JP6553702B2 - Work machine control system, work machine, work machine control method and navigation controller - Google Patents

Description

  The present invention relates to a control system of a work machine, a work machine, a control method of the work machine, and a navigation controller.

  In recent years, utilization of information and communication technology (ICT) has been promoted in working machines such as bulldozers. For example, GNSS (Global Navigation Satellite Systems) etc. is installed, its own position is detected, the position information is compared with the current terrain data indicating the current terrain at the work site, and the position or orientation of the work implement is processed. Thus, there is a working machine or the like (see, for example, Patent Document 1). The present topography data is managed by, for example, an external server or the like, and is transmitted from such a server to the work machine. The work machine receives one type of current terrain data transmitted from the server and performs arithmetic processing and the like.

JP 2014-205955 A

  In such a working machine, in recent years, it is required to perform automatic control of the working machine with high accuracy, for example, using current topography data. In this case, depending on the accuracy of the current topography data transmitted from the management device, it may be difficult to perform automatic control of the work machine with high accuracy. For this reason, it is required to estimate the accuracy of the current topographic data.

  The present invention has been made in view of the above, and it is an object of the present invention to provide a control system of a working machine, a working machine, and a control method of the working machine capable of estimating the accuracy of current terrain data.

  According to an aspect of the present invention, an acquiring unit for acquiring a plurality of present topography data of a work site at which a working machine having a work machine performs an operation, and a plurality of the present topography data acquired by the acquiring unit are predetermined. A setting unit for setting the first current landform data and the second current landform data; and calculating a difference between the first current landform data and the second current landform data; and the difference and the current landform of the work site And a calculation unit for obtaining correction data for correcting the first present topography data based on the parameter information related to

  According to an aspect of the present invention, it is possible to estimate the accuracy of current terrain data.

FIG. 1 is a view showing an example of a working machine according to the present embodiment. FIG. 2 is a block diagram illustrating an example of a control system that is a control system for a work machine according to the present embodiment. FIG. 3 is a block diagram showing an example of a display controller. FIG. 4 is a diagram illustrating an example of current landform data. FIG. 5 is a schematic view showing how to calculate the inclination angle. FIG. 6 is a table showing the correspondence between angle groups and estimation error amounts. FIG. 7 is a histogram showing an example of the estimation error function. FIG. 8 is a diagram schematically showing processing for obtaining an estimation error amount for each grid region. FIG. 9 is a graph schematically showing the process of adjusting the estimation error amount. FIG. 10 is a flowchart showing an example of a control method of the working machine according to the present embodiment. FIG. 11 is a graph showing an estimation error function according to the modification.

  Hereinafter, an embodiment of a control system for a working machine, a working machine, and a control method for a working machine according to the present invention will be described based on the drawings. The present invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by persons skilled in the art or those that are substantially the same.

  FIG. 1 is a view showing an example of a working machine according to the present embodiment. In the present embodiment, as a work machine, for example, a bulldozer 100 will be described as an example. The bulldozer 100 includes a vehicle main body 10 and a work machine 20. In the present embodiment, the bulldozer 100 is used, for example, at a work site such as a mine.

  The X axis, Y axis, and Z axis shown in FIG. 1 indicate the X axis, Y axis, and Z axis in the global coordinate system. In the present embodiment, the direction in which the working machine 20 is located with respect to the vehicle body 10 is taken as the front. Therefore, the direction in which the vehicle body 10 is located with respect to the work machine 20 is the rear. In the present embodiment, the direction in which the vehicle main body 10 is located with respect to the ground contact surface where the crawler belt 11a contacts the ground is defined as the upper direction, and the direction from the vehicle main body 10 toward the ground contact surface, that is, the direction of gravity is decreased. In FIG. 1, the bulldozer 100 is disposed in a state in which the longitudinal direction coincides with the X direction, the vehicle width direction coincides with the Y direction, and the vertical direction coincides with the Z direction.

  The vehicle body 10 includes a traveling device 11 as a traveling unit. The traveling device 11 has a crawler belt 11a. The crawler belts 11 a are disposed on the left and right sides of the vehicle main body 10. The traveling device 11 causes the bulldozer 100 to travel by rotating the crawler belt 11 a by a hydraulic motor (not shown).

