WO2018179383A1 - 作業車両の制御システム、及び作業機の軌跡設定方法 - Google Patents
作業車両の制御システム、及び作業機の軌跡設定方法 Download PDFInfo
- Publication number
- WO2018179383A1 WO2018179383A1 PCT/JP2017/013731 JP2017013731W WO2018179383A1 WO 2018179383 A1 WO2018179383 A1 WO 2018179383A1 JP 2017013731 W JP2017013731 W JP 2017013731W WO 2018179383 A1 WO2018179383 A1 WO 2018179383A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- target
- work
- controller
- work vehicle
- terrain
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000006073 displacement reaction Methods 0.000 claims description 106
- 238000013461 design Methods 0.000 claims description 58
- 230000008569 process Effects 0.000 abstract description 34
- 238000009412 basement excavation Methods 0.000 description 61
- 239000002689 soil Substances 0.000 description 38
- 230000005540 biological transmission Effects 0.000 description 16
- 238000001514 detection method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 10
- 238000012876 topography Methods 0.000 description 10
- 238000009499 grossing Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 101150075118 sub1 gene Proteins 0.000 description 8
- 230000007704 transition Effects 0.000 description 8
- 230000000717 retained effect Effects 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 238000012546 transfer Methods 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 240000001973 Ficus microcarpa Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/815—Blades; Levelling or scarifying tools
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- 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
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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
- E02F9/2045—Guiding machines along a predetermined path
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- 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
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7609—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers
- E02F3/7618—Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers with the scraper blade adjustable relative to the pivoting arms about a horizontal axis
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
Definitions
- the present invention relates to a work vehicle control system and a work machine trajectory setting method.
- the occurrence of shoe slip can be suppressed by raising the blade when the load on the blade becomes excessively large. Thereby, work can be performed efficiently.
- the blade is first controlled along the design landform 100. Thereafter, when the load on the blade increases, the blade is raised by load control (see the blade locus 200 in FIG. 18). Therefore, when excavating the terrain 300 having large undulations, the load applied to the blade may increase rapidly, and the blade may be rapidly raised. In that case, a large terrain with unevenness is formed. Once the rough topography is once formed, it becomes difficult to perform a smooth excavation operation thereafter. Therefore, it is preferable to perform excavation work that does not form uneven terrain.
- An object of the present invention is to perform work efficiently by automatic control and to suppress the formation of large terrain by the work.
- the work vehicle control system includes a controller.
- the controller is programmed to do the following: The controller determines a target profile to be worked on. The controller generates a command signal for operating the work machine according to the target profile. The controller acquires the load of the work vehicle. The controller corrects the target profile according to the magnitude of the load. The controller generates a command signal for operating the work machine according to the modified target profile.
- the work implement trajectory setting method includes the following processing.
- the first process is to determine a target profile to be worked on.
- the second process is to set the trajectory of the work implement so that the work implement is operated according to the target profile.
- the third process is to acquire the work vehicle load.
- the fourth process is to correct the target profile according to the magnitude of the load.
- the fifth process is to set the trajectory of the work implement so that the work implement is operated according to the corrected target profile.
- the work vehicle includes a work machine and a controller.
- the controller determines a target profile to be worked on.
- the controller generates a command signal for operating the work machine according to the target profile.
- the controller acquires the load of the work vehicle.
- the controller corrects the target profile according to the magnitude of the load.
- the controller generates a command signal for operating the work machine according to the modified target profile.
- FIG. 6 is a block diagram showing a configuration of a control system according to a first modification. It is a block diagram which shows the structure of the control system which concerns on a 2nd modification. It is a figure which shows the example of target load parameter data. It is a figure which shows the other example of a target design topography. It is a figure which shows the excavation work by a prior art.
- FIG. 1 is a side view showing a work vehicle 1 according to the embodiment.
- the work vehicle 1 according to the present embodiment is a bulldozer.
- the work vehicle 1 includes a vehicle body 11, a traveling device 12, and a work implement 13.
- the vehicle body 11 has a cab 14 and an engine compartment 15.
- a driver's seat (not shown) is arranged in the cab 14.
- the engine compartment 15 is disposed in front of the cab 14.
- the traveling device 12 is attached to the lower part of the vehicle body 11.
- the traveling device 12 has a pair of left and right crawler belts 16. In FIG. 1, only the left crawler belt 16 is shown. As the crawler belt 16 rotates, the work vehicle 1 travels.
- the traveling of the work vehicle 1 may be any form of autonomous traveling, semi-autonomous traveling, and traveling by an operator's operation.
- the work machine 13 is attached to the vehicle body 11.
- the work machine 13 includes a lift frame 17, a blade 18, and a lift cylinder 19.
- the lift frame 17 is attached to the vehicle body 11 so as to be movable up and down around an axis X extending in the vehicle width direction.
- the lift frame 17 supports the blade 18.
- the blade 18 is disposed in front of the vehicle body 11. The blade 18 moves up and down as the lift frame 17 moves up and down.
- the lift cylinder 19 is connected to the vehicle body 11 and the lift frame 17. As the lift cylinder 19 expands and contracts, the lift frame 17 rotates up and down around the axis X.
- FIG. 2 is a block diagram showing the configuration of the drive system 2 and the control system 3 of the work vehicle 1.
- the drive system 2 includes an engine 22, a hydraulic pump 23, and a power transmission device 24.
- the hydraulic pump 23 is driven by the engine 22 and discharges hydraulic oil.
- the hydraulic oil discharged from the hydraulic pump 23 is supplied to the lift cylinder 19.
- one hydraulic pump 23 is shown, but a plurality of hydraulic pumps may be provided.
- the power transmission device 24 transmits the driving force of the engine 22 to the traveling device 12.
- the power transmission device 24 may be, for example, HST (Hydro Static Transmission).
- the power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears.
- the control system 3 includes an operating device 25a, a control mode setting device 25b, a controller 26, a storage device 28, and a control valve 27.
- the operating device 25a is a device for operating the work implement 13 and the traveling device 12.
- the operating device 25a is disposed in the cab 14.
- the operating device 25a receives an operation by an operator for driving the work machine 13 and the traveling device 12, and outputs an operation signal corresponding to the operation.
- the operation device 25a includes, for example, an operation lever, a pedal, a switch, and the like.
- the operating device 25a for the traveling device 12 is provided so as to be operable at a forward position, a reverse position, and a neutral position.
- An operation signal indicating the position of the operation device 25a is output to the controller 26.
- the controller 26 controls the traveling device 12 or the power transmission device 24 so that the work vehicle 1 moves forward when the operation position of the operating device 25a is the forward movement position.
- the controller 26 controls the travel device 12 or the power transmission device 24 so that the work vehicle 1 moves backward.
- the control mode setting device 25b is, for example, a touch panel type input device. However, the setting device 25b may be another input device such as a switch. As will be described later, the control mode includes a load mode and a mode based on blade specifications.
- the load mode can be selected from “Light”, “Normal”, and “Heavy” modes. “Light” is a control mode in which the load on the blade 18 is light. “Heavy” is a control mode in which the load on the blade 18 is heavy. “Normal” is a control mode in which the load on the blade 18 is between “Light” and “Heavy”.
