US20230417018A1 - Control device, control system, and control method - Google Patents

Control device, control system, and control method Download PDF

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Publication number
US20230417018A1
US20230417018A1 US18/034,861 US202118034861A US2023417018A1 US 20230417018 A1 US20230417018 A1 US 20230417018A1 US 202118034861 A US202118034861 A US 202118034861A US 2023417018 A1 US2023417018 A1 US 2023417018A1
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United States
Prior art keywords
action
work machine
information
surrounding
movable part
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US18/034,861
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English (en)
Inventor
Daisuke Ohta
Yusuke Kakuno
Toshiyuki Toyoshima
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NEC Corp
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NEC Corp
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Assigned to NEC CORPORATION reassignment NEC CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: TOYOSHIMA, TOSHIYUKI, KAKUNO, Yosuke, OHTA, DAISUKE
Publication of US20230417018A1 publication Critical patent/US20230417018A1/en
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller

Definitions

  • Patent Literature 1 discloses a technique for slowing down or stopping a shovel in a case where the shovel has entered a forbidden region that is set with respect to an obstacle.
  • An example aspect of the present invention is accomplished in view of the above problems, and its example object is to provide a control apparatus, a control system, and a control method for controlling a work machine which reduce inadvertent contact during operation of the work machine and inhibit a decrease in operating rate.
  • a control apparatus is a control apparatus for controlling a work machine having a movable part, the control apparatus including: an acquisition means of acquiring state information, action information, and surrounding information, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine; a specification means of specifying, based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object; and an action control means of controlling an action of the work machine in accordance with the safe distance and the surrounding information.
  • a control system is a control system for controlling a work machine having a movable part, the control system including a control apparatus and a first sensor that acquires state information indicating a posture of the work machine, the control apparatus including: a specification means of specifying, based on the state information and action information indicating an action of the work machine, a safe distance that is set between the movable part and a surrounding object; and an action control means of controlling an action of the work machine in accordance with the safe distance and surrounding information indicating an arrangement of the surrounding object around the work machine.
  • a control method is a control method for controlling a work machine having a movable part, the control method including: acquiring state information, action information, and surrounding information by at least one processor, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine; specifying, by the at least one processor and based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object; and controlling, by the at least one processor, an action of the work machine in accordance with the safe distance and the surrounding information.
  • control apparatus a control system, and a control method for controlling a work machine which reduce inadvertent contact during operation of the work machine and inhibit a decrease in operating rate.
  • FIG. 1 is a block diagram illustrating a configuration of a control system according to a first example embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating a configuration of a control apparatus according to the first example embodiment.
  • FIG. 5 illustrates an example of setting a forbidden area in a work site according to the second example embodiment.
  • FIG. 7 is a flowchart illustrating a flow of a method for controlling a backhoe according to the second example embodiment.
  • FIG. 8 is a diagram illustrating a configuration of a control system according to a third example embodiment of the present invention.
  • FIG. 9 is a flowchart illustrating a flow of a method for controlling a backhoe according to the third example embodiment.
  • FIG. 10 is a configuration diagram for realizing a control apparatus by software.
  • the specification section 35 and the action control section 36 are described as being incorporated in the single control apparatus 30 . Note, however, that the specification section and the action control section 36 do not necessarily need to be incorporated in a single control apparatus.
  • the specification section 35 and the action control section 36 may be disposed in different apparatuses.
  • the specification section 35 and the action control section 36 may be connected to each other via wired communication or wireless communication. Alternatively, the specification section 35 and the action control section 36 may be disposed on a cloud.
  • FIG. 2 is a block diagram illustrating a configuration of the control apparatus 30 according to the first example embodiment.
  • the control apparatus 30 includes an acquisition section 31 , a safe distance specification section (specification section) 35 , and the action control section 36 .
  • the acquisition section 31 acquires state information indicating a posture of the work machine, action information indicating an action of the work machine, and surrounding information indicating an arrangement of a surrounding object around the work machine.
  • the safe distance specification section 35 specifies, based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object.