  The vehicle body 10 has an antenna 12. The antenna 12 is used to detect the current position of the bulldozer 100. The antenna 12 is electrically connected to the global coordinate computing device 15. The global coordinate computing device 15 is a position detection device that detects the position of the bulldozer 100. The global coordinate calculation device 15 detects the current position of the bulldozer 100 using GNSS (Global Navigation Satellite Systems, GNSS is a global navigation satellite system). In the following description, the antenna 12 is appropriately referred to as a GNSS antenna 12. A signal corresponding to the GNSS radio wave received by the GNSS antenna 12 is input to the global coordinate calculation device 15. The global coordinate computing device 15 obtains the installation position of the GNSS antenna 12 in the global coordinate system (X, Y, Z) shown in FIG. One example of the global navigation satellite system is the GPS (Global Positioning System), but the global navigation satellite system is not limited to this. The GNSS antenna 12 is preferably installed, for example, at the upper end of the cab 13.

  The vehicle body 10 has a driver's cab 13 provided with a driver's seat on which a driver is seated. In the driver's cab 13, a display unit 14 for displaying various operation devices and image data is disposed. The display unit 14 is, for example, a liquid crystal display device or the like, but is not limited thereto. The display unit 14 can use, for example, a touch panel in which an input unit and a display unit are integrated. The cab 13 is provided with an operating device (not shown). The operating device is a device for operating at least one of the work machine 20 and the traveling device 11.

  The work machine 20 has a blade 21 which is a work tool, a lift frame 22 which supports the blade 21, and a lift cylinder 23 which drives the lift frame. The blade 21 has a cutting edge 21p. The cutting edge 21 p is disposed at the lower end of the blade 21. In work such as leveling work or excavation work, the blade edge 21p contacts the ground. The blade 21 is supported by the vehicle body 10 via the lift frame 22. The lift cylinder 23 connects the vehicle body 10 and the lift frame 22. The lift cylinder 23 drives the lift frame 22 to move the blade 21 in the vertical direction. Work implement 20 includes a lift cylinder sensor 23a. The lift cylinder sensor 23 a detects lift cylinder length data La indicating the stroke length of the lift cylinder 23.

  FIG. 2 is a block diagram illustrating an example of a control system 200 that is a work machine control system according to the present embodiment. As shown in FIG. 2, the control system 200 includes a global coordinate calculation device 15, an IMU (Inertial Measurement Unit) 16 that is a state detection device that detects angular velocity and acceleration, a navigation controller 40, and a display controller. And 30, a work implement controller 50.

  The global coordinate calculation device 15 acquires reference position data P1 that is position data of the antenna 12 expressed in the global coordinate system. The global coordinate computing device 15 has a processing unit that is a processor such as a CPU (Central Processing Unit) and a storage unit that is a storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

  The global coordinate calculation device 15 generates position data P indicating the position of the vehicle body 10 based on the reference position data P1. Position data P indicates the position in the global coordinate system (X, Y, Z). The global coordinate calculation device 15 outputs the generated position data P to the navigation controller 40 and the display controller 30.

  The IMU 16 is a state detection device that detects operation information indicating the operation of the bulldozer 100. In the embodiment, the operation information may include information indicating the attitude of the bulldozer 100. The information indicating the attitude of the bulldozer 100 is exemplified by the roll angle, pitch angle, and azimuth angle of the bulldozer 100. The IMU 16 is attached to the vehicle body 10. The IMU 16 may be installed, for example, under the cab 13.

  The IMU 16 detects the angular velocity and acceleration of the bulldozer 100. Along with the operation of the bulldozer 100, the bulldozer 100 generates various accelerations such as acceleration generated during traveling, angular acceleration generated during turning, and gravitational acceleration. The IMU 16 detects and outputs at least gravitational acceleration. Here, the gravitational acceleration is an acceleration corresponding to a reaction force against gravity. For example, in the global coordinate system (X, Y, Z), the IMU 16 detects acceleration in the X-axis direction, Y-axis direction, and Z-axis direction, and angular velocities (rotational angular velocities) around the X-axis, Y-axis, and Z-axis. .

  The display controller 30 causes the display unit 14 to display an image such as a guidance screen. The display controller 30 has a communication unit 32. The communication unit 32 can communicate with an external communication device. The communication unit 32 receives, for example, the current topography data 70 and the design topography data 80 of the work site from the management server 300 or the like. The communication unit 32 may receive the current topography data 70 and the design topography data 80 of the work site from an external storage device such as a USB memory, a PC, or a portable terminal.