- the blade specification can be selected from, for example, “Full” mode and “Semi” mode.
- the “Full” mode is a control mode when the large blade 18 is mounted
- the “Semi” mode is a control mode when the small blade 18 is mounted.
- the controller 26 is programmed to control the work vehicle 1 based on the acquired data.
- the controller 26 includes a processing device such as a CPU.
- the controller 26 acquires an operation signal from the operation device 25a.
- the controller 26 controls the control valve 27 based on the operation signal.
- the controller 26 is not limited to being integrated, and may be divided into a plurality of controllers.
- the control valve 27 is a proportional control valve and is controlled by a command signal from the controller 26.
- the control valve 27 is disposed between the hydraulic actuator such as the lift cylinder 19 and the hydraulic pump 23.
- the control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 23 to the lift cylinder 19.
- the controller 26 generates a command signal to the control valve 27 so that the blade 18 operates in response to the operation of the operation device 25a described above. Thereby, the lift cylinder 19 is controlled according to the operation amount of the operating device 25a.
- the control valve 27 may be a pressure proportional control valve. Alternatively, the control valve 27 may be an electromagnetic proportional control valve.
- the control system 3 includes a lift cylinder sensor 29.
- the lift cylinder sensor 29 detects the stroke length of the lift cylinder 19 (hereinafter referred to as “lift cylinder length L”).
- the controller 26 calculates the lift angle ⁇ lift of the blade 18 based on the lift cylinder length L.
- FIG. 3 is a schematic diagram showing the configuration of the work vehicle 1. As shown in FIG.
- the origin position of the work machine 13 is indicated by a two-dot chain line.
- the origin position of the work machine 13 is the position of the blade 18 in a state where the blade tip of the blade 18 is in contact with the ground on the horizontal ground.
- the lift angle ⁇ lift is an angle from the origin position of the work machine 13.
- the control system 3 includes a position detection device 31.
- the position detection device 31 measures the position of the work vehicle 1.
- the position detection device 31 includes a GNSS (Global Navigation Satellite System) receiver 32 and an IMU 33.
- the GNSS receiver 32 is, for example, a receiver for GPS (Global Positioning System).
- the antenna of the GNSS receiver 32 is disposed on the cab 14.
- the GNSS receiver 32 receives a positioning signal from the satellite, calculates the antenna position based on the positioning signal, and generates vehicle position data.
- the controller 26 acquires vehicle body position data from the GNSS receiver 32.
- the IMU 33 is an inertial measurement device (Inertial Measurement Unit).
- the IMU 33 acquires vehicle body tilt angle data and vehicle body acceleration data.
- the vehicle body tilt angle data includes an angle (pitch angle) with respect to the horizontal in the vehicle longitudinal direction and an angle (roll angle) with respect to the horizontal in the vehicle lateral direction.
- the vehicle body acceleration data includes the acceleration of the work vehicle 1.
- the controller 26 obtains the traveling direction and the vehicle speed of the work vehicle 1 from the vehicle body acceleration data.
- the controller 26 acquires vehicle body tilt angle data and vehicle body acceleration data from the IMU 33.
- the controller 26 calculates the cutting edge position P0 from the lift cylinder length L, the vehicle body position data, and the vehicle body inclination angle data. As shown in FIG. 3, the controller 26 calculates the global coordinates of the GNSS receiver 32 based on the vehicle body position data. The controller 26 calculates the lift angle ⁇ lift based on the lift cylinder length L. The controller 26 calculates the local coordinates of the cutting edge position P0 with respect to the GNSS receiver 32 based on the lift angle ⁇ lift and the vehicle body dimension data. The controller 26 calculates the traveling direction and the vehicle speed of the work vehicle 1 from the vehicle body acceleration data. The vehicle body dimension data is stored in the storage device 28, and indicates the position of the work machine 13 with respect to the GNSS receiver 32.
- the controller 26 calculates the global coordinates of the cutting edge position P0 based on the global coordinates of the GNSS receiver 32, the local coordinates of the cutting edge position P0, and the vehicle body inclination angle data.
- the controller 26 acquires the global coordinates of the cutting edge position P0 as cutting edge position data.
- the control system 3 includes an output sensor 34 that measures the output of the power transmission device 24.
- the output sensor 34 may be a pressure sensor that detects the drive hydraulic pressure of the hydraulic motor.
- the output sensor 34 may be a rotation sensor that detects the output rotation speed of the hydraulic motor.
- the output sensor 34 may be a rotation sensor that detects an output rotation speed of the torque converter. A detection signal indicating the detection value of the output sensor 34 is output to the controller 26.
- the controller 26 calculates the traction force from the value detected by the output sensor 34.
- the controller 26 can calculate the traction force from the drive hydraulic pressure of the hydraulic motor and the rotation speed of the hydraulic motor.
- the traction force is a load that the work vehicle 1 receives.
- F the traction force
- k a constant
- T the transmission input torque
- R the reduction ratio
- L the crawler belt link pitch
- Z the number of sprocket teeth.
- the input torque T is calculated based on the output rotation speed of the torque converter.
- the traction force detection method is not limited to the above-described method, and may be detected by other methods.
- the storage device 28 includes, for example, a memory and an auxiliary storage device.
- the storage device 28 may be a RAM or a ROM, for example.
- the storage device 28 may be a semiconductor memory or a hard disk.
- the storage device 28 is an example of a non-transitory computer-readable recording medium.
- the storage device 28 can be executed by a processor and records computer commands for controlling the work vehicle 1.
- the storage device 28 stores design terrain data and work site terrain data.
- the designed terrain data indicates the final designed terrain.
- the final design terrain is the final target shape of the worksite surface.
- the design terrain data is, for example, a civil engineering construction diagram in a three-dimensional data format.
- the work site topography data indicates the current topography of the work site.
- the work site topographic data is, for example, a current topographic survey map in a three-dimensional data format. Work site topographic data can be obtained, for example, by aviation laser surveying.
- Controller 26 obtains current terrain data.
- Current terrain data indicates the current terrain at the work site.
- the current topography of the work site is the topography of the area along the traveling direction of the work vehicle 1.
- the current terrain data is obtained by calculation in the controller 26 from the work site terrain data and the position and traveling direction of the work vehicle 1 obtained from the position detection device 31 described above.
- the controller 26 automatically controls the work implement 13 based on the current terrain data, the design terrain data, and the cutting edge position data.
- the automatic control of the work machine 13 may be a semi-automatic control performed in combination with a manual operation by an operator.
- the automatic control of the work machine 13 may be a fully automatic control performed without a manual operation by an operator.
- FIG. 4 is a flowchart showing a process of automatic control of the work machine 13 in excavation work.
- step S101 the controller 26 acquires current position data.
- the controller 26 acquires the current cutting edge position P0 of the blade 18 as described above.
- step S102 the controller 26 acquires design terrain data.
- the design terrain data includes the height Zdesign of the final design terrain 60 at a plurality of reference points in the traveling direction of the work vehicle 1.
- the plurality of reference points indicate a plurality of points at predetermined intervals along the traveling direction of the work vehicle 1.