  • the action control section 36 controls an action of the work machine in accordance with the safe distance and the surrounding information.
  • the acquisition section 31 is configured to realize the acquisition means in the present example embodiment.
  • the safe distance specification section (specification section) 35 is configured to realize the specification means in the present example embodiment.
  • FIG. 4 is a diagram illustrating the configuration of the control system 2 according to the second example embodiment of the present invention.
  • the control system 2 includes a control apparatus 30 A and a sensor 40 (first sensor, 401 , 402 , 403 , 404 ).
  • the following description will discuss the control apparatus 30 and the sensor 40 in order, and before that, the backhoe 100 will be described.
  • the backhoe 100 operates based on a control instruction received from the control apparatus 30 A.
  • the backhoe 100 includes a traveling section 10 , a movable part 20 that is attached to the traveling section and a controller 80 .
  • the traveling section 10 is a traveling apparatus that allows the backhoe 100 to move forward and backward, and to turn right and left.
  • the traveling section 10 travels, for example, with use of an endless track belt.
  • the movable part 20 includes a rotary section 21 , a boom 22 that is attached to the rotary section, an arm 23 that is attached to an end portion of the boom 22 , and a bucket 24 that is attached to an end portion of the arm 23 .
  • the controller 80 controls the backhoe 100 in accordance with an action control signal received from the control apparatus 30 A.
  • the backhoe 100 operates in accordance with an instruction by the control apparatus 30 A. Note, however, that remote operation by an operator may be carried out. In addition, in a case where remote control by an operator is different from a work program or is an operation error, etc., the control apparatus 30 A may modify the remote control.
  • the control apparatus 30 A may be mounted on the backhoe 100 .
  • the rotary section 21 can turn on the traveling section 10 in a plane perpendicular to the paper surface of the drawing.
  • the plane perpendicular to the paper surface of FIG. 4 is a horizontal plane. Therefore, hereinafter, this plane is referred to as a “horizontal plane” for convenience.
  • the boom 22 can turn and return around a boom shaft 221 in a plane that is substantially perpendicular to the horizontal plane.
  • the arm 23 can turn and return around an arm shaft 231 on the same turning plane as that of the boom 22 .
  • the bucket 24 can turn and return around a bucket shaft 241 on the same turning plane as that of the arm 23 .
  • the backhoe 100 is controlled by the controller 80 that has received an action control signal from the control apparatus 30 A via the Internet Ni.
  • the backhoe 100 is a work machine which moves in a predetermined work range with the traveling section 10 by unmanned operation, shovels earth and sand with the bucket 24 by operating the rotary section 21 , the boom 22 , and the arm 23 , and transports the earth and sand to a predetermined position.
  • the backhoe 100 may be operated by attaching an attachment to an operation lever and sending an action control signal to the attachment, instead of the case of being controlled by the controller 80 .
  • the operation method is not limited to this example.
  • a server may be disposed within a work site and an action control signal may be transmitted from the server to operate the backhoe 100 .
  • the server may be disposed on a cloud rather than within a work site.
  • the control apparatus 30 A is a control apparatus for controlling the backhoe 100 having the movable part 20 , and includes the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , a storage section 38 , and a communication section 39 .
  • the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , the storage section 38 , and the communication section 39 are electrically connected to each other.
  • the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , and the like are described as being incorporated in the single control apparatus 30 A. Note, however, that the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , and the like do not necessarily need to be incorporated in a single control apparatus.
  • the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , and the like may be disposed separately.
  • the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , and the like may be connected to each other via wired communication or wireless communication.
  • the acquisition section 31 , the safe distance specification section 35 , the action control section 36 , and the like may be provided on a cloud.
  • the acquisition section 31 includes a state information acquisition section 32 that acquires state information indicating a posture of the backhoe 100 , an action information acquisition section 33 that acquires action information indicating an action of the backhoe 100 , and a surrounding information acquisition section 34 that acquires surrounding information indicating an arrangement of a surrounding object 60 around the backhoe 100 .