  The navigation controller 40 includes a processing unit, which is a processor such as a CPU, and a storage unit, which is a storage device such as a RAM and a ROM. The navigation controller 40 receives the detected value of the global coordinate computing device 15, the detected value of the IMU 16, and the output value from the work machine controller 50 described later. The navigation controller 40 obtains position information related to the position of the bulldozer 100 from the detection value of the global coordinate arithmetic unit 15 and the detection value of the IMU 16 and outputs the position information to the display controller 30. The navigation controller 40 receives cutting edge position data from the work machine controller 50. The cutting edge position data is data indicating a cutting edge position which is a three-dimensional position of the cutting edge 21p. The navigation controller 40 generates target cutting edge position data indicating a target cutting edge position based on the cutting edge position data. The navigation controller 40 uses the present topography data indicating the present topography of the work site when generating the target cutting edge position data. For example, the navigation controller 40 generates a virtual target ground obtained by offsetting the current landform indicated by the current landform data downward by a predetermined distance, and generates target blade edge position data so that the blade edge 21p is along the virtual target ground.

  The work machine controller (work machine control unit) 50 includes a processing unit that is a processor such as a CPU and a storage unit that is a storage device such as a RAM and a ROM. The work machine controller 50 detects the cutting edge position data using the position information of the blade 21 and outputs the data to the navigation controller 40. The work implement controller 50 receives target edge position data from the navigation controller 40. The work machine controller 50 generates and outputs a work machine command value for controlling the operation of the work machine 20 based on the target cutting edge position data.

  FIG. 4 is a diagram illustrating an example of current landform data. As shown in FIG. 4, the current terrain data 70 has a height position (Z coordinate for each grid area G when the work site is divided into a plurality of grid areas G along the X and Y directions of the global coordinate system. ). The present landform data 70 may be data relating to height data at an arbitrary position in the grid area G. For example, height data of the center position of the grid area G may be used. Four corners of the grid area G may be used. May be the height data. The grid area G is set to, for example, a square, but is not limited to this, and may be another shape such as, for example, a rectangle, a parallelogram, or a triangle.

  In the present embodiment, the current topography data 70 is generated, for example, by measuring the current topography of the work site using various measurement methods. The current terrain data 70 includes, for example, a plurality of types of current terrain data having different measurement methods. As a measurement method for generating the present topography data 70, for example, a method of measuring the present topography using the position information of the vehicle traveling on the work site, the position information of the working machine such as the bulldozer 100 traveling on the construction site The method used to measure the current terrain using a surveying vehicle, the method used to survey the current terrain using a survey vehicle, the method used to measure the current terrain using a stationary surveying instrument, the method used to measure the current terrain using a stereo camera, a drone, etc. Methods of measuring the present topography by the unmanned air vehicle of In addition, the measurement by drone etc. may be a method of photographing the current terrain using a camera or the like and measuring the current terrain data from the photographing result, or measuring the current terrain data using a laser scanner. Good. The current terrain data 70 may be provided with identification information for identifying the measurement method and the like.

  FIG. 3 is a block diagram showing an example of the navigation controller 40. As shown in FIG. As shown in FIG. 3, the navigation controller 40 includes a processing unit 44 and a storage unit 45. In the navigation controller 40, the processing unit 44 and the storage unit 45 are connected via a signal line such as a bus line 46 or the like.

  The processing unit 44 is, for example, a processor such as a CPU. The processing unit 44 includes a current terrain data calculation unit 61, an acquisition unit 62, a setting unit 63, a calculation unit 64, a correction unit 65, and an adjustment unit 66.

  For example, the current landform data calculation unit 61 calculates current landform data 70 indicating the current landform of the area through which the bulldozer 100 passes in the work site. The present landform data calculation unit 61 calculates the present landform data 70 based on, for example, the position information output by the global coordinate arithmetic unit 15. In this case, the current terrain data calculation unit 61 calculates, for example, the Z coordinate of each grid area G corresponding to the area through which the bulldozer 100 has passed.

  The acquisition unit 62 acquires a plurality of current terrain data 70 indicating the current terrain at the work site. The present topography data 70 acquired by the acquisition unit 62 includes, for example, present topography data 70 received from the management server 300 and present topography data 70 generated by the present topography data calculator 61.

  The plurality of present terrain data 70 acquired by the acquisition unit 62 may differ in accuracy, in a range having data, and the like depending on the measurement method and the like. For example, the current topography data 70 obtained by running a vehicle on a work site and performing measurement has a high traveling speed at the time of measurement, and therefore the measurement accuracy is low. On the other hand, it is possible to increase the number of grid areas G in which data exists by traveling over a wide area of the work site and measuring the current landform data 70.