- the plurality of reference points are on the travel path of the blade 18.
- the final design landform 60 has a flat shape parallel to the horizontal direction, but may have a different shape.
- step S103 the controller 26 acquires the current terrain data.
- the controller 26 obtains the current terrain data by calculation from the work site terrain data obtained from the storage device 28 and the vehicle body position data and traveling direction data obtained from the position detection device 31.
- Current terrain data is information indicating the terrain located in the traveling direction of the work vehicle 1.
- FIG. 5 shows a cross section of the current terrain 50.
- the vertical axis indicates the height of the terrain
- the horizontal axis indicates the distance from the current position in the traveling direction of the work vehicle 1.
- the current terrain data includes the heights Z0 to Zn of the current terrain 50 at a plurality of reference points from the current position to a predetermined terrain recognition distance dn in the traveling direction of the work vehicle 1.
- the current position is a position determined based on the current cutting edge position P0 of the work vehicle 1.
- the current position may be determined based on the current position of the other part of the work vehicle 1.
- the plurality of reference points are arranged at a predetermined interval, for example, every 1 m.
- step S104 the controller 26 acquires the selected control mode.
- the controller 26 acquires the control mode selected by the setting device 25b described above.
- step S105 the controller 26 acquires the excavation start position (work start position). For example, the controller 26 acquires, as the excavation start position, the position when the cutting edge position P0 first falls below the height Z0 of the current landform 50. As a result, the position at which the cutting edge of the blade 18 is lowered and the current topography 50 starts to be excavated is acquired as the excavation start position.
- the controller 26 may acquire the excavation start position by other methods. For example, the controller 26 may acquire the excavation start position based on the operation of the operation device 25a. For example, the controller 26 may acquire the excavation start position based on an operation such as a button or a screen operation using a touch panel.
- step S106 the controller 26 acquires the movement amount of the work vehicle 1.
- the controller 26 acquires the distance traveled from the excavation start position to the current position in the travel path of the blade 18 as the movement amount.
- the movement amount of the work vehicle 1 may be the movement amount of the vehicle body 11.
- the movement amount of the work vehicle 1 may be the movement amount of the blade edge of the blade 18.
- step S107 the controller 26 determines target design landform data.
- the target design landform data indicates the target design landform 70 indicated by a broken line in FIG.
- the target design landform 70 indicates a desired trajectory of the blade edge of the blade 18 in the work.
- the target design terrain 70 is a target profile of the terrain that is a work target, and indicates a desired shape as a result of excavation work.
- the controller 26 determines the target design landform 70 displaced downward from the current landform 50 by a displacement distance ⁇ Z.
- the displacement distance ⁇ Z is a target displacement in the vertical direction at each reference point.
- the displacement distance ⁇ Z is the target depth at each reference point, and indicates the target position of the blade 18 below the current landform 50.
- the target position of the blade 18 means the cutting edge position of the blade 18.
- the displacement distance ⁇ Z indicates the amount of soil per unit movement excavated by the blade 18. Therefore, the target design landform data indicates the relationship between a plurality of reference points and a plurality of target soil volumes.
- controller 26 determines the target design landform 70 so as not to cross the final design landform 60 downward. Accordingly, the controller 26 determines the target design landform 70 that is located at least the final design landform 60 and below the current landform 50 during excavation work.
- the controller 26 determines the height Z of the target design landform 70 by the following equation (2).
- Z Zm- ⁇ Z
- ⁇ Z t1 * t2 * Z_offset
- ⁇ Z is the displacement distance
- FIG. 5 shows the excavation depth.
- t1 is a magnification based on tractive force data indicating the magnitude of tractive force available to the work vehicle.
- the tractive force data is determined according to the selected load mode.
- the load mode increases in order of “Light”, “Normail”, and “Heavy”.
- T2 is a magnification based on blade specification data.
- the blade specification data is determined according to the selected blade specification. In “Full” mode, t2 is larger than in “Semi” mode.
- the Z_offset is a target displacement determined according to the movement amount of the work vehicle 1.
- the target displacement Z_offset is an example of a target load parameter related to the load on the blade 18.
- the target displacement Z_offset indicates the amount of displacement in the height direction (vertical direction) of the blade 18 from the ground surface.
- FIG. 6 shows an example of the target displacement data C.
- the target displacement data C indicates the drilling depth (target displacement) Z_offset in the vertical downward direction from the ground surface of the blade 18 as a dependent variable of the horizontal movement amount n of the work vehicle 1.
- the horizontal movement amount n of the work vehicle 1 is substantially the same value as the horizontal movement amount of the blade 18.
- the controller 26 determines the target displacement Z_offset from the movement amount n of the work vehicle 1 with reference to the target displacement data C shown in FIG.
- the target displacement data C defines the relationship between the movement amount n of the work vehicle 1 and the target displacement Z_offset.
- the target displacement data C is stored in the storage device 28.
- the values of t1 and t2 are 1, and the displacement distance ⁇ Z is equal to the target displacement Z_offset.
- the target displacement data C includes start time data c1, excavation time data c2, transition time data c3, and earthing time data c4.
- the start data c1 defines the relationship between the movement amount n in the excavation start area and the target displacement Z_offset.
- the excavation start area is an area from the excavation start point S to the steady excavation start point D.
- a target displacement Z_offset that gradually increases as the movement amount n increases is defined.
- the starting data c1 defines a target displacement Z_offset that increases linearly with respect to the movement amount n.
- the excavation data c2 defines the relationship between the movement amount n in the excavation area and the target displacement Z_offset.
- the excavation area is an area from the steady excavation start point D to the soil transfer start point T (first area).
- the target displacement Z_offset is defined as a constant value in the excavation area.
- the excavation data c2 defines a constant target displacement Z_offset with respect to the movement amount n.
- the transition data c3 defines the relationship between the movement amount n and the target displacement Z_offset in the soil transfer area.
- the soil transfer region is a region from the normal excavation end point T to the soil start point P.
- the target displacement Z_offset that gradually decreases as the movement amount n increases is defined in the soil transfer region.
- the transition data c3 defines a target displacement Z_offset that linearly decreases with respect to the movement amount n.
- Soil data c4 defines the relationship between the movement amount n in the soil area and the target displacement Z_offset.
- the unloading area is an area (second area) starting from the unloading start point P.
- the target displacement Z_offset is defined as a constant value in the earthing area.
- the soil movement data c4 defines a constant target displacement Z_offset with respect to the movement amount n.
- the excavation area starts from the first start value b1 and ends at the first end value b2.
- the soil carrying area is started from the second start value b3.
- the first end value b2 is smaller than the second start value b3. Therefore, the excavation area is started when the movement amount n is smaller than that of the soil carrying area.
- the target displacement Z_offset in the excavation area is constant at the first target value a1.
- the target displacement Z_offset in the soil carrying area is constant at the second target value a2.
- the first target value a1 is larger than the second target value a2. Therefore, a larger displacement distance ⁇ Z is defined in the excavation region than in the soil carrying region.
- the target displacement Z_offset at the excavation start position is the start value a0.
