WO2019044821A1 - 作業車両の制御システム、方法、及び作業車両 - Google Patents
作業車両の制御システム、方法、及び作業車両 Download PDFInfo
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- WO2019044821A1 WO2019044821A1 PCT/JP2018/031751 JP2018031751W WO2019044821A1 WO 2019044821 A1 WO2019044821 A1 WO 2019044821A1 JP 2018031751 W JP2018031751 W JP 2018031751W WO 2019044821 A1 WO2019044821 A1 WO 2019044821A1
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- controller
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- work vehicle
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- 238000000034 method Methods 0.000 title claims description 43
- 238000012876 topography Methods 0.000 claims abstract description 238
- 238000013461 design Methods 0.000 claims abstract description 88
- 238000006073 displacement reaction Methods 0.000 claims description 67
- 238000009412 basement excavation Methods 0.000 claims description 27
- 239000002689 soil Substances 0.000 description 35
- 238000012937 correction Methods 0.000 description 26
- 230000008569 process Effects 0.000 description 26
- 238000009499 grossing Methods 0.000 description 14
- 238000012545 processing Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000007704 transition Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000005553 drilling Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012546 transfer 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
- 230000008602 contraction Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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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
- E02F9/26—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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/08—Construction
-
- 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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- 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
Definitions
- the present invention relates to a control system, method, and work vehicle of a work vehicle.
- Patent Document 1 discloses a technique of determining the magnitude of the relief of the ground and determining the digging start position according to the magnitude of the relief. Specifically, when the relief is small, the controller determines the root of the relief as the digging start position. When the relief is large, the controller determines the position between the root and the top of the relief as the digging start position.
- the magnitude of the load that the working machine receives varies depending on whether the slope is an upslope or a downslope.
- the above techniques can not cope with the type of gradient, and the load on the working machine may be excessive or the efficiency of the work may be reduced.
- An object of the present invention is to provide a control system, a method, and a work vehicle of a work vehicle which can suppress an excessive load on a work machine while improving the efficiency of work.
- a first aspect is a control system of a work vehicle having a work machine, comprising a controller.
- the controller is programmed to perform the following processing.
- the controller acquires current topography data indicating the current topography of the work target.
- the controller determines a target design topography indicating a target trajectory of the work machine based on the current topography.
- the controller determines whether the current terrain is uphill or downhill based on the current terrain data.
- the controller changes the target design topography according to the determination result of the slope.
- a second aspect is a method executed by a controller to set a trajectory of a work machine of a work vehicle, and includes the following processing.
- the first process is to acquire current topography data indicating the current topography of the work target.
- the second process is to determine a target design topography indicating a target trajectory of the work machine based on the current topography.
- the third process is to determine whether the current topography is an upslope or a downslope based on the present topography data.
- the fourth process is to change the target design topography according to the determination result of the gradient.
- a third aspect is a work vehicle, comprising a work machine and a controller that controls the work machine.
- the controller is programmed to perform the following processing.
- the controller acquires current topography data indicating the current topography of the work target.
- the controller determines a target design topography indicating a target trajectory of the work machine based on the current topography.
- the controller determines whether the current terrain is uphill or downhill based on the current terrain data.
- the controller changes the target design topography according to the determination result of the slope.
- the controller outputs a command signal for controlling the work machine according to the target design topography.
- the target design topography is determined based on the current topography, and the target design topography is changed in accordance with the determination result of whether the current topography is an upslope or a downslope. Therefore, it is possible to suppress an excessive load on the work machine while improving the efficiency of the work.
- 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 travel device 12, and a work implement 13.
- the vehicle body 11 has a cab 14 and an engine room 15.
- a driver's seat (not shown) is disposed in the driver's cab 14.
- the engine room 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 right and left crawler belts 16. In FIG. 1, only the left crawler belt 16 is illustrated. As the crawler 16 rotates, the work vehicle 1 travels.
- the traveling of the work vehicle 1 may be any of autonomous traveling, semi-autonomous traveling, and traveling by the operation of the operator.
- the work implement 13 is attached to the vehicle body 11.
- the working machine 13 has a lift frame 17, a blade 18 and a lift cylinder 19.
- the lift frame 17 is mounted on 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.
- the lift frame 19 rotates up and down about the axis X by the expansion and contraction of the lift cylinder 19.
- FIG. 2 is a block diagram showing the configuration of the drive system 2 of the work vehicle 1 and the control system 3.