  In addition, the current topography data 70 obtained by traveling the bulldozer 100 whose traveling speed is lower than that of the above-described vehicle has high measurement accuracy because the traveling speed is lower. On the other hand, since the bulldozer 100 mainly travels, for example, a place where the bulldozer 100 works and a place where the bulldozer 100 moves for work in a work site, for example, the number of grid areas G where data exist is limited.

  Therefore, the acquiring unit 62 may, for example, have current terrain data 70 with high accuracy and a small number of grid regions G in which data exist, and current terrain data 70 with a low accuracy and a large number of grid regions G in which data exist. In other words, a plurality of current terrain data 70 having different accuracy may be acquired together. In this case, it is possible to process the grid area G in which the highly accurate present topography data 70 exists using the highly accurate present topography data 70. On the other hand, with respect to the grid area G in which the highly accurate present topography data 70 does not exist, processing is performed using the low-precision present topography data 70. In the present embodiment, in this case, the accuracy of the low accuracy present topography data 70 is improved by correcting the low accuracy present topography data 70 using the high accuracy present topography data 70. Hereinafter, the current landform data 70 with relatively low accuracy is referred to as first current landform data 71, and the current landform data 70 with relatively high accuracy is referred to as second current landform data 72.

  The setting unit 63 sets the first current topography data 71 and the second current topography data 72 from the plurality of current topography data 70 acquired by the acquisition unit 62. The setting unit 63 may set the first present topography data 71 and the second present topography data 72 by any method. Hereinafter, for example, a measurement method of the current landform data 70 set in the first current landform data 71 and a measurement method of the current landform data 72 set in the second current landform data 72 are determined in advance. The setting part 63 sets and demonstrates the case where the 1st present present topography data 71 and the 2nd present present topography data 72 are set as an example based on the method by which this was measured.

  The computing unit 64 calculates the difference in height data between the first current landform data 71 and the second current landform data 72 in the grid area G at the same position for each grid area G. The difference between the plurality of height data calculated for each grid area G is stored in the storage unit 45 as difference data 82.

  In addition, the calculation unit 64 obtains an estimation error function for correcting the first present topography data 71 based on the plurality of differences calculated for each grid area G and parameter information on the present topography of the work site described later. . The estimation error function is an example of correction data. The inventor found that in the present topography data 70, for example, the above-mentioned difference in height data becomes larger as the grid area G has a larger inclination angle with respect to the horizontal plane. Therefore, in the present embodiment, as the parameter information, an inclination angle with respect to the horizontal plane of each grid region G will be described as an example. In this case, the calculation unit 64 calculates an inclination angle with respect to the horizontal plane for each grid area G, classifies the calculated inclination angles into a plurality of groups based on the size of the angle, and sets the group to parameter information Set as. Hereinafter, a procedure in which the calculation unit 64 sets parameter information will be described.

  FIG. 5 is a schematic view showing how to calculate the inclination angle. As shown in FIG. 5, when calculating | requiring the inclination-angle of one grid area | region Gt, the calculating part 64 calculates | requires the difference of the height position with the grid area | region of the circumference | surroundings of the said grid area | region Gt. In the present embodiment, the grid area around the grid area Gt includes four grid areas Gn, Gs, Ge, and Gw sharing each side with the grid area Gt. The grid area around the grid area Gt is in place of the four grid areas Gn, Gs, Ge, Gw or in addition to the four grid areas Gn, Gs, Ge, Gw. The grid area G adjacent in the oblique direction may be included.

  In FIG. 5, as an example, the difference h in height position between the grid area Gt and the grid area Ge is shown. The calculation unit 64 calculates such a difference in height position with respect to the grid regions Gn, Gs, Ge, and Gw. The calculation unit 64 calculates the angle α based on the calculated difference in height position and the pitch d of the grid area. In this case, the angle α is defined between the straight line connecting the center point Ot of the grid region Gt and the center points of the grid regions Gn, Gs, Ge, and Gw (showing the center point Oe in FIG. 5) between the horizontal plane. Is an angle. The calculation unit 64 sets, for example, the largest value among the calculated four angles α as the inclination angle of the grid area Gt. The calculation unit 64 may use the average value of the four calculated angles α as the inclination angle of the grid area Gt.

  When calculating the inclination angle, the calculation unit 64 classifies the calculated inclination angle into a plurality of angle groups (groups) based on the size of the angle. FIG. 6 is a table showing the correspondence between angle groups and estimation error amounts. As shown in FIG. 6, the computing unit 64 classifies the tilt angle into one of seven groups, for example, the first group to the seventh group, based on the size of the angle.