  • the state information acquisition section 32 is configured to realize the state information acquisition means in the present example embodiment.
  • the action information acquisition section 33 is configured to realize the action information acquisition means in the present example embodiment.
  • the surrounding information acquisition section 34 is configured to realize the surrounding information acquisition means in the present example embodiment. The following description will discuss the sections in order.
  • the state information acquisition section 32 acquires, via the Internet Ni, a detection value (state information) from sensors 401 , 402 , 403 and 404 (collectively referred to as “first sensor 40 ”), which will be described later.
  • first sensor 40 a detection value (state information) from sensors 401 , 402 , 403 and 404
  • the detection values by the first sensors 40 are transmitted to, for example, the controller 80 , and the controller 80 collectively transmits the detection values to the control apparatus 30 A via the Internet Ni.
  • the detection values by the first sensors 40 may be transmitted to the control apparatus directly via the Internet Ni without using the controller 80 .
  • the state information acquisition section 32 derives a shape of the movable part 20 from the acquired state information.
  • the state information of the backhoe 100 is, for example, respective turning angles of the rotary section 21 , the boom 22 , the arm 23 , and the bucket 24 . It is possible to derive the shape of the movable part 20 from these turning angles.
  • the shape may be, for example, three-dimensional coordinates at a specific point of the movable part 20 .
  • the three-dimensional coordinates are a coordinate system identical with that of a three-dimensional map which is generated based on surrounding information (described later).
  • the specific point is a point at which a possibility of collision with an obstacle is high.
  • a specific point of the movable part 20 may be, for example, an end portion of the boom 22 , an end portion of the arm 23 , an end portion of the bucket 24 , or the like.
  • a specific point of the traveling section 10 may be, for example, left and right front end portions and left and right rear end portions of the traveling section 10 .
  • the state information of the backhoe 100 may include position information and orientation information of the backhoe 100 .
  • the position information can be acquired with use of, for example, a global positioning system (GPS).
  • the orientation information indicates an orientation of the traveling section 10 .
  • the orientation information can be acquired with use of an orientation sensor.
  • the position information and the orientation information of the backhoe 100 may be utilized as follows: That is, an initial position, which is a stop position before starting work, and an orientation are stored in surrounding information that is stored in the storage section 38 ; a movement direction and a movement distance are derived from action information of the backhoe 100 after starting work; the position and the orientation at the moving destination are updated at any time; and pieces of information thus obtained are used as the position information and the orientation information.
  • the action information acquisition section 33 acquires action information of the backhoe 100 .
  • the action information of the backhoe 100 is, for example, information indicating a dynamic characteristic of the backhoe 100 .
  • the information indicating the dynamic characteristic includes information indicating a dynamic characteristic of the traveling section 10 or information indicating a dynamic characteristic of the movable part 20 .
  • the information indicating the dynamic characteristic is information indicating a characteristic of an action of each portion of the backhoe 100 . Specifically, the information indicates, for example, whether each portion of the backhoe 100 is stopped, moving, or starting to move. In the case of moving or starting to move, the information indicates a speed, acceleration, or the like thereof.
  • the dynamic characteristic includes, for example, at least one of a speed and acceleration of the movable part 20 . Note that the speed includes an angular velocity, and the acceleration includes angular acceleration.
  • the dynamic characteristic is an index indicating a risk, and it is possible to infer a risk based on the dynamic characteristic.
  • An action of the backhoe 100 may be controlled in accordance with such a risk.
  • the action information such as the speed and acceleration can be acquired from a detection value from the first sensor 40 .
  • the speed and acceleration can be directly derived from detection values of the first sensor even in a case where the first sensor 40 cannot detect a speed and acceleration, it is possible that a movement distance by which each portion of the backhoe 100 has moved per unit time is calculated from a distance of each portion of the backhoe 100 and a turning angle of each portion of the backhoe 100 that the first sensor 40 has most recently detected, and the speed and acceleration is derived from the movement distance and the unit time.
  • the action information may be acquired, for example, from an action control signal output by the action control section 36 .
