the autonomous driving device 14 determines whether or not the self-position estimated in step S202 is the target position (step S203).

If the self-position is not the target position (step S203: NO), route generation by the automatic route generation unit 54 (step S204) is performed. In route generation (step S204), the automatic route generation unit 54 generates a route for the construction machine 12 on the environment map based on the basic travel route, and sets the generated route as the travel route.

Next, the automatic route generator 54 determines whether a detour is necessary (step S205). In this necessity determination, the automatic route generation unit 54 determines whether a detour is necessary based on the presence or absence of obstacles on the travel route set in step S204. Then, if a detour is necessary (step S205: YES), the automatic route generator 54 generates a detour (step S206), selects an optimal detour (step S207), and partially selects the optimal detour. set a suitable driving route.

In the autonomous driving process, a series of processes from step S201 to step S207 are repeated until the target position is reached (step S203: YES). In the route generation in step S204, a route including the optimum detour route selected in step S207 is generated. As a result, the construction machine 12 travels to the target position while avoiding obstacles by traveling along the basic travel route and, if necessary, traveling through detours.

Effects of the present embodiment will be described.
(1) The autonomous operation system 10 that autonomously operates the construction machine 12 includes a map storage unit 51 that stores an overall map showing the movable range of the construction machine 12, and point group information that acquires point group information around the construction machine 12. Based on the 3D-LiDAR 25 as an acquisition unit, the mapping unit 52 that creates an environment map around the construction machine 12 based on the point cloud information, and the overall map and the environment map, the self-position of the construction machine 12 on the overall map is determined. and a self-position estimation unit 53 for estimating. As a result, the self-position of the construction machine 12 can be estimated with high accuracy even in a place where the reception environment for GNSS such as GPS is poor.

(2) The autonomous operation system 10 includes an automatic route generator 54 that automatically generates a travel route for the construction machine 12 . As a result, the travel route for the construction machine 12 is automatically generated by the automatic route generator 54, so that the time required for setting the travel route can be shortened.

(3) Based on the environment map, the automatic route generation unit 54 generates a detour that avoids collisions with obstacles in the travel route. As a result, even if there is an obstacle that is not included in the overall map information on the travel route of the construction machine 12, the construction machine 12 can travel around the obstacle.

(4) The automatic route generation unit 54 executes a filtering process for extracting feature points according to the environmental conditions around the construction machine 12 from the point cloud information acquired by the 3D-LiDAR 25 and 2D-LiDAR 26, and performs environmental conditions. , and generate detours to avoid the obstacles. As a result, the construction machine 12 can be driven so as to avoid obstacles depending on the weather and road surface conditions at that time.

(5) The automatic route generation unit 54 generates a plurality of detours and selects an optimum detour from the generated detours. As a result, it is possible to select an optimal detour as the travel route in terms of travel distance, safety, and the like.

(6) The autonomous operation system 10 includes a sensor that detects information about the operation status of the construction machine 12, and a travel control unit 56 that controls the travel of the construction machine 12 by reflecting the detection result of the sensor. As a result, the travel control unit 56 causes the construction machine 12 to travel according to the predetermined set conditions based on the detection results of various sensors. As a result, even if the environmental conditions are different, the construction machine 12 can be driven in a suitable manner according to the conditions.

(7) The autonomous driving system 10 includes a voice control unit 55 for controlling the construction machine 12 based on voice signals representing voices uttered by the operator. Thereby, the construction machine 12 can be controlled by the operator's voice instruction.

(8) The autonomous driving system 10 is configured to be able to set a relay position in addition to the target position. As a result, safe autonomous operation of the construction machine 12 can be realized even if the construction status of the construction site 11 changes or an unforeseen situation occurs.

This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
The autonomous operation system 10 may be configured to instruct the autonomous operation and movement of the construction machine 12 by operating the tablet 35 and the remote control device 37 .

- In the autonomous driving system 10, the travel control unit 56 may drive and control the travel device 21 so that the drive amount is kept constant regardless of the number of revolutions detected by the rotary encoder 28.

- The automatic route generation unit 54 may be configured to generate one detour where the separation distance from the obstacle is equal to or greater than the safe distance, for example, without generating a plurality of detours.
The automatic route generation unit 54 is not limited to the configuration that acquires the environmental conditions by filtering the point cloud information. It may be configured to acquire by

- The automatic route generation unit 54 may generate a route that leads to the target position in the environmental map at that time without generating a basic travel route, and set the generated route as the travel route.

In the autonomous operation system 10, when a dedicated road for the construction machine 12 is formed at the construction site 11, the autonomous driving device 14 travels on the dedicated road without automatically generating a route for the construction machine 12. The traveling device 21 may be drive-controlled so as to do so.

DESCRIPTION OF SYMBOLS 10... Autonomous operation system, 11... Construction site, 12... Construction machine, 13... Instruction system, 14... Autonomous operation apparatus, 21... Travel apparatus, 22... Main part, 23... Cargo platform, 25... 3D-LiDAR, 26... 2D - LiDAR, 27 (27A, 27B)... camera, 28... rotary encoder, 29... linear encoder, 30... tilt sensor, 31... gyro sensor, 35... tablet, 36... voice instruction device, 37... remote control device, 42... Input unit 43 Display unit 46 Operation unit 47 Viewpoint display unit 51 Map storage unit 52 Mapping unit 53 Self-position estimation unit 54 Automatic route generation unit 55 Voice control unit 56 Traveling control unit 57 Turning control unit 58 Dump control unit 59 Data storage unit 61 Traveling route 62 Obstacle 63 Detour 64 Obstacle 65 Detour 66 ... swivel device, 67 ... dump device.

Claims (7)

A system for autonomous operation control of construction machinery,
a map storage unit that stores an overall map indicating the movable range of the construction machine;
a point cloud information acquisition unit that acquires point cloud information around the construction machine;
a mapping unit that creates an environment map around the construction machine based on the point cloud information;
a self-position estimation unit that estimates the self-position of the construction machine on the overall map based on the overall map and the environment map;
Equipped with an autonomous driving system for construction machinery. The autonomous operation system for a construction machine according to claim 1, further comprising an automatic route generation unit that automatically generates a travel route for the construction machine based on the environment map. The autonomous operation system for construction machinery according to claim 2, wherein the automatic route generator detects an obstacle on the travel route and generates a detour to avoid collision with the obstacle. The automatic route generation unit performs filtering for extracting feature points according to the environmental conditions around the construction machine from the point cloud information acquired by the point cloud information acquisition unit, and detects obstacles based on the environmental conditions. 4. The construction machine autonomous operation system according to claim 2 or 3, wherein a detour is generated to avoid the detected obstacle. The autonomous operation system for construction machinery according to claim 3 or 4, wherein the automatic route generation unit generates a plurality of detours and selects an optimum detour from the generated plurality of detours. a sensor that detects information about the operating status of the construction machine;
The autonomous operation system for a construction machine according to any one of claims 1 to 5, further comprising a travel control unit that reflects the detection result of the sensor and controls the travel of the construction machine. The autonomous operation system for a construction machine according to any one of Claims 1 to 6, further comprising a voice control unit for controlling the construction machine based on a voice signal indicating voice uttered by an operator.

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