  For example, when the angles α1, α2, α3, α4, α5, and α6 have a relationship of α1 <α2 <α3 <α4 <α5 <α6, the first group has an inclination angle of 0 ° or more and less than α1 ° It is a group to which the grid area G which becomes. The second group is a group to which a grid region G having an inclination angle of α1 ° or more and less than α2 ° belongs. The third group is a group to which the grid region G having an inclination angle of α2 ° or more and less than α3 ° belongs. The fourth group is a group to which a grid region G in which the inclination angle is α3 ° or more and less than α4 ° belongs. The fifth group is a group to which the grid region G having an inclination angle of α4 ° or more and less than α5 ° belongs. The sixth group is a group to which the grid region G having an inclination angle of α5 ° or more and less than α6 ° belongs. The seventh group is a group to which the grid area G in which the inclination angle is α6 ° or more belongs. As described above, the calculation unit 64 sets the parameter information by setting a plurality of angle groups (groups).

  The calculation unit 64 obtains an estimation error function for correcting the first present topography data 71 based on the calculated plurality of differences and the parameter information. Hereinafter, a procedure in which the calculation unit 64 obtains the estimation error function will be described. In the present embodiment, the computing unit 64 obtains an estimation error amount for each angle group which is parameter information. Specifically, the calculation unit 64 calculates the difference between the height data of the first present topography data 71 and the second present topography data 72 in the grid area G at the same position for each of a plurality of grid areas G belonging to each angle group. It calculates | requires and calculates the average value or the median of the difference, for example. The calculated result is the estimated error amount in the angle group. As shown in FIG. 6, corresponding estimation error amounts (E1 to E7) are obtained for each of the first to seventh groups. As described above, the computing unit 64 finds an estimation error function F1 indicating the relationship between the two, by associating the angle group (angle information) which is the parameter information with the estimation error amount. In the present embodiment, the estimation error function F1 includes all the relationships between each angle group from the first group to the seventh group and the estimated error amount (E1 to E7) for each angle group. In the present embodiment, the calculation unit 64 may create a histogram in which, for example, the angle group and the error estimation amount correspond to each other as one form of the estimation error function F1.

  FIG. 7 is a histogram showing an estimation error function, and specifically shows the relationship between the angle group to which the grid area G belongs and the estimation error amount. The horizontal axis in FIG. 7 indicates the angle group, and the vertical axis in FIG. 7 indicates the estimated error amount (unit: m). As shown in FIG. 7, the estimation error amount is E1 <E2 <E3 <E4 <E5 <E5 <E6 <E7. As apparent from FIG. 7, the amount of estimation error in the grid area G becomes larger as the grid area G belongs to the angle group having a large inclination angle.

  FIG. 8 is a diagram schematically showing processing for obtaining an estimated error amount for each grid region G. The calculation unit 64 obtains, for each grid area G, an estimated error amount corresponding to an angle group to which the grid area G belongs based on the estimation error function F1.

  The correction unit 65 corrects the first present topography data 71 based on the estimation error function F1 obtained by the calculation unit 64. The correction unit 65 may correct the first current landform data 71 only when the value of the first current landform data 71 becomes small before and after the correction. In this case, since the value of the current landform data 71 can be suppressed from becoming larger than the actual current landform, it is possible to suppress the cutting edge 21p of the blade 21 from moving away from the ground when the work machine 20 is automatically controlled. For example, when the work machine 20 is automatically controlled based on the first current landform data 71 in the grid area G that has no second current landform data 72 and only the first current landform data 71, the correction unit 65 By correcting the height data of the current landform data 71 by the amount of the estimation error, the ground of the work site can be excavated reliably, and so-called swaying of the blade 21 can be prevented.

  In the state where the estimated error amounts E1, E2, E3, E4, E5, E6, and E7 have already been obtained, the adjustment unit 66 newly adds difference data 82 between the second current landform data 72 and the first current landform data 71. Is obtained, the estimation error amount is updated by using the new difference data 82. For example, the bulldozer 100 newly travels in the grid area G in which the second current topographical data 72 with high accuracy has not existed and only the first current topographical data 71 with relatively low accuracy has existed until then. When the second existing topography data 72 for G is newly generated, it is possible to update the estimation error amount already calculated by using the difference data 82 in the grid region G for calculating the estimation error amount. .

  In this case, the adjustment unit 66 calculates a difference for a plurality of grid regions G belonging to each angle group, and calculates, for example, an average value or a median value of the difference, similarly to the calculation unit 64. FIG. 9 is a graph schematically showing the process of adjusting the estimation error amount, and the horizontal axis shows an angle group and the vertical axis shows the estimation error amount, as in FIG.