  • an action control signal output by the action control section 36 .
  • a speed and acceleration of movement of the traveling section 10 and each portion of the movable part 20 based on an action control signal are accumulated in a database, and the speed and acceleration of the movement of each portion are derived from the action control signal with reference to the database.
  • the database may be prepared by observing in advance a speed and acceleration of movement of the traveling section 10 and each portion of the movable part 20 based on an action control signal.
  • the database may include state information indicating a posture of the backhoe 100 , in addition to the action control signal.
  • the surrounding information acquisition section 34 acquires surrounding information stored in the storage section 38 and generates a three-dimensional map.
  • the surrounding information is information in which position (surface) data of an object existing in a work site of the backhoe 100 is three-dimensionally recorded.
  • the surrounding information may include a forbidden area (described later).
  • the safe distance specification section 35 specifies, based on the state information and the action information, a safe distance that is set between the movable part 20 and the surrounding object 60 .
  • the state information and the action information are as described above.
  • the safe distance specification section 35 specifies a safe distance in accordance with, for example, a speed or acceleration of the movable part 20 .
  • the safe distance specification section 35 specifies a safe distance in accordance with a speed or acceleration of the movable part 20 while taking into consideration a speed or acceleration of the traveling section 10 .
  • the safe distance is a distance that defines a region in which each portion (e.g., a specific point) of the backhoe 100 can move. Specifically, the safe distance is a desired value for carrying out control such that a distance between each portion of the backhoe 100 and an object is not less than the safe distance.
  • the safe distance specification section 35 changes the safe distance in accordance with action information of the backhoe 100 . A specific method for deriving a safe distance will be described later.
  • the action control section 36 controls the movable part 20 to avoid the object Specifically, in a case where the distance between the object 60 and the movable part 20 is less than the safe distance, the action control section 36 moves the rotary section 21 , the boom 22 , the arm 23 , or the bucket 24 to avoid collision with the object 60 . A movement speed of each portion of the backhoe 100 may also be reduced. Ultimately, the action control section 36 may stop the backhoe 100 .
  • the surrounding information is information indicating a three-dimensional arrangement of the object that exists in a work site in which the backhoe 100 carries out work.
  • the object 60 existing in the work site is also referred to as a “surrounding object”.
  • a forbidden area 70 (described later) which has been generated based on a position of the surrounding object can also be a part of the surrounding information.
  • the surrounding information is stored in the storage section 38 in advance. Specifically, the surrounding information is stored in the storage section 38 before work is started.
  • the surrounding information may be input by an operator before work is started, or the surrounding information may be collected by the control apparatus 30 A from a server or the like in which pieces of facility information are aggregated.
  • the storage section 38 may store, in addition to the foregoing surrounding information in advance, programs for the state information acquisition section 32 , the action information acquisition section 33 , the surrounding information acquisition section 34 , the safe distance specification section 35 , and the action control section 36 in a read only memory (ROM). Such programs may be loaded into RAM and executed by one or more processors of the control apparatus 30 A. Thus, the programs can function as the respective sections.
  • ROM read only memory
  • the sensor 403 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects an angle of the arm 23 with respect to the boom 22 .
  • the sensor 404 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects an angle of the bucket 24 with respect to the arm 23 .
  • the sensors 402 through 404 may each be disposed outside or inside the backhoe 100 . In a case of being disposed outside, each of the sensors 402 through 404 is an inclination sensor, an acceleration sensor, a gyro sensor, a stroke sensor, an encoder, or the like. In a case of being disposed inside, each of the sensors 402 through 404 is a pressure sensor, a flow sensor, a cylinder sensor, a hydraulic sensor, a stroke sensor, or the like.
  • the safe distance specification section 35 may be configured to generate a forbidden area 70 in advance based on surrounding information.
  • the forbidden area 70 represents an object that should not be in contact with the backhoe 100 or represents, in a plane, an area where the backhoe 100 should not enter.
  • the forbidden area 70 may be set as a plane having a predetermined shape that surrounds the object 60 .