- the drive system 2 includes an engine 22, a hydraulic pump 23, and a power transmission 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 illustrated in FIG. 2, a plurality of hydraulic pumps may be provided.
- the power transmission 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 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears.
- the control system 3 includes a first controller 25a and a second controller 25b.
- the first operating device 25 a and the second operating device 25 b are disposed in the cab 14.
- the first operating device 25 a is a device for operating the traveling device 12.
- the first controller 25a receives an operation by an operator for driving the traveling device 12, and outputs an operation signal according to the operation.
- the second controller 25 b is a device for operating the work machine 13.
- the second controller 25b receives an operation by the operator for driving the work machine 13, and outputs an operation signal according to the operation.
- the first operating device 25a and the second operating device 25b include, for example, an operating lever, a pedal, a switch, and the like.
- the first operating device 25a is provided at an advance position, a reverse position, and a neutral position.
- An operation signal indicating the position of the first operating device 25 a is output to the controller 26.
- the controller 26 controls the traveling device 12 or the power transmission 24 so that the work vehicle 1 advances when the operation position of the first operating device 25a is the forward position.
- the controller 26 controls the traveling device 12 or the power transmission 24 so that the work vehicle 1 moves backward.
- the second operating device 25b is operably provided at the raising position, the lowering position, and the neutral position.
- An operation signal indicating the position of the second operating device 25 b is output to the controller 26.
- the controller 26 controls the lift cylinder 19 so that the blade 18 ascends when the operation position of the second operating device 25b is the raising position.
- the controller 26 controls the lift cylinder 19 so that the blade 18 is lowered.
- the control system 3 includes an input device 25c and a display 25d.
- the input device 25c and the display 25d are, for example, a touch panel type display input device.
- the display 25d is, for example, an LCD or an OLED. However, the display 25d may be another type of display device.
- the input device 25c and the display 25d may be separate devices.
- the input device 25c may be another input device such as a switch.
- the input device 25c may be a pointing device such as a mouse or a trackball.
- the input device 25c outputs an operation signal indicating an operation by the operator to the controller 26.
- the control system 3 includes a controller 26, a storage device 28, and a control valve 27.
- the controller 26 is programmed to control the work vehicle 1 based on the acquired data.
- the controller 26 includes, for example, a processing device (processor) such as a CPU.
- the controller 26 acquires operation signals from the operation devices 25a and 25b.
- the controller 26 controls the control valve 27 based on the operation signal.
- the controller 26 acquires an operation signal from the input device 25c.
- the controller 26 outputs a signal to display a predetermined screen on the display 25 d.
- the controller 26 is not limited to one unit, but 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 a 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 second controller 25 b.
- the lift cylinder 19 is controlled in accordance with the amount of operation of the second operating device 25b.
- the control valve 27 may be a pressure proportional control valve.
- the control valve 27 may be an electromagnetic proportional control valve.
- the control system 3 includes a work machine sensor 29.
- the work machine sensor 29 detects the position of the work machine and outputs a work machine position signal indicating the position of the work machine.
- the work machine sensor 29 detects the stroke length of the lift cylinder 19 (hereinafter referred to as "lift cylinder length L").
- lift cylinder length L the stroke length of the lift cylinder 19
- the controller 26 calculates the lift angle ⁇ lift of the blade 18 based on the lift cylinder length L.
- FIG. 3 is a schematic view showing the configuration of the work vehicle 1.
- the origin position of the work machine 13 is indicated by a two-dot chain line.
- the origin position of the work implement 13 is the position of the blade 18 in a state where the blade edge of the blade 18 is in contact with the ground on a 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 sensor 31.
- the position sensor 31 measures the position of the work vehicle 1.
- the position sensor 31 includes a Global Navigation Satellite System (GNSS) 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 arranged on the cab 14.
- the GNSS receiver 32 receives a positioning signal from a satellite, calculates the position of the antenna based on the positioning signal, and generates vehicle position data.
- the controller 26 acquires vehicle position data from the GNSS receiver 32.
- the controller 26 obtains the traveling direction of the work vehicle 1 and the vehicle speed from the vehicle body position data.
- the IMU 33 is an inertial measurement unit.
- the IMU 33 acquires vehicle body tilt angle data.
- the vehicle body inclination angle data includes an angle (pitch angle) to the horizontal in the longitudinal direction of the vehicle and an angle (roll angle) to the horizontal in the lateral direction of the vehicle.
- the controller 26 acquires vehicle body tilt angle data from the IMU 33.