  For example, for the plurality of grid regions G belonging to the third group, for example, the estimation error amount of the third group is E3 before the adjustment processing by the adjustment unit 66. As a result of the adjustment processing in the adjustment unit 66, that is, as a result of recalculating the estimation error amount using the newly added second present topography data 72, when the estimation error amount becomes E3a, as shown in FIG. The adjustment unit 66 changes the estimation error amount of the third group from E3 to E3a.

  In addition, the storage unit 45 stores current terrain data 70, design terrain data 80, difference data 82, and an estimation error function F1. The storage unit 45 stores a program, data, and the like for performing various processes in the processing unit 44.

  FIG. 10 is a flowchart showing an example of a control method of the working machine according to the present embodiment. In step ST10, the acquisition unit 62 of the navigation controller 40 acquires the current landform data 70. The current landform data 70 includes, for example, the current landform data 70 received from the management server 300 and the current landform data 70 generated by the current landform data calculation unit 61.

  Next, the setting unit 63 sets the first present topography data 71 and the second present topography data 72 from the plurality of present topography data 70 acquired by the acquiring section 62 (step ST20). In step ST20, for the purpose of correcting the first current landform data 71, the setting unit 63 sets the second current landform data 72 as teacher data (data used as a reference for correction). In the data 72, data closer to the actual current landform, that is, data with higher accuracy is set. In step ST20, the setting unit 63 may set the first current landform data 71 and the second current landform data 72 by any method. In the present embodiment, for example, the first current landform data 71 is set in the first current landform data 71. The measurement method of the current landform data 70 to be set and the measurement method of the current landform data 70 to be set in the second current landform data 72 are determined in advance, and the setting unit 63 determines whether the current landform data 70 is measured. First present topography data 71 and second present topography data 72 are set.

  Next, the calculation unit 64 calculates, for each grid area G, the difference of the height data of the first existing topography data 71 with respect to the second existing topography data 72 in the grid area G at the same position (step ST30). Next, the computing unit 64 sets parameter information for each grid region G (step ST40). In step ST40, the computing unit 64 can set various types of information as parameter information. In the present embodiment, the computing unit 64 calculates, for example, an inclination angle with respect to the horizontal surface for each grid area G, and classifies each calculated grid area G into a plurality of groups based on the size of the calculated inclination angle. Is set as parameter information. In step ST40, the calculation unit 64 sets parameter information by setting an inclination angle based on the size of the angle, for example, an angle group from the first group to the seventh group.

  Next, the calculation unit 64 derives an estimation error function F1 based on the calculated difference and the parameter information (step ST50). In step ST50, the operation unit 64 obtains an estimation error amount (E1 to E7) for each angle group, for example, and associates the angle group with the estimation error amount to derive an estimation error function F1.

  Thereafter, for example, when the work machine 20 is automatically controlled based on the first current landform data 71 for the grid region G that has no second current landform data 72 and only the first current landform data 71, the correcting unit 65 The first present topography data 71 is corrected based on the derived estimation error function F1 (step ST60). Thereafter, the navigation controller 40 and the work machine controller 50 may control the work machine 20 based on the corrected first current landform data 71 as the current landform data 70. In this case, since the work machine 20 is controlled based on the first present topography data 71 whose precision has been improved, the work machine 20 can be controlled with high precision. In addition, since the work machine 20 can reliably excavate the ground of the work site, so-called swaying of the blade 21 can be prevented.

  After step ST50 or step ST60, the bulldozer 100 uses the grid region G in which the second current topographic data 72 with high accuracy does not exist so far and only the first current topographic data 71 with relatively low accuracy exists. When the vehicle travels anew and the second current landform data 72 for the grid area G is newly generated, the adjustment unit 66 may perform a process of updating the estimation error function F1. In this case, the adjustment unit 66 updates the estimation error amount based on the difference data 82 of the first present topography data 71 with respect to the second present topography data 72.

  As described above, the control system 200 of the working machine according to the present embodiment includes the acquiring unit 62 that acquires the plurality of present topography data 70 for the work site where the bulldozer 100 performs the work, and the plurality of acquiring units 62 acquired From the current landform data 70, the setting unit 63 for setting the first current landform data 71 and the second current landform data 72, and the difference between the first current landform data 71 and the second current landform data 72 are calculated. And a calculation unit 64 for obtaining an estimation error function F1 which is correction data for correcting the first current landform data 71 based on the parameter information relating to the current landform at the work site.