  • a forbidden area 70 A which is a rectangular plane
  • a forbidden area 70 B which is a rectangular plane
  • a forbidden area 70 C is provided in front of a slope region where the backhoe 100 cannot carry out work.
  • a width and a depth of the forbidden area 70 C can be set in accordance with a reachable range of the backhoe 100 .
  • the safe distance specification section 35 specifies, for example, a safe distance of a specific point of the movable part 20 based on the state information and the action information. More specifically, the safe distance specification section 35 sets an ellipsoid having axial radii corresponding to respective components of a speed vector of the movable part 20 , and specifies the safe distance as a radius of the ellipsoid. The following description will discuss an example of specifying a safe distance between an end portion of the bucket 24 and the object 60 .
  • FIG. 6 is a schematic diagram illustrating a shape of the movable part 20 .
  • three-dimensional coordinates of the end portion of the bucket 24 are assumed to be (x,y,z). This three-dimensional coordinate system is identical with a three-dimensional coordinate system representing surrounding information.
  • the three-dimensional coordinates of the end portion of the bucket 24 can be derived from state information. For example, assuming that a middle point of the boom shaft 221 is an origin of three-dimensional coordinates, each of the coordinates is expressed as in expression (1) below.
  • ⁇ 0 represents an orientation of the backhoe 100
  • ⁇ 1 represents a boom angle
  • ⁇ 2 represents an arm angle
  • ⁇ 3 represents a bucket angle.
  • the boom angle ⁇ 1 is an angle of the boom 22 with respect to a reference plane (i.e., a turning plane of the rotary section 21 )
  • the arm angle ⁇ 2 is an angle of the arm 23 with respect to the boom 22
  • the bucket angle ⁇ 3 is an angle of the bucket 24 with respect to the arm 23 .
  • each of axial radii of the ellipsoid can be determined in accordance with a movement speed vector indicated in expression (3) below.
  • the movement speed can be derived from action information.
  • f a (v x ) is a function having a positive correlation that changes the variable number a in accordance with a speed v x in the x-axis direction. That is, as the speed v x increases, the variable number a becomes larger.
  • f b (v y ) is a function having a positive correlation that changes the variable number b in accordance with a speed v y in the y-axis direction.
  • f c (v z ) is a function having a positive correlation that changes the variable number c in accordance with a speed v z in the z-axis direction.
  • the safe distance is changed timely in accordance with state information and action information of the backhoe 100 .
  • the safe distance specification section 35 may be set to recalculate the safe distance.
  • the safe distance can be recalculated and updated in a short time.
  • the action control section 36 can control an action of the backhoe 100 in accordance with the set safe distance. For example, in a case where a distance between the object 60 and the end portion of the bucket 24 is less than the safe distance, the action control section 36 controls the movable part 20 to avoid the object 60 . In a case where a distance between the forbidden area 70 and the end portion of the bucket 24 is less than the safe distance, the action control section 36 may control the movable part 20 to avoid the forbidden area 70 .
  • control system 2 is configured to include the control apparatus 30 A for controlling the work machine (backhoe 100 ) having the movable part 20 and the first sensor 40 that acquires state information indicating a posture of the backhoe 100 , and the control apparatus specifies, based on the state information and action information of the backhoe 100 , a safe distance that is set between the movable part 20 and a surrounding object 60 , and controls an action of the backhoe 100 in accordance with the safe distance and the surrounding information. Therefore, according to the control system 2 according to the second example embodiment, it is possible to reduce inadvertent contact of the backhoe 100 during operation and to inhibit a decrease in operating rate.
  • the action control section 36 may ultimately stop the backhoe 100 .
  • the action control section 36 may fold down the movable part 20 of the backhoe 100 to retract the movable part 20 to a safe region where there is no risk of collision, move the backhoe 100 toward another location in the work area that has been set in advance, and resume work.
  • the surrounding information acquisition section (at least one processor) 34 acquires surrounding information indicating an arrangement of a surrounding object around the backhoe 100 from the storage section 38 .