- the controller 26 calculates the cutting edge position P0 from the lift cylinder length L, the vehicle position data, and the vehicle inclination angle data. As shown in FIG. 3, the controller 26 calculates global coordinates of the GNSS receiver 32 based on the vehicle position data. The controller 26 calculates the lift angle ⁇ lift based on the lift cylinder length L. The controller 26 calculates 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 vehicle body size data is stored in the storage device 28 and indicates the position of the work implement 13 with respect to the GNSS receiver 32.
- the controller 26 calculates global coordinates of the edge position P0 based on global coordinates of the GNSS receiver 32, local coordinates of the edge position P0, and vehicle body tilt angle data.
- the controller 26 acquires global coordinates of the cutting edge position P0 as cutting edge position data.
- the storage device 28 includes, for example, a memory and an auxiliary storage device.
- the storage device 28 may be, for example, a RAM or a ROM.
- 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 unit 28 stores computer instructions that can be executed by the processor and control the work vehicle 1.
- the storage unit 28 stores design topography data and work site topography data.
- the design topography data indicates the final design topography.
- the final design topography is the final target shape of the work site surface.
- the design topography data is, for example, a civil engineering construction drawing in a three-dimensional data format.
- the work site topography data indicates the current topography of the work site.
- the work site topography data is, for example, a current topographical survey map in a three-dimensional data format.
- the work site topography data can be obtained, for example, by aviation laser survey.
- the controller 26 acquires present terrain data.
- the present topography data indicates the present topography of the work site.
- the current topography of the work site is the actual topography of the area along the traveling direction of the work vehicle 1.
- the present topography data is acquired by calculation in the controller 26 from work site topography data and the position and traveling direction of the work vehicle 1 obtained from the position sensor 31 described above.
- the controller 26 automatically controls the work machine 13 based on the current topography data, the design topography data, and the cutting edge position data.
- the automatic control of the work implement 13 may be semi-automatic control performed together with the manual operation by the operator.
- the automatic control of the work implement 13 may be a fully automatic control performed without manual operation by the operator.
- FIG. 4 is a flowchart showing a process of automatic control of the working machine 13 in the digging operation.
- step S101 the controller 26 acquires current position data.
- the controller 26 obtains the current cutting edge position P0 of the blade 18 as described above.
- step S102 the controller 26 acquires design topography data.
- the plurality of reference points Pn indicate a plurality of points at predetermined intervals along the traveling direction of the work vehicle 1.
- the plurality of reference points Pn are on the traveling path of the blade 18.
- the final design topography 60 has a flat shape parallel to the horizontal direction, but may have a different shape.
- step S103 the controller 26 acquires present terrain data.
- the controller 26 obtains present topography data by calculation from work site topography data obtained from the storage device 28 and position data and traveling direction data of the vehicle body obtained from the position sensor 31.
- the current topography data is information indicating the topography located in the traveling direction of the work vehicle 1.
- step S104 the controller 26 performs a smoothing process on the current terrain data.
- 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 present topography data includes the height Zn of the present topography 50 at a plurality of reference points Pn from the present position to a predetermined topography recognition distance dA 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 positions of other parts of the work vehicle 1.
- the plurality of reference points are arranged at predetermined intervals, for example, every 1 m.
- the present topography 50 ′ indicated by a broken line indicates present topography data before the smoothing processing.
- the present topography 50 indicated by a solid line indicates the present topography data after the smoothing processing.
- the smoothing means a process of smoothing the height change of the current topography 50.
- the controller 26 smoothes the heights Zn at a plurality of points of the current topography 50 according to the following equation (1).
- Zn_sm indicates the height of each point in the smoothed present topography 50.
- the term "present topography 50" means the present topography 50 subjected to the smoothing process in step S104.
- step S105 the controller 26 acquires a digging start position.
- the controller 26 acquires a position at which the cutting edge position P0 first falls below the height Z0 of the current topography 50 as the digging start position.
- the controller 26 may obtain the digging start position by another method.
- the controller 26 may acquire the digging start position based on the operation of the second operating device 25b.
- the controller 26 may obtain the digging start position by calculating the optimal digging start position from the current topography data.
- step S106 the controller 26 acquires the movement distance of the work vehicle 1.
- the controller 26 acquires the distance traveled from the digging start position to the current position in the advancing path of the blade 18 as the movement distance.
- the movement distance of the work vehicle 1 may be the movement distance of the vehicle body 11.
- the movement distance of the work vehicle 1 may be the movement distance of the blade edge of the blade 18.