- the start value a0 is smaller than the first target value a1.
- the start target value a0 is smaller than the second target value a2.
- FIG. 7 is a flowchart showing the target displacement Z_offset determination process.
- the determination process is started when the controller device 25a moves to the forward position.
- the controller 26 determines whether the movement amount n is 0 or more and less than the first start value b1. When the movement amount n is not less than 0 and less than the first start value b1, the controller 26 gradually increases the target displacement Z_offset from the start value a0 according to the increase of the movement amount n in step S202.
- the start value a0 is a constant and is stored in the storage device 28.
- the start value a0 is preferably a small value so that the load on the blade 18 does not become excessively large at the start of excavation.
- the first start value b1 is obtained by calculation from the slope c1, the start value a0, and the first target value a1 in the excavation start area shown in FIG.
- the inclination c1 is a constant and is stored in the storage device 28.
- the slope c1 is preferably a value that allows a quick transition from the start of excavation to the excavation work and that the load on the blade 18 does not become excessively large.
- step S203 the controller 26 determines whether the movement amount n is equal to or greater than the first start value b1 and less than the first end value b2.
- the controller 26 sets the target displacement Z_offset to the first target value a1 in step S204.
- the first target value a1 is a constant and is stored in the storage device 28.
- the first target value a1 is preferably such a value that excavation can be performed efficiently and the load on the blade 18 does not become excessively large.
- step S204 the process proceeds to the second subroutine Sub2 in step S400. Further, in parallel with the processing from step S201 to step S208 of the main routine, the processing of the first subroutine Sub1 of step S300 is performed. The first subroutine Sub1 and the second subroutine Sub2 will be described later.
- step S205 the controller 26 determines whether the movement amount n is equal to or greater than the first end value b2 and less than the second start value b3.
- step S206 the controller 26 sets the target displacement Z_offset to the first target value a1 in accordance with the increase in the movement amount n. Reduce gradually.
- the first end value b2 is the amount of movement when the current amount of soil of the blade 18 exceeds a predetermined threshold. Therefore, the controller 26 reduces the target displacement Z_offset from the first target value a1 when the current amount of soil retained by the blade 18 exceeds a predetermined threshold value.
- the predetermined threshold is determined based on the maximum capacity of the blade 18, for example. For example, the current amount of soil held by the blade 18 may be determined by measuring the load on the blade 18 and calculating the load. Alternatively, an image of the blade 18 may be acquired by a camera, and the current amount of soil held by the blade 18 may be calculated by analyzing the image.
- a predetermined initial value is set as the first end value b2 at the start of the work. After the work starts, the movement amount when the amount of soil held by the blade 18 exceeds a predetermined threshold is stored as an update value, and the first end value b2 is updated based on the stored update value.
- step S207 the controller 26 determines whether or not the movement amount n is equal to or greater than the second start value b3.
- the controller 26 sets the target displacement Z_offset to the second target value a2.
- the second target value a2 is a constant and is stored in the storage device 28.
- the second target value a2 is preferably set to a value suitable for soil carrying work.
- the second start value b3 is obtained by calculation from the slope c2, the first target value a1, and the second target value a2 in the soil transfer region shown in FIG.
- the inclination c2 is a constant and is stored in the storage device 28.
- the inclination c2 is preferably a value that allows a quick transition from excavation work to soil carrying work and that the load on the blade 18 does not become excessively large.
- start value a0, the first target value a1, and the second target value a2 may be changed according to the situation of the work vehicle 1 or the like.
- the first start value b1, the first end value b2, and the second start value b3 may be stored in the storage device 28 as constants.
- FIG. 8 is a flowchart showing the processing of the first subroutine Sub1.
- step S301 the controller 26 acquires the traction force F.
- the controller 26 obtains the traction force F by calculating the traction force F from the detection value of the output sensor 34.
- step S302 the controller 26 determines whether the movement amount n is greater than or equal to the threshold value L.
- the threshold value L is set to a value such that the first subroutine Sub1 is executed in a region excluding the initial excavation start region, for example.
- the threshold value L may be set to a value such that the first subroutine Sub1 is executed in the area after the excavation area.
- the threshold value L may be set to a value such that the first subroutine Sub1 is executed in the area after the earthing area.
- step S303 the controller 26 determines whether the traction force F is equal to or greater than the first threshold value F1. Specifically, the controller 26 determines whether the tractive force F is equal to or greater than the first threshold value F1 and the duration of the state is equal to or greater than the predetermined time t. When the traction force F is greater than or equal to the first threshold value F1, the process proceeds to step S304.
- step S304 the value of the target height displacement Z_offset is decreased by a predetermined value r1.
- the target displacement data C is data in which the target displacement Z_offset is smaller by a predetermined value r1 from the point D1 of the movement amount when the tractive force F becomes the first threshold value F1 or more. To be corrected. Further, the controller 26 continues this process until the traction force F becomes smaller than the first threshold value F1.
- step S305 the controller 26 determines whether or not the traction force F is equal to or less than the second threshold value F2.
- the process proceeds to step S306.
- step S306 the controller 26 increases the value of the target displacement Z_offset by a predetermined value r2.
- the target displacement data C is corrected from the point D2 of the movement amount when the traction force F becomes the second threshold value F2 or less to the data in which the target displacement Z_offset is increased by the predetermined value r2. Is done.
- the controller 26 continues this process until the traction force F becomes larger than the second threshold value F2.
- the first threshold value F1 is preferably set to a value such that the traction force during excavation does not become excessive for the work vehicle 1.
- the second threshold value F2 is preferably set to a value that does not reduce workability due to excessive reduction of the traction force during excavation for the work vehicle 1.
- the predetermined values r1 and r2 may be different values or the same value.
- the predetermined values r1 and r2 are preferably set to values such that the traction force does not change excessively.
- FIG. 11 is a flowchart showing the processing of the second subroutine Sub2. After the process of step S204 shown in FIG. 7, the process proceeds to subroutine 2 (Sub2) shown in FIG.
- the controller 26 first determines in step S401 whether the traction force F of the work vehicle 1 is smaller than the third threshold value F3 and larger than the fourth threshold value F4. Specifically, it is determined whether the tractive force F is smaller than the third threshold value and larger than the fourth threshold value F4, and the duration of the state is equal to or longer than the predetermined time t. In the following description, the condition of the duration when determining the magnitude of the traction force F is omitted for the sake of simplicity.
- the process returns to the main routine shown in FIG. 7 and proceeds to step S205.
- the process proceeds to step S402.
- step S402 the controller 26 determines whether or not the traction force F is greater than or equal to the third threshold value F3. When the traction force F is greater than or equal to the third threshold value F3, the process proceeds to step S403.
- step S403 the controller 26 changes the first end value from b2 to b2 'and the second start value from b3 to b3'.
- b2 ' is smaller than b2.
- b3 ' is a smaller value than b3.
- B3 ' is equal to b3- (b2-b2').
- the third threshold value F3 is preferably set to a value such that the traction force during excavation does not become excessively large for the work vehicle 1.
- b2 ' may be a movement amount when the tractive force F becomes equal to or greater than the third threshold value F3.