  Further, the control system 200 of the working machine according to the present embodiment obtains, as parameter information, an inclination angle with respect to the horizontal plane for each grid area G, and determines the calculated inclination angles into a plurality of angle groups based on the size of the angles. Classify. For this reason, even if the number of grid regions G for which the inclination angle is obtained increases, the number of parameter information remains constant without increasing. Therefore, much information can be processed efficiently.

  According to this configuration, the first current terrain data 71 and the second current terrain data 72 are set from the plurality of acquired current terrain data 70, and the first current terrain data 72 is used as the teacher data. Since it is possible to calculate the estimation error function F1 of the terrain data and correct the first existing topography data 71 based on the estimation error function F1, it is possible to improve the accuracy of the first existing topography data 71.

  Although the embodiment has been described above, the embodiment is not limited to the above-described content. Further, the above-described constituent elements include ones that can be easily conceived by those skilled in the art, substantially the same ones, and so-called equivalent ranges. Furthermore, the above-described components can be appropriately combined. Furthermore, at least one of various omissions, substitutions, and modifications of the components can be made without departing from the scope of the embodiments. For example, each processing executed by the navigation controller 40 may be executed by the display controller 30, the work machine controller 50 or a controller other than these.

  Moreover, in the said embodiment, although the bulldozer 100 was mentioned as an example and demonstrated as a working machine, it does not limit to this, and other working machines, such as a hydraulic shovel or a wheel loader, may be sufficient. Further, the control system 200 in the above embodiment may be provided in a work machine such as the bulldozer 100 or the like, may be provided in the management server 300 or the like, or the work machine and the management server may share.

  Further, in the above embodiment, for example, the measurement method of the current terrain data 70 set in the first current terrain data 71 and the measurement method of the current terrain data 70 set in the second current terrain data 72 are determined in advance. Although the case where setting part 63 sets up the 1st present present topography data 71 and the 2nd present present topography data 72 was mentioned as the example, and was explained based on the method by which the topography data 70 were measured, it is not limited to this. For example, the setting unit 63 may set the first present topography data 71 and the second present topography data 72 based on an instruction or input of the worker. Further, the setting unit 63 sets, for example, priority or quantified accuracy information in accordance with each measurement method of the present topography data 70, and based on the priority or accuracy information, the first present topography data 71. Also, the second current landform data 72 may be set. Further, the setting unit 63 compares the accurate current terrain data measured in advance by a surveying instrument such as a laser scanner with the plurality of current terrain data 70 acquired by the acquisition unit 62, and the current terrain data 70 having a large difference is compared. The first current topographic data 71 may be used as the first current topographical data 71, and the second current topographical data 72 may be used as the second current topographic data 70 with a small difference.

  In the above embodiment, the setting unit 63 uses the current terrain data 70 when the current terrain is measured using the position information of the vehicle traveling on the work site as the first current terrain data 71, and the bulldozer traveling on the work site. Although the current landform data 70 when the current landform is measured using the position information of the work machine such as 100 is set as the second current landform data 72, the present invention is not limited to this example. For example, when the present topography is measured using position information of a vehicle or the like, the accuracy may differ depending on the accuracy of various sensors and the calculation algorithm. Therefore, the current terrain data 70 when the current terrain is measured using the vehicle position information is the second current terrain data 72, and the current terrain data 70 is measured when the current terrain is measured using the position information of the work machine. (1) It may be set to the present landform data 71.

  In the above embodiment, as the parameter information, the inclination angle of the grid area G with respect to the horizontal plane is determined, and the determined inclination angles are classified into a plurality of angle groups based on the size of the angles. is not. FIG. 11 is a graph showing an estimation error function according to the modification.

  For example, when using an inclination angle with respect to the horizontal plane of the grid area G as parameter information, the computing unit 64 obtains the relationship between the inclination angle and the amount of estimation error for each grid area G as shown in FIG. An approximate curve may be derived on the basis of the above and the approximate curve may be used as the estimation error function F2. The approximate curve can be obtained by an approximation method such as the least squares method. Also, the approximate curve can be a curve defined by a quadratic function or a higher order function of third or higher order. In this case, the correction unit 65 corrects the first current landform data 71 based on the estimation error function F2. The estimation error function F2 is an example of correction data.

  The correction data is not limited to the estimation error function F1 and the estimation error function F2 described above, and may be data of any type.