- step S107 the controller 26 determines target design topography data.
- the target design terrain data shows the target design terrain 70 described by broken lines in FIG.
- the target design terrain 70 shows the desired trajectory of the blade edge of the blade 18 in operation. In other words, the target design terrain 70 exhibits the desired shape as a result of the drilling operation.
- the controller 26 determines the target displacement Z_offset and the target design topography 70 displaced downward from the present topography 50.
- the target displacement Z_offset is a target displacement in the vertical direction at each reference point Pn.
- the target displacement Z_offset is a target depth at each reference point Pn, and indicates the target position of the blade 18 below the current topography 50.
- the target position of the blade 18 means the cutting edge position of the blade 18.
- the target displacement Z_offset indicates the amount of soil per unit movement distance excavated by the blade 18. Therefore, the target design topography data indicates the relationship between the plurality of reference points Pn and the plurality of target soil volumes.
- the target displacement Z_offset is an example of a target parameter related to the target excavation amount of the blade 18.
- the controller 26 determines the target design topography 70 so as not to cross the final design topography 60 downward. Therefore, the controller 26 determines a target design topography 70 located above the final design topography 60 and below the current topography 50 during the digging operation.
- the controller 26 determines the height Z of the target design topography 70 according to the following equation (2).
- Z Zn-t1 x Z_offset (2)
- the target displacement Z_offset is determined by referring to the target parameter data C.
- the target parameter data C is stored in the storage device 28.
- t1 is a correction coefficient according to the inclination parameter described later. Therefore, when the correction with the correction coefficient t1 is performed, a value obtained by multiplying Z_offset by t1 is the corrected target displacement.
- FIG. 7 is a diagram showing an example of the target parameter data C.
- the target parameter data C defines the relationship between the movement distance n of the work vehicle 1 and the target parameter.
- the target parameter data C defines the relationship between the movement distance n of the work vehicle 1 and the target displacement Z_offset.
- the target parameter data C indicates the digging depth (target displacement) Z_offset in the vertical downward direction from the ground surface of the blade 18 as a dependent variable of the movement distance n in the horizontal direction of the work vehicle 1.
- the horizontal movement distance n of the work vehicle 1 is substantially the same value as the horizontal movement distance of the blade 18.
- the controller 26 determines the target displacement Z_offset from the movement distance n of the work vehicle 1 with reference to the target parameter data C shown in FIG. 7.
- the target parameter data C includes start time data c1, digging time data c2, transition time data c3, and soil unloading time data c4.
- the start data c1 defines the relationship between the movement distance n in the excavation start area and the target displacement Z_offset.
- the digging start area is a range from the digging start point S to the steady digging start point D.
- a target displacement Z_offset that increases as the movement distance n increases is defined.
- the excavation data c2 defines the relationship between the movement distance 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.
- the target displacement Z_offset is defined to a constant value.
- the excavation data c2 defines a constant target displacement Z_offset with respect to the movement distance n.
- the transition time data c3 defines the relationship between the movement distance n in the soil transportation transition area and the target displacement Z_offset.
- the soil transport transition area is an area from the steady excavation end point T to the soil transport start point P.
- the transition time data c3 defines a target displacement Z_offset that decreases as the movement distance n increases.
- the soil transportation time data c4 defines the relationship between the movement distance n in the soil transportation region and the target displacement Z_offset.
- the soil transportation area is an area starting from the soil transportation start point P.
- the target displacement Z_offset is defined to a constant value.
- the soil transportation time data c4 defines a constant target displacement Z_offset with respect to the movement distance n.
- the excavation area starts from the first start value b1 and ends at the first end value b2.
- the soil transportation 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 distance n is smaller than the soil transportation 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 transportation area is constant at the second target value a2.
- the first target value a1 is larger than the second target value a2. Therefore, in the excavation area, a target displacement Z_offset larger than that of the soil transportation area is defined.
- the target displacement Z_offset at the digging start position is a 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. 8 is a flowchart showing the process of determining the target displacement Z_offset.
- the traveling of the work vehicle 1 is assumed to be only forward.
- the determination process is started when the first operating device 25a moves to the forward position.
- the controller 26 determines whether the movement distance n is 0 or more 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 distance n.
- the start value a0 is a constant and is stored in the storage device 28.
- the start value a0 is preferably as small as possible 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 inclination c1 in the excavation start area shown in FIG. 7, the start value a0, and the first target value a1.
- the inclination c1 is a constant and is stored in the storage device 28.