  • the state information acquisition section (at least one processor) 32 acquires state information indicating a posture of the backhoe 100 from the sensor 40 .
  • the action information acquisition section (at least one processor) 33 acquires action information indicating an action of the backhoe 100 from the action control section 36 .
  • the safe distance specification section 35 specifies, based on the state information and the action information, a safe distance that is set between the movable part 20 of the backhoe 100 and the surrounding object 60 .
  • the action information in step S 22 may be information indicating a dynamic characteristic of the backhoe 100 , and the dynamic characteristic includes at least one of a speed and acceleration of the movable part 20 .
  • the specifying of the safe distance in step S 23 includes setting an ellipsoid having axial radii corresponding to respective components of a speed vector of the movable part 20 , and specifying the safe distance as a radius of the ellipsoid.
  • controlling of an action of the backhoe 100 in step S 24 includes controlling the movable part 20 to avoid the object 60 in a case where a distance between the object 60 indicated in the surrounding information and the movable part 20 is less than the safe distance.
  • control method S 2 As described above, in the control method S 2 according to the present example embodiment, a configuration is employed in which the state information, the action information, and the surrounding information are acquired, the safe distance is specified based on the state information and the action information, and the action of the backhoe 100 is controlled in accordance with the safe distance and the surrounding information. Therefore, according to the control method S 2 according to the present example embodiment, it is possible to reduce inadvertent contact of the backhoe 100 during operation and to inhibit a decrease in operating rate.
  • the control apparatus 30 B includes an acquisition section 31 , a safe distance specification section 35 , an action control section 36 , a surrounding information generation section 37 , a storage section 38 , and a communication section 39 .
  • the control apparatus differs from the control apparatus 30 A according to the second example embodiment in that the control apparatus 30 B includes the surrounding information generation section 37 .
  • the control apparatus 30 B according to the third example embodiment further includes the surrounding information generation section 37 that generates a three-dimensional map including the backhoe 100 as surrounding information based on a detection value by the distance sensor 50 . Therefore, it is possible to further reduce inadvertent contact of the backhoe 100 during operation and to inhibit a decrease in operating rate.
  • FIG. 9 is a flowchart illustrating the flow of the control method S 3 for controlling the backhoe 100 according to the third example embodiment.
  • the example has been described in which the work machine is a backhoe.
  • the work machine to which the present invention can be applied is not limited to that example.
  • the present invention can be applied to a machine having a movable part, such as a construction machine, an earth-moving machine, a transportation machine, a machine tool, an assembly machine, or the like.
  • the present invention is suitably applicable to work machines in general including a robot which carry out work while changing a position.
  • the computer C can further include a random access memory (RAM) in which the program P is loaded when the program P is executed and in which various kinds of data are temporarily stored.
  • the computer C can further include a communication interface for carrying out transmission and reception of data with other apparatuses.
  • the computer C can further include an input-output interface for connecting input-output apparatuses such as a keyboard, a mouse, a display and a printer.
  • the program P can be stored in a non-transitory tangible storage medium M which is readable by the computer C.
  • the storage medium M can be, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like.
  • the computer C can obtain the program P via the storage medium M.
  • the program P can be transmitted via a transmission medium.
  • the transmission medium can be, for example, a communications network, a broadcast wave, or the like.
  • the computer C can obtain the program P also via such a transmission medium.
  • the present invention is not limited to the foregoing example embodiments, but may be altered in various ways by a skilled person within the scope of the claims.
  • the present invention also encompasses, in its technical scope, any example embodiment derived by appropriately combining technical means disclosed in the foregoing example embodiments.
  • a control apparatus for controlling a work machine having a movable part including: an acquisition means of acquiring state information, action information, and surrounding information, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine; a specification means of specifying, based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object; and an action control means of controlling an action of the work machine in accordance with the safe distance and the surrounding information.
  • the action information is information indicating a dynamic characteristic of the work machine.
  • the dynamic characteristic includes at least one of a speed and acceleration of the movable part.
  • the specification means sets an ellipsoid having axial radii corresponding to respective components of a speed vector of the movable part, and specifies the safe distance as a radius of the ellipsoid.