- b3 ' may be calculated from b2' and the slope of the transition data c3.
- the end point of the regular excavation is changed from T to T ′, and the excavation area ends earlier.
- the soil carrying start point is changed from P to P ', and the start of the soil carrying region is accelerated.
- step S402 when the tractive force F is smaller than the third threshold value F3, the process proceeds to step S404.
- step S404 the controller 26 determines whether or not the traction force F is smaller than the fourth threshold value F4 in the movement amount b2.
- the process proceeds to step S405.
- step S405 the controller 26 changes the first end value from b2 to b2 '' and the second start value from b3 to b3 ''.
- b2 "is larger than b2.
- b3 '' is a value larger than b3. Note that b3 ′′ is equal to b3 + (b2 ′′ ⁇ b2).
- the end point of the regular excavation is changed from T to T ′′, and the end of the excavation area is extended.
- the soil unloading start point is changed from P to P ′′, and the start of the unloading region is delayed.
- the fourth threshold value F4 is preferably set to a value that does not reduce workability due to excessive reduction of the traction force during excavation for the work vehicle 1.
- b2 "and b3" may be a predetermined value.
- b2 ′′ may be the amount of movement when the traction force F is equal to or greater than the fourth threshold value F4.
- b3 may be calculated from b2" and the slope of the transition data c3.
- step S405 If the determination in step S405 is negative, the process returns to the main routine shown in FIG. 7 and proceeds to step S205.
- the height Z of the target design landform 70 is determined.
- step S108 shown in FIG. 4 the controller 26 controls the blade 18 toward the target design landform 70.
- the controller 26 generates a command signal to the work implement 13 so that the cutting edge position of the blade 18 moves toward the target design landform 70 created in step S107.
- the generated command signal is input to the control valve 27.
- the cutting edge position P0 of the work machine 13 moves along the target design landform 70.
- the displacement distance ⁇ Z between the current terrain 50 and the target design terrain 70 is larger than in other areas. Thereby, excavation work of the current landform 50 is performed in the excavation area. In the unloading area, the displacement distance ⁇ Z between the current landform 50 and the target designed landform 70 is smaller than in other areas. Accordingly, excavation of the ground is refrained in the soil carrying area, and the earth and sand held by the blade 18 are transported.
- step S109 the controller 26 updates the work site topographic data.
- the controller 26 acquires position data indicating the latest locus of the cutting edge position P0 as current terrain data, and updates the work site terrain data with the acquired current terrain data.
- the controller 26 may calculate the position of the bottom surface of the crawler belt 16 from the vehicle body position data and the vehicle body dimension data, and acquire position data indicating the locus of the bottom surface of the crawler belt 16 as the current terrain data.
- the work terrain data can be updated immediately.
- the current terrain data may be generated from survey data measured by a surveying device outside the work vehicle 1.
- a surveying device for example, an aviation laser surveying may be used.
- the current terrain 50 may be taken from the image data obtained by photographing the current terrain 50 with a camera.
- aerial surveying by UAV Unmanned Aerial Vehicle
- the work site topographic data may be updated at predetermined intervals or at any time.
- the above process is executed when the work vehicle 1 is moving forward.
- the above processing is executed when the operating device 25a for the traveling device 12 is at the forward movement position.
- the excavation start position and the movement amount n are initialized.
- the amount of soil retained by the blade 18 is initialized.
- the controller 26 determines and updates the target design terrain 70 for a plurality of reference points each time it moves forward by a predetermined distance. However, the controller 26 may maintain the initially determined target design terrain 70 until switching from forward to reverse.
- the controller 26 updates the current terrain 50 based on the updated work site terrain data, and newly determines the target design terrain 70 based on the updated current terrain 50. Then, the controller 26 controls the blade 18 along the newly determined target design landform 70. By repeating such processing, excavation is performed so that the current terrain 50 approaches the final design terrain 60.
- the controller 26 refers to the target displacement data and determines the displacement distance ⁇ Z corresponding to the movement amount n. Then, the controller 26 determines the target design landform 70 displaced from the current landform 50 by the displacement distance ⁇ Z and the vertical direction. By controlling the blade 18 toward the target design terrain 70, the work can be smoothly performed without generating large unevenness.
- the controller 26 determines the movement amount n of the work vehicle 1 at the time when the current amount of retained soil becomes larger than a predetermined threshold as the first end value b2. As a result, it is possible to more accurately prevent the amount of the retained soil from becoming excessive.
- the controller 26 corrects the target displacement data C according to the magnitude of the traction force F of the work vehicle 1. Thereby, the controller 26 corrects the target design landform 70 according to the magnitude of the traction force F of the work vehicle 1. Thereby, the target design landform 70 can be optimized according to the traction force F. This will be described with a specific case. As a work machine control of the work vehicle 1, a case is assumed in which control that operates along the target design landform 70 and load control of the conventional technology are performed simultaneously. If the traction force becomes larger than a predetermined value while the work implement 13 is operating along the target design landform 70, the work implement 13 is raised by load control.
- the controller 26 corrects the target design landform 70 according to the traction force, the generation of the unevenness is suppressed.
- Work vehicle 1 is not limited to a bulldozer, but may be another vehicle such as a wheel loader or a motor grader.
- Work vehicle 1 may be a vehicle that can be remotely controlled. In that case, a part of the control system 3 may be arranged outside the work vehicle 1.
- the controller 26 may be disposed outside the work vehicle 1.
- the controller 26 may be located in a control center remote from the work site.
- the controller 26 may include a plurality of controllers 26 that are separate from each other.
- the controller 26 may include a remote controller 261 disposed outside the work vehicle 1 and an in-vehicle controller 262 mounted on the work vehicle 1.
- the remote controller 261 and the vehicle-mounted controller 262 may be able to communicate wirelessly via the communication devices 38 and 39.
- a part of the functions of the controller 26 described above may be executed by the remote controller 261, and the remaining functions may be executed by the in-vehicle controller 262.
- the process of determining the target design landform 70 may be executed by the remote controller 261, and the process of outputting a command signal to the work machine 13 may be executed by the in-vehicle controller 262.
- the operating device 25a may be disposed outside the work vehicle 1. In that case, the cab may be omitted from the work vehicle 1. Alternatively, the operating device 25a may be omitted from the work vehicle 1. The work vehicle 1 may be operated only by automatic control by the controller 26 without operation by the operation device 25a.
- the current landform 50 is not limited to the position detection device 31 described above, and may be acquired by another device.
- the current landform 50 may be acquired by the interface device 37 that receives data from an external device.
- the interface device 37 may receive the current terrain data measured by the external measuring device 41 by radio.
- the interface device 37 may be a recording medium reading device, and may receive the current landform data measured by the external measuring device 41 via the recording medium.
- the controller 26 may determine the target design terrain 70 based on the smoothed current terrain 50. That is, the controller 26 may determine the displacement distance ⁇ Z and the displaced target design landform 70 from the smoothed current landform 50.
- Smoothing means a process of smoothing the height change of the current landform 50.
- the controller 26 may smooth the heights Z0 to Zn at a plurality of points on the current landform 50 by the following equation (3).