- the inclination c1 is preferably a value that allows rapid transition from the digging start to the digging operation and that the load on the blade 18 does not become excessively large.
- step S203 the controller 26 determines whether the moving distance n is equal to or greater than the first start value b1 and less than the first end value b2.
- step S204 the controller 26 sets the target displacement Z_offset to the first target value a1.
- 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 drilling can be efficiently performed and the load on the blade 18 does not become excessively large.
- step S205 the controller 26 determines whether the movement distance 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 changes the target displacement Z_offset to the first target value a1 according to the increase of the movement distance n.
- the first end value b2 is a movement distance when the current amount of soil held by 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 held by the blade 18 exceeds a predetermined threshold.
- the predetermined threshold is determined based on, for example, the maximum capacity of the blade 18. For example, the current amount of soil held by the blade 18 may be determined by calculating the load on the blade 18 from the load. Alternatively, an image of the blade 18 may be acquired by a camera, and by analyzing the image, the present amount of soil held by the blade 18 may be calculated.
- a predetermined initial value is set as the first end value b2.
- the movement distance 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 the moving distance n is equal to or greater than a second start value b3. When the movement distance n is equal to or larger than the second start value b3, the controller 26 sets the target displacement Z_offset to the second target value a2 in step S208.
- 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 transportation work.
- the second start value b3 is calculated from the slope c2 in the soil transfer area shown in FIG. 7, the first target value a1, and the second target value a2.
- the slope c2 is a constant and is stored in the storage device 28.
- the inclination c2 is preferably a value such that the load can be quickly transferred from the digging operation to the soil transportation operation and the load on the blade 18 does not become excessively large.
- the start value a0, the first target value a1, and the second target value a2 may be changed according to the condition 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. 9 is a flowchart showing the process of determining the correction coefficient t1.
- the controller 26 acquires the inclination degree parameter Svol.
- the inclination parameter Svol is a parameter indicating the inclination of the current topography 50. The larger the absolute value of the inclination parameter Svol, the larger the inclination angle of the current topography 50.
- the controller 26 calculates the difference between the predetermined horizontal plane 80 and the current topography 50, and determines the difference as the inclination degree parameter Svol.
- the predetermined horizontal surface 80 is a horizontal surface passing the height of the present topography 50 at the excavation start position.
- the horizontal surface 80 may be a horizontal surface passing through another position.
- the horizontal surface 80 may be a horizontal surface passing the height of the current terrain 50 at the current position of the work vehicle 1.
- the controller 26 determines the difference between the height Zn at each reference point Pn of the current topography 50 and the horizontal plane 80 as the slope parameter Svol.
- a positive value of the slope parameter Svol indicates that the proportion of the upslope in the present topography 50 is high.
- the inclination degree parameter Svol is a positive value, the larger the inclination degree parameter Svol, the steeper the inclination of the upslope.
- the inclination parameter Svol according to the equation (3) may be regarded as a cross-sectional area between the current topography 50 and the horizontal surface 80, as shown in FIG. In that case, the cross-sectional area between the current topography 50 located above the horizontal surface 80 and the horizontal surface 80 is a positive value, and the cross-sectional area between the current topography 50 located below the horizontal surface 80 and the horizontal surface 80 is negative
- the sum of the cross-sectional areas may be determined as the slope parameter Svol.
- a negative value of the slope parameter Svol indicates that the proportion of the downslope in the present topography 50 is high. Also, when the slope parameter Svol is a negative value, the smaller the slope parameter Svol, the steeper the slope of the downslope.
- step S302 the controller 26 determines whether the slope parameter Svol is larger than a predetermined first threshold value S1.
- the first threshold value S1 is a value for determining that the proportion of the upward slope in the current topography 50 is high. Therefore, the controller 26 determines whether the current topography 50 is an upslope according to the slope parameter Svol. If the inclination degree parameter Svol is larger than the first threshold value S1, the process proceeds to step S303.
- step S303 the controller 26 determines the correction coefficient t1 in accordance with the inclination degree parameter Svol.
- the storage device 28 may store data defining the relationship between the slope parameter Svol and the correction coefficient t1.
- the controller 26 may determine the correction coefficient t1 according to the inclination degree parameter Svol by referring to the data.
- the correction coefficient t1 is a positive value smaller than one. Therefore, when the controller determines that the current topography 50 is an upslope, the controller reduces the amount of displacement of the target design topography 70 from the current topography 50 by multiplying the target displacement Z_offset by the correction coefficient t1. Further, when the inclination degree parameter Svol is larger than the predetermined first threshold value S1, the correction coefficient t1 is smaller as the value of the inclination degree parameter Svol is larger.