  • the control apparatus further including: a surrounding information generation means of generating, as the surrounding information, a three-dimensional map that includes the work machine based on a detection value by a distance sensor.
  • the surrounding information including the work machine can be timely updated.
  • the control apparatus in which: in a case where a distance between the object indicated in the surrounding information and the movable part is less than the safe distance, the action control means controls the movable part to avoid the object.
  • the action information is information indicating a dynamic characteristic of the work machine.
  • the dynamic characteristic includes at least one of a speed and acceleration of the movable part.
  • the specification means sets an ellipsoid having axial radii corresponding to respective components of a speed vector of the movable part, and specifies the safe distance as a radius of the ellipsoid.
  • control system in which: in a case where a distance between the object indicated in the surrounding information and the movable part is less than the safe distance, the action control means controls the movable part to avoid the object.
  • a control method for controlling a work machine having a movable part including: acquiring state information, action information, and surrounding information by at least one processor, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine; specifying, by the at least one processor and based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object; and controlling, by the at least one processor, an action of the work machine in accordance with the safe distance and the surrounding information.
  • the action information is information indicating a dynamic characteristic of the work machine.
  • the dynamic characteristic includes at least one of a speed and acceleration of the movable part.
  • the specifying of the safe distance includes setting an ellipsoid having axial radii corresponding to respective components of a speed vector of the movable part, and specifying the safe distance as a radius of the ellipsoid.
  • the acquiring of the surrounding information includes generating, as the surrounding information, a three-dimensional map that includes the work machine based on a detection value by a distance sensor.
  • the surrounding information including the work machine can be timely updated.
  • control method includes, in a case where a distance between the object indicated in the surrounding information and the movable part is less than the safe distance, controlling the movable part to avoid the object.
  • the action information is information indicating a dynamic characteristic of the work machine.
  • the dynamic characteristic includes at least one of a speed and acceleration of the movable part.
  • a control apparatus for controlling a work machine having a movable part including at least one processor, the at least one processor carrying out: a process of acquiring state information, action information, and surrounding information, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine; a process of specifying, based on the state information and the action information, a safe distance that is set between the movable part and the surrounding object; and a process of controlling an action of the work machine in accordance with the safe distance and the surrounding information.
  • control apparatus can further include a memory.
  • a program for causing the processor to execute the above processes can be stored.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
US18/034,861 2020-11-09 2021-10-29 Control device, control system, and control method Pending US20230417018A1 (en)

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JP2020-186817 2020-11-09
JP2020186817 2020-11-09
PCT/JP2021/039935 WO2022097570A1 (ja) 2020-11-09 2021-10-29 制御装置、制御システム、及び制御方法

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230265640A1 (en) * 2022-02-24 2023-08-24 Caterpillar Inc. Work machine 3d exclusion zone

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JP2006257724A (ja) * 2005-03-16 2006-09-28 Hitachi Constr Mach Co Ltd 作業機械の安全装置
JP2006307436A (ja) * 2005-04-26 2006-11-09 Shin Caterpillar Mitsubishi Ltd 旋回系作業機械
JP2007023486A (ja) * 2005-07-12 2007-02-01 Shin Caterpillar Mitsubishi Ltd 作業機械における接触回避制御装置
JP5227841B2 (ja) * 2009-02-27 2013-07-03 日立建機株式会社 周囲監視装置
JP5667638B2 (ja) * 2010-10-22 2015-02-12 日立建機株式会社 作業機械の周辺監視装置
JP6752548B2 (ja) * 2015-03-20 2020-09-09 住友建機株式会社 建設機械
JP7114248B2 (ja) * 2017-12-18 2022-08-08 住友重機械工業株式会社 建設機械
KR102638315B1 (ko) * 2018-03-26 2024-02-16 스미토모 겐키 가부시키가이샤 쇼벨

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20230265640A1 (en) * 2022-02-24 2023-08-24 Caterpillar Inc. Work machine 3d exclusion zone

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