  Moreover, although the case where the inclination angle with respect to the horizontal surface about grid area G was used was mentioned as the example and demonstrated as parameter information in the said embodiment, it does not limit to this. For example, when the antenna 12 receives GNSS radio waves, it also receives accuracy information in addition to position information. In this case, the navigation controller 40 stores the received accuracy information in the storage unit 45 as data for each grid area G in association with the position information. For example, when the current terrain data calculation unit 61 generates the current terrain data 70 based on the position information included in the GNSS radio wave, the calculation unit 64 uses the accuracy information included in the GNSS radio wave as the first current terrain data 71. It may be used as parameter information.

  Further, for example, geological information such as the moisture content of the soil to be constructed at the work site, the component of the soil or rock, etc. may be used as the parameter information. In this case, the navigation controller 40 associates, for example, geological information measured by a measuring device or the like with position information, and stores the geologic information in the storage unit 45 as data for each grid area G. Thereby, the calculating part 64 can use the geological information measured, for example with the measuring device etc. as parameter information.

  Further, for example, the time when the current terrain data 70 is generated or the time when the acquisition unit 62 acquires the current terrain data 70 is written in the current terrain data 70 as time information, and the time information may be used as parameter information. . In this case, for example, it is possible to estimate that the error is larger in the current terrain data 70 whose time is older.

  Further, for example, the navigation controller 40 causes the storage unit 45 to store measurement method data indicating a measurement method for generating the current landform data 70 in association with the current landform data 70 or as data for each grid region G. May be. In this case, the setting unit 63 sets the first present topography data 71 and the second present topography data 72 based on the measurement method of the present topography data 70. Then, the calculation unit 64 determines in advance a correction amount of the first current landform data 71 based on the difference in measurement method between the first current landform data 71 and the second current landform data 72, and is uniformly based on the correction amount. The first current landform data 71 may be corrected.

α angle E1, E2, E3, E4, E5, E6, E7 Estimated error amount F1, F2 Estimated error function G, Ge, Gn, Gs, Gt, Gw Grid region 10 Vehicle body 11 Traveling device 11a Track 20 Work machine 21 Blade 21p blade tip 30 display controller 31 input unit 32 communication unit 33 output unit 34 processing unit 35 storage unit 40 navigation controller 50 working machine controller 61 present terrain data calculation unit 62 acquisition unit 63 setting unit 64 operation unit 65 correction unit 66 adjustment unit 67 display Control part 70 present landform data 71 first present landform data 72 second present landform data 80 design landform data 81 virtual design data 82 difference data 100 bulldozer 200 control system 300 management server

Claims (7)

An acquisition unit for acquiring first existing topography data about a work site where a working machine having an operation machine works and a second existing topography data obtained by a measurement method different from the first existing topography data;
The difference between height data at the same position between the first present topography data and the second present topography data is calculated, and the first present topography is calculated based on the difference and parameter information on the present topography of the work site Operation unit for obtaining correction data for correcting height data in the data;
A correction unit that corrects the first present topography data based on the correction data;
An adjusting unit that adjusts the correction data based on the newly acquired second present topography data;
A control system for a work machine comprising: A correction unit that corrects the first present topography data based on the correction data;
The work machine control system according to claim 1, further comprising: a work machine control unit configured to control the work machine based on the first current topography data corrected by the correction unit. Based on the first current state terrain data and measurement method of the second current status terrain data, according to claim 1 or claim 2 comprising a setting unit for setting said first current status terrain data and the second current state terrain data Work machine control system. The parameter information includes inclination angle information in the first present topography data and the second present topography data , geology information of the work site, accuracy information, and the first present topography data and the second present topography data . The control system of the work machine according to any one of claims 1 to 3 , including at least one of time information. A traveling unit that travels with the working machine mounted thereon;
A work machine comprising: the control system for a work machine according to any one of claims 1 to 4 . Obtaining first current topography data about a work site where a working machine having a working machine works, and acquiring second current topography data obtained by a measurement method different from the first current topography data;
The difference between height data at the same position between the first present topography data and the second present topography data is calculated, and the first present topography is calculated based on the difference and parameter information on the present topography of the work site Determining correction data to correct height data in the data;
Correcting the first existing terrain data based on the correction data;
Adjusting the correction data based on the newly acquired second current topography data;
A control method for a work machine including An acquisition unit for acquiring first existing topography data about a work site where a working machine having an operation machine works and a second existing topography data obtained by a measurement method different from the first existing topography data;
The difference between height data at the same position between the first present topography data and the second present topography data is calculated, and the first present topography is calculated based on the difference and parameter information on the present topography of the work site Operation unit for obtaining correction data for correcting height data in the data;
A correction unit that corrects the first present topography data based on the correction data;
An adjusting unit that adjusts the correction data based on the newly acquired second present topography data;
A navigation controller comprising:

Images