- step S302 when the inclination degree parameter Svol is equal to or less than the first threshold value S1, the process proceeds to step S304.
- step S304 the controller 26 determines whether the slope parameter Svol is smaller than a predetermined second threshold value S2.
- the second threshold S2 is smaller than the first threshold S1.
- the second threshold value S2 is a value for determining that the proportion of the downward slope in the present topography 50 is high. Therefore, the controller 26 determines whether the current topography 50 is a down slope according to the slope parameter Svol. If the inclination parameter Svol is smaller than the second threshold S2, the process proceeds to step S305.
- step S305 the controller 26 determines the correction coefficient t1 in accordance with the inclination degree parameter Svol. If the slope parameter Svol is smaller than the second threshold S2, the correction coefficient t1 is a value larger than one. Therefore, when it is determined that the current topography 50 is a down slope, the controller multiplies the target displacement Z_offset by the correction coefficient t1 to increase the displacement amount of the target design topography 70 from the current topography 50. When the slope parameter Svol is smaller than the predetermined second threshold value S2, the correction coefficient t1 is larger as the value of the slope parameter Svol is smaller.
- step S304 when the inclination degree parameter Svol is equal to or greater than the second threshold value S2, the process proceeds to step S306.
- step S306 the controller 26 sets the correction coefficient t1 to one. That is, when the inclination degree parameter Svol is the first threshold S1 or less and the second threshold S2 or more, the correction of the target displacement Z_offset by the correction coefficient t1 is not performed.
- the height Z of the target design topography 70 is determined from the above-mentioned equation (2).
- step S108 shown in FIG. 4 the controller 26 controls the blade 18 toward the target design topography 70.
- the controller 26 generates a command signal to the work machine 13 so that the blade edge position of the blade 18 moves toward the target design topography 70 created in step S107.
- the generated command signal is input to the control valve 27. Thereby, the blade edge position P0 of the work machine 13 moves along the target design topography 70.
- the target displacement Z_offset between the current topography 50 and the target design topography 70 is large compared to the other areas. Thereby, the excavation work of the present topography 50 is performed in the excavation area.
- the target displacement Z_offset between the current topography 50 and the target design topography 70 is smaller compared to other areas. Thereby, in the soil transportation area, excavation of the ground is avoided, and the soil held by the blade 18 is transported.
- step S109 the controller 26 updates work site topography data.
- the controller 26 updates work site topography data with position data indicating the latest trajectory of the cutting edge position P0.
- 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 size data, and update the work site topography data with position data indicating the trajectory of the bottom surface of the crawler belt 16. In this case, updating of work site topography data can be performed immediately.
- the work site topography data may be generated from survey data measured by a surveying device outside the work vehicle 1.
- a surveying device outside the work vehicle 1.
- aviation laser surveying may be used as an external surveying instrument.
- the present topography 50 may be photographed by a camera, and work site topography data may be generated from image data obtained by the camera.
- aerial surveying with a UAV Unmanned Aerial Vehicle
- updating of work site topography data may be performed at predetermined intervals or at any time.
- the above process is performed when the work vehicle 1 is moving forward.
- the first controller 25a is in the forward position, the above process is performed.
- the work vehicle 1 moves backward a predetermined distance or more, the excavation start position, the movement distance n, and the amount of soil held by the blade 18 are initialized.
- the controller 26 updates the current topography 50 based on the updated work site topography data, and newly determines the target design topography 70 based on the updated current topography 50.
- the controller 26 then controls the blade 18 along the newly determined target design terrain 70. By repeating such processing, excavation is performed such that the current topography 50 approaches the final design topography 60.
- the controller 26 repeats the processes of steps S101 to S109 every time the vehicle moves forward by a predetermined distance or at predetermined time during the forward movement.
- the controller 26 may repeat the processing of steps S101 to S109 every predetermined distance, every reverse movement, or every predetermined time during reverse movement.
- the controller 26 determines whether the current topography 50 is an upward slope or a downward slope based on the current topography data, and The target design topography 70 is changed according to the determination result.
- the correction factor t1 is determined such that the amount of displacement of the target design topography 70 from the current topography 50 is reduced, whereby the target design topography 70 is changed.
- the current topography 50 is an upward slope, the load on the work machine 13 tends to be large. Therefore, by changing the target design topography 70 as described above, it is possible to prevent the load on the working machine 13 from becoming excessive.