- Zn_sm indicates the height of each point in the smoothed current landform 50. In Equation 3, smoothing is performed using the average height of five points. However, the number of points used for smoothing may be less than 5 or greater than 5.
- the number of points used for smoothing can be changed, and the operator may be able to set the desired degree of smoothing by changing the number of points used for smoothing. Also, not only the average value of the height of the point to be smoothed and the previous and subsequent points, but also the average value of the height of the point to be smoothed and the point located in front of it is calculated. May be. Or the average value of the height of the point used as the object of smoothing, and the point located behind it may be calculated. Or not only an average value but another smoothing process may be used.
- the target displacement data may be data indicating the relationship between the target load parameter and the movement amount.
- the controller 26 may determine the target design landform with reference to target load parameter data indicating the relationship between the target load parameter and the current position of the work vehicle 1.
- the target load parameter may be a parameter related to the load on the work machine 13, and is not limited to the target displacement as in the above embodiment.
- FIG. 16 is a diagram showing another example of the target load parameter data.
- the target load parameter may be a target soil amount S_target for each point on the flat terrain. That is, the target load parameter may be the target soil amount S_target per unit distance.
- the controller 26 can calculate the displacement distance ⁇ Z from the target soil amount S_target and the width of the blade 13.
- the target load parameter may be a parameter different from the target soil amount S_target per unit distance.
- the target load parameter may be a parameter indicating a target value of the load on the work machine 13 at each point.
- the controller 26 can calculate the displacement distance ⁇ Z for each point from the target load parameter. In that case, the controller 26 may increase the displacement distance ⁇ Z in accordance with an increase in the target load parameter.
- the controller 26 may determine the target design landform 70 displaced upward from the current landform 50 by a displacement distance ⁇ Z.
- the embankment work can be performed instead of the excavation work.
- Control system 13 Working machine 26 Controller 50 Current terrain 70 Target Design Terrain (Target Profile) b1 First start value b2 First end value b3 Second start value C Target displacement data F Traction force (load applied to work vehicle) n Travel distance Z_offset Target displacement
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
[数1]
F=k×T×R/(L×Z)
ここで、Fは牽引力、kは定数、Tはトランスミッション入力トルク、Rは減速比、Lは履帯リンクピッチ、Zはスプロケット歯数を示す。入力トルクTは、トルクコンバータの出力回転速度を基に演算される。ただし、牽引力の検出方法は上述したものに限らず、他の方法により検出されてもよい。
[数2]
Z = Zm - ΔZ
ΔZ = t1*t2* Z_offset
Zm(m=1,・・・, n)は、複数の参照点での現況地形50の高さZ0~Znである。ΔZは変位距離であり、図5では掘削深さを示す。t1は、作業車両が利用可能な牽引力の大きさを示す牽引力データに基づく倍率である。牽引力データは、選択された負荷モードに応じて決定される。負荷モードが「Light」、「Normail」、「Heavy」の順に、t1が大きくなる。
これを具体的なケースを挙げて説明する。作業車両1の作業機制御として、目標設計地形70に沿って動作させる制御と、従来技術の負荷制御とを同時に行っている場合を想定する。作業機13が目標設計地形70に沿って動作中に、牽引力が所定値より大きくなると、負荷制御により作業機13は上昇する。そして、牽引力が所定値以下になると、負荷制御による作業機制御は解除され、目標設計地形70に沿わせる制御が働いて作業機13は下降する。そのため、作業面に凹凸が生じる。本実施形態に係る作業車両1では、コントローラ26が牽引力に応じて目標設計地形70を修正するため、上記の凹凸の生成が抑制される。
[数3]
Zn_smは、平滑化された現況地形50における各地点の高さを示している。なお、数3式では、5つの地点の高さの平均値により平滑化を行っている。しかし、平滑化に用いる地点の数は5つより少ない、或いは5つより大きくてもよい。平滑化に用いる地点の数が変更可能であり、オペレータは、平滑化に用いる地点の数を変更することで、所望の平滑の度合いに設定可能であってもよい。また、平滑化の対象となる地点、及び、その前後の地点の高さの平均値に限らず、平滑化の対象となる地点、及び、その前方に位置する地点の高さの平均値が算出されてもよい。或いは、平滑化の対象となる地点、及び、その後方に位置する地点の高さの平均値が算出されてもよい。或いは、平均値に限らず、他の平滑化処理が用いられてもよい。
13 作業機
26 コントローラ
50 現況地形
70 目標設計地形(目標プロファイル)
b1 第1開始値
b2 第1終了値
b3 第2開始値
C 目標変位データ
F 牽引力(作業車両が受ける負荷)
n 移動量
Z_offset 目標変位
Claims (21)
- 作業機を有する作業車両の制御システムであって、
コントローラを備え、
前記コントローラは、
作業対象の目標プロファイルを決定し、
前記目標プロファイルに従って前記作業機を動作させる指令信号を生成し、
前記作業車両が受ける負荷を取得し、
前記負荷の大きさに応じて前記目標プロファイルを修正し、
修正された前記目標プロファイルに従って前記作業機を動作させる指令信号を生成する、
ようにプログラムされている、
作業車両の制御システム。 - 前記コントローラは、
前記作業車両の現在位置を示す現在位置データを取得し、
前記作業対象の現況地形を示す現況地形データを取得し、
前記作業車両の作業開始位置からの移動量を前記現在位置データから取得し、
前記移動量に応じた目標変位を示す目標変位データを参照して、前記移動量から前記目標変位を決定し、
前記現況地形を、前記目標変位、鉛直方向に変位させた目標設計地形を決定し、
前記目標設計地形を前記目標プロファイルとして設定する、
請求項1に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷の大きさに応じて前記目標変位データを修正することで、前記目標プロファイルを修正する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、
前記作業対象の現況地形を示す現況地形データを取得し、
前記現況地形データに基づき、前記現況地形を鉛直方向に変位させた目標設計地形を決定し、
前記目標設計地形を前記目標プロファイルとして設定する、
請求項1に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷の大きさに応じて前記目標変位を修正する、
請求項2に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷が第1閾値以上であるときに、前記目標変位を減少させる、
請求項5に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷が第2閾値以下であるときに、前記目標変位を増大させる、
請求項5に記載の作業車両の制御システム。 - 前記目標変位データは、第1領域と第2領域とを含み、
前記第1領域は、前記移動量が第1開始値から第1終了値までであるときの前記目標変位を規定し、
前記第2領域は、前記移動量が第2開始値より大きいときの前記目標変位を規定し、
前記第1領域では、前記第2領域よりも大きな前記目標変位が規定され、
前記コントローラは、前記負荷の大きさに応じて、前記第1終了値、及び/又は前記第2開始値を修正する、