- the correction coefficient t1 is determined such that the displacement amount of the target design topography 70 from the present topography 50 is increased, whereby the target design topography 70 is changed.
- the load on the working machine 13 tends to be small. Therefore, by changing the target design topography 70 as described above, the amount of soil excavated by the work machine 13 can be increased, whereby work efficiency can be improved.
- the correction coefficient t1 is smaller as the value of the inclination degree parameter Svol is larger.
- a large value of the slope parameter Svol means that the slope of the upward slope is steep. Therefore, as the slope of the upslope is steeper, the amount of displacement of the target design topography 70 from the current topography 50 is smaller because the correction coefficient t1 is smaller. Thereby, the amount of displacement of the target design topography 70 can be appropriately determined in accordance with the magnitude of the slope of the upslope.
- the correction coefficient t1 is larger as the value of the slope parameter Svol is smaller.
- a small value of the slope parameter Svol means that the slope of the down slope is steep. Therefore, the amount of displacement of the target design topography 70 from the current topography 50 can be increased by increasing the correction coefficient t1 as the slope of the descending slope becomes steeper. Thus, the amount of displacement of the target design topography 70 can be appropriately determined in accordance with the magnitude of the slope of the downslope.
- the work vehicle 1 is not limited to a bulldozer, but may be another vehicle such as a wheel loader or a motor grader.
- the work vehicle 1 may be a remotely steerable vehicle. In that case, part of the control system 3 may be disposed 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 have a plurality of controllers 26 separate from one another.
- the controller 26 may include a remote controller 261 disposed outside the work vehicle 1 and an onboard controller 262 mounted on the work vehicle 1.
- the remote controller 261 and the in-vehicle controller 262 may be able to communicate wirelessly via the communication devices 38 and 39. Then, part of the functions of the controller 26 described above may be performed by the remote controller 261, and the remaining functions may be performed by the onboard controller 262.
- the process of determining the target design topography 70 may be performed by the remote controller 261, and the process of outputting a command signal to the work machine 13 may be performed by the onboard controller 262.
- the operating devices 25a and 25b, the input device 25c, and the display 25d may be disposed outside the work vehicle 1. In that case, the driver's cab may be omitted from the work vehicle 1. Alternatively, the operation devices 25a and 25b, the input device 25c, and the display 25d may be omitted from the work vehicle 1.
- the work vehicle 1 may be operated only by the automatic control by the controller 26 without the operation by the operation devices 25a and 25b.
- the present topography 50 may be acquired by other devices as well as the position sensor 31 described above.
- the current terrain 50 may be acquired by the interface device 37 that receives data from an external device.
- the interface device 37 may wirelessly receive the present topography data measured by the external measurement device 41.
- the interface device 37 may be a reading device of a recording medium, and may receive current topography data measured by the external measuring device 41 via the recording medium.
- the target parameter data is not limited to the data shown in FIG. 7 and may be changed.
- the target parameter is a parameter related to the target excavation amount of the work machine 13 and may be another parameter without being limited to the target displacement of the above embodiment.
- FIG. 14 is a diagram showing another example of the target parameter data.
- the target parameter may be a target soil amount S_target for each point of flat terrain. That is, the target parameter may be the target soil amount S_target per unit distance.
- the controller 26 can calculate the target displacement Z_offset from the target soil amount S_target and the width of the blade 18.
- the target parameter may be a parameter different from the target soil amount S_target per unit distance.
- the target parameter may be a parameter indicating the target value of the load on the work machine 13 at each point.
- the controller 26 can calculate the target displacement Z_offset for each point from the target parameter. In that case, the controller 26 may increase the target displacement Z_offset in response to the increase of the target parameter.
- the target displacement Z_offset may be multiplied by a predetermined coefficient other than t1.
- a predetermined constant may be added to or subtracted from the target displacement Z_offset.
- the predetermined coefficient and the predetermined constant may be changed according to the change of the control mode.
- the average value of the height of five points is calculated.
- the number of points used for smoothing may be less than five or more than five.
- 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.
- the average value of the heights of the points to be smoothed and the points located ahead of the points to be smoothed may be calculated without being limited to the points to be smoothed and the heights of the points before and after the points. Good.
- an average value of the heights of the point to be smoothed and the point located behind the point may be calculated.
- not only the average value but also smoothing processing by approximation such as least square method or n-order approximation may be used.
- the smoothing process may be omitted.