請求項4に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷が第3閾値以上であるときに前記第1終了値、及び/又は前記第2開始値を減少させる、
請求項8に記載の作業車両の制御システム。 - 前記コントローラは、前記負荷が第4閾値以下であるときに、前記第1終了値、及び/又は前記第2開始値を増大させる、
請求項8に記載の作業車両の制御システム。 - 作業車両の作業機の軌跡を設定する方法であって、
作業対象の目標プロファイルを決定することと、
前記目標プロファイルに従って前記作業機を動作させるように前記作業機の軌跡を設定することと、
前記作業車両の負荷を取得することと、
前記負荷の大きさに応じて前記目標プロファイルを修正することと、
修正された前記目標プロファイルに従って前記作業機を動作させるように前記作業機の軌跡を設定することと、
を備える作業機の軌跡設定方法。 - 前記作業車両の現在位置を示す現在位置データを取得することと、
前記作業対象の現況地形を示す現況地形データを取得することと、
前記現在位置データと前記現況地形データとに基づいて、前記現況地形を鉛直方向に変位させた目標設計地形を決定することと、
をさらに備える、
請求項11に記載の作業機の軌跡設定方法。 - 前記作業車両の作業開始位置からの移動量を取得することと、
前記移動量に応じた目標変位を示す目標変位データを参照して、前記移動量から前記目標変位を決定することと、
前記現況地形を、前記目標変位、鉛直方向に変位させた目標設計地形を決定することと、
をさらに備え、
前記目標設計地形が前記目標プロファイルとして設定される、
請求項12に記載の作業機の軌跡設定方法。 - 前記負荷の大きさに応じて前記目標変位が修正される、
請求項13に記載の作業機の軌跡設定方法。 - 前記目標変位データは、第1領域と第2領域とを含み、
前記第1領域は、前記移動量が第1開始値から第1終了値までであるときの前記目標変位を規定し、
前記第2領域は、前記移動量が第2開始値より大きいときの前記目標変位を規定し、
前記第1領域では、前記第2領域よりも大きな前記目標変位が規定され、
前記負荷の大きさに応じて、前記第1終了値、及び/又は前記第2開始値が修正される、
請求項13に記載の作業機の軌跡設定方法。 - 作業機と、
コントローラと、
を備え、
前記コントローラは、
作業対象の目標プロファイルを決定し、
前記目標プロファイルに従って前記作業機を動作させる指令信号を生成し、
前記作業車両の負荷を取得し、
前記負荷の大きさに応じて前記目標プロファイルを修正し、
修正された前記目標プロファイルに従って前記作業機を動作させる指令信号を生成する、
ようにプログラムされている、
作業車両。 - 前記コントローラは、
前記作業車両の現在位置を示す現在位置データを取得し、
前記作業対象の現況地形を示す現況地形データを取得し、
前記現在位置データと前記現況地形データとに基づいて、前記目標プロファイルを決定する、
請求項16に記載の作業車両。 - 前記コントローラは、
前記現況地形を鉛直方向に変位させた目標設計地形を決定し、
前記目標設計地形を前記目標プロファイルとして設定する、
請求項17に記載の作業車両。 - 前記コントローラは、
前記作業車両の作業開始位置からの移動量を取得し、
前記移動量に応じた目標変位を示す目標変位データを参照して、前記移動量から前記目標変位を決定し、
前記現況地形を、前記目標変位、鉛直方向に変位させた目標設計地形を決定し、
前記目標設計地形を前記目標プロファイルとして設定する、
請求項17に記載の作業車両。 - 前記コントローラは、前記負荷の大きさに応じて前記目標変位を修正する、
請求項19に記載の作業車両。 - 前記目標変位データは、第1領域と第2領域とを含み、
前記第1領域は、前記移動量が第1開始値から第1終了値までであるときの前記目標変位を規定し、
前記第2領域は、前記移動量が第2開始値より大きいときの前記目標変位を規定し、
前記第1領域では、前記第2領域よりも大きな前記目標変位が規定され、
前記コントローラは、前記負荷の大きさに応じて、前記第1終了値、及び/又は前記第2開始値を修正する、
請求項19に記載の作業車両。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2017272278A AU2017272278B2 (en) | 2017-03-31 | 2017-03-31 | Control system for work vehicle, and method for setting trajectory of work implement |
US15/579,963 US10508412B2 (en) | 2017-03-31 | 2017-03-31 | Control system for work vehicle, and method for setting trajectory of work implement |
PCT/JP2017/013731 WO2018179383A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両の制御システム、及び作業機の軌跡設定方法 |
CA2991844A CA2991844C (en) | 2017-03-31 | 2017-03-31 | Control system for work vehicle, and method for setting trajectory of work implement |
JP2017566889A JP6934427B2 (ja) | 2017-03-31 | 2017-03-31 | 作業車両の制御システム、及び作業機の軌跡設定方法 |
AU2019201404A AU2019201404B2 (en) | 2017-03-31 | 2019-02-28 | Control system for work vehicle, and method for setting trajectory of work implement |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/013731 WO2018179383A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両の制御システム、及び作業機の軌跡設定方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018179383A1 true WO2018179383A1 (ja) | 2018-10-04 |
Family
ID=63674897
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/013731 WO2018179383A1 (ja) | 2017-03-31 | 2017-03-31 | 作業車両の制御システム、及び作業機の軌跡設定方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10508412B2 (ja) |
JP (1) | JP6934427B2 (ja) |
AU (2) | AU2017272278B2 (ja) |
CA (1) | CA2991844C (ja) |
WO (1) | WO2018179383A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022080334A1 (ja) * | 2020-10-12 | 2022-04-21 | 株式会社小松製作所 | 作業車両の制御システム、作業車両の制御方法、および作業車両 |
WO2023053497A1 (ja) * | 2021-09-29 | 2023-04-06 | コベルコ建機株式会社 | 軌道生成システム |
WO2023074175A1 (ja) * | 2021-10-28 | 2023-05-04 | コベルコ建機株式会社 | 作業機械 |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019030828A1 (ja) * | 2017-08-08 | 2019-02-14 | 株式会社小松製作所 | 作業車両の制御システム、方法、及び作業車両 |
US10995472B2 (en) * | 2018-01-30 | 2021-05-04 | Caterpillar Trimble Control Technologies Llc | Grading mode integration |
US11180902B2 (en) * | 2018-08-08 | 2021-11-23 | Deere & Company | Forward looking sensor for predictive grade control |
JP2020084459A (ja) * | 2018-11-19 | 2020-06-04 | 株式会社小松製作所 | 作業機を含む作業機械を自動制御するためのシステム及び方法 |
CN109811822B (zh) * | 2019-01-25 | 2021-08-03 | 北京百度网讯科技有限公司 | 用于控制挖掘机的方法和装置 |
JP7244168B2 (ja) | 2019-06-19 | 2023-03-22 | 株式会社小松製作所 | 作業機械を制御するためのシステム及び方法 |
CN112198900B (zh) * | 2020-09-30 | 2024-04-30 | 广州极飞科技股份有限公司 | 无人设备的作业控制方法、装置、计算机设备及存储介质 |
CN112196004B (zh) * | 2020-10-26 | 2021-04-30 | 吉林大学 | 一种基于分段铲装法的装载机自主铲装动态控制方法 |
US11898321B2 (en) * | 2020-12-17 | 2024-02-13 | Topcon Positioning Systems, Inc. | Input shaping for error detection and recovery in dynamically agile grading machines |
CN115623325B (zh) * | 2022-12-16 | 2023-05-30 | 山西航天清华装备有限责任公司 | 一种高机动车辆清障推铲及其控制系统和控制方法 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0754374A (ja) * | 1993-06-08 | 1995-02-28 | Komatsu Ltd | ブルドーザの負荷制御装置 |
JPH08506870A (ja) * | 1993-12-08 | 1996-07-23 | キャタピラー インコーポレイテッド | 作業場所に対して地形変更マシンを操作する方法と装置 |
JPH1088612A (ja) * | 1996-09-13 | 1998-04-07 | Komatsu Ltd | ブルドーザのドージング装置 |
JPH10147952A (ja) * | 1996-11-18 | 1998-06-02 | Komatsu Ltd | ブルドーザのドージング装置 |