- the inclination parameter Svol is the difference between the average value of the height of the present topography 50 and the height of the horizontal surface 80
- the above implementation may be performed as long as it indicates the direction and size of the inclination of the gradient. It is not limited to the form.
- the slope parameter Svol may be a volume rather than a cross-sectional area between the current topography 50 and the horizontal surface 80.
- the inclination An of a straight line Ln connecting two arbitrary reference points of the present topography 50 is calculated by the following equation (4).
- Nref is a value indicating the distance between two reference points. For example, when Nref is 4, the inclination An is an inclination of a straight line connecting an arbitrary one reference point and a fourth reference point in the traveling direction of the work vehicle 1 from the reference point.
- the controller 26 may acquire current topography data within a range shorter than the predetermined topography recognition distance dA from the current position. That is, the controller 26 may acquire the present topography data for only a part of the plurality of reference points Pn.
- the controller 26 may determine the target design topography 70 within a range shorter than the predetermined topography recognition distance dA from the current position. That is, the controller 26 may determine the target design topography 70 for only a part of the plurality of reference points Pn.
- the target design topography is determined based on the current topography, and the target design topography is changed in accordance with the determination result of whether the current topography is an upslope or a downslope. Therefore, it is possible to suppress an excessive load on the work machine while improving the efficiency of the work.
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Abstract
Description
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、以下の説明において、単に「現況地形50」というときには、ステップS104において平滑化処理が施された現況地形50を意味するものとする。
Z = Zn - t1 × Z_offset (2)
目標変位Z_offsetは、目標パラメータデータCを参照することで決定される。目標パラメータデータCは、記憶装置28に記憶されている。t1は、後述する傾斜度パラメータに応じた補正係数である。従って、補正係数t1による補正が行われる場合には、Z_offsetにt1を乗じた値が、補正された目標変位となる。
すなわち、傾斜度パラメータSvolは、現在位置から所定の地形認識距離dAまでの複数の参照点Pn(n=0,1,...,A)での現況地形50の高さZnの平均値と水平面80の高さZ0との差である。傾斜度パラメータSvolが正の値であることは、現況地形50において上り勾配の割合が高いことを示す。また、傾斜度パラメータSvolが正の値である場合、傾斜度パラメータSvolが大きいほど、上り勾配の傾斜が急であることを意味する。
Nrefは、2つの参照点の間隔を示す値である。例えば、Nrefが4であるときには、傾きAnは、任意の1つの参照点と、当該参照点から作業車両1の進行方向に4つめの参照点とを結ぶ直線の傾きである。コントローラ26は、現在位置から所定の地形認識距離dAまでの複数の参照点Pnに対して、上記の傾きAn(n=0,1,...,A)を求める。コントローラ26は、傾きAn(n=0,1,...,A)の最小値、最大値、或いは平均値を傾斜度パラメータSvolとして決定してもよい。
1 作業車両
28 記憶装置
26 コントローラ
31 位置センサ
Claims (20)
- 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、
作業対象の現況地形を示す現況地形データを取得し、
前記現況地形に基づいて、前記作業機の目標軌跡を示す目標設計地形を決定し、
前記現況地形データに基づいて、前記現況地形が上り勾配であるか、又は、下り勾配であるかを判定し、
前記勾配の判定結果に応じて前記目標設計地形を変更する、
作業車両の制御システム。 - 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ることで、前記目標設計地形を決定し、
前記現況地形が上り勾配であると判定したときには、前記現況地形からの前記目標設計地形の変位量を減少させる、
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、前記上り勾配の傾斜が急であるほど、前記変位量を小さくする、
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、
前記現況地形を鉛直方向に変位させることで、前記目標設計地形を決定し、
前記現況地形が下り勾配であると判定したときには、前記現況地形からの前記目標設計地形の変位量を増大させる、
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、前記下り勾配の傾斜が急であるほど、前記変位量を大きくする、
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、
前記現況地形データに基づいて、前記現況地形の傾斜度を示す傾斜度パラメータを取得し、
前記傾斜度パラメータの大きさに応じて、前記現況地形が上り勾配であるか、下り勾配であるかを判定する、
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、
前記現況地形と所定の水平面との差分を算出し、
前記差分を前記傾斜度パラメータとして決定する、
請求項6に記載の作業車両の制御システム。 - 前記作業車両の位置を示す位置信号を出力する位置センサと、
前記作業車両の移動距離と、前記作業機の目標掘削量に関する目標パラメータとの関係を規定する目標パラメータデータを記憶している記憶装置と