US7857071B1 (en) * | 2005-08-05 | 2010-12-28 | Topcon Positioning Systems, Inc. | Grade indicator for excavation operations |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5564507A (en) | 1993-06-08 | 1996-10-15 | Kabushiki Kaisha Komatsu Seisakusho | Load control unit for a bulldozer |
US5950141A (en) * | 1996-02-07 | 1999-09-07 | Komatsu Ltd. | Dozing system for bulldozer |
US5924493A (en) * | 1998-05-12 | 1999-07-20 | Caterpillar Inc. | Cycle planner for an earthmoving machine |
CN101336345B (zh) * | 2006-01-26 | 2015-11-25 | 沃尔沃建筑设备公司 | 用于控制车辆部件移动的方法 |
US7509198B2 (en) * | 2006-06-23 | 2009-03-24 | Caterpillar Inc. | System for automated excavation entry point selection |
US8548690B2 (en) | 2011-09-30 | 2013-10-01 | Komatsu Ltd. | Blade control system and construction machine |
US20140012404A1 (en) * | 2012-07-06 | 2014-01-09 | Caterpillar Inc. | Methods and systems for machine cut planning |
US9014924B2 (en) * | 2012-12-20 | 2015-04-21 | Caterpillar Inc. | System and method for estimating material characteristics |
US9404239B2 (en) * | 2014-06-09 | 2016-08-02 | Caterpillar Inc. | Sub-bin refinement for autonomous machines |
US9506224B2 (en) * | 2014-08-06 | 2016-11-29 | Caterpillar Inc. | Grade control cleanup pass using splines |
US9891605B2 (en) * | 2014-08-06 | 2018-02-13 | Caterpillar Inc. | Grade control cleanup pass using volume constraints |
US9260837B1 (en) * | 2014-09-10 | 2016-02-16 | Caterpillar Inc. | Intelligent pass jump control |
US9256227B1 (en) * | 2014-09-12 | 2016-02-09 | Caterpillar Inc. | System and method for controlling the operation of a machine |
US10101723B2 (en) * | 2014-09-12 | 2018-10-16 | Caterpillar Inc. | System and method for optimizing a work implement path |
US9388550B2 (en) * | 2014-09-12 | 2016-07-12 | Caterpillar Inc. | System and method for controlling the operation of a machine |
US9297147B1 (en) * | 2014-09-30 | 2016-03-29 | Caterpillar Inc. | Semi-autonomous tractor system crest ramp removal |
-
2017
- 2017-03-31 WO PCT/JP2017/013731 patent/WO2018179383A1/ja active Application Filing
- 2017-03-31 JP JP2017566889A patent/JP6934427B2/ja active Active
- 2017-03-31 AU AU2017272278A patent/AU2017272278B2/en active Active
- 2017-03-31 CA CA2991844A patent/CA2991844C/en active Active
- 2017-03-31 US US15/579,963 patent/US10508412B2/en active Active
-
2019
- 2019-02-28 AU AU2019201404A patent/AU2019201404B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0754374A (ja) * | 1993-06-08 | 1995-02-28 | Komatsu Ltd | ブルドーザの負荷制御装置 |
JPH08506870A (ja) * | 1993-12-08 | 1996-07-23 | キャタピラー インコーポレイテッド | 作業場所に対して地形変更マシンを操作する方法と装置 |
JPH1088612A (ja) * | 1996-09-13 | 1998-04-07 | Komatsu Ltd | ブルドーザのドージング装置 |
JPH10147952A (ja) * | 1996-11-18 | 1998-06-02 | Komatsu Ltd | ブルドーザのドージング装置 |
US7857071B1 (en) * | 2005-08-05 | 2010-12-28 | Topcon Positioning Systems, Inc. | Grade indicator for excavation operations |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022080334A1 (ja) * | 2020-10-12 | 2022-04-21 | 株式会社小松製作所 | 作業車両の制御システム、作業車両の制御方法、および作業車両 |
WO2023053497A1 (ja) * | 2021-09-29 | 2023-04-06 | コベルコ建機株式会社 | 軌道生成システム |
WO2023074175A1 (ja) * | 2021-10-28 | 2023-05-04 | コベルコ建機株式会社 | 作業機械 |
Also Published As
Publication number | Publication date |
---|---|
CA2991844A1 (en) | 2018-09-30 |
US20190218747A1 (en) | 2019-07-18 |
CA2991844C (en) | 2020-08-25 |
US10508412B2 (en) | 2019-12-17 |
AU2017272278A1 (en) | 2018-10-18 |
JP6934427B2 (ja) | 2021-09-15 |
AU2017272278B2 (en) | 2018-12-06 |
AU2019201404B2 (en) | 2020-10-01 |
JPWO2018179383A1 (ja) | 2020-02-06 |
AU2019201404A1 (en) | 2019-03-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6934427B2 (ja) | 作業車両の制御システム、及び作業機の軌跡設定方法 | |
JP6873059B2 (ja) | 作業車両の制御システム、作業機の軌跡設定方法、及び作業車両 | |
JP6878317B2 (ja) | 作業車両の制御システム、及び作業機の軌跡設定方法 | |
JP6910450B2 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
JP7133539B2 (ja) | 作業車両の制御システム、作業機の軌跡設定方法、及び作業車両 | |
US11180903B2 (en) | Control system for work vehicle, method, and work vehicle | |
WO2019187796A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
JP2018021346A (ja) | 作業車両の制御システム、制御方法、及び作業車両 | |
JP2019039280A (ja) | 作業車両の制御システム、方法、及び作業車両 | |
WO2019187770A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
WO2019187771A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
WO2019187797A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
US11136742B2 (en) | System for controlling work vehicle, method for controlling work vehicle, and work vehicle | |
WO2019044785A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
AU2019285797B2 (en) | Control system for work vehicle, method, and work vehicle | |
US11414840B2 (en) | Control system for work machine, method, and work machine | |
WO2019187793A1 (ja) | 作業車両の制御システム、方法、及び作業車両 | |
WO2021256136A1 (ja) | 作業機械を制御するためのシステム、方法、および作業機械 | |
WO2022163272A1 (ja) | 作業機械を制御するためのシステム、方法、および作業機械 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2017566889 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2017272278 Country of ref document: AU Date of ref document: 20170331 Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17903313 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 17903313 Country of ref document: EP Kind code of ref document: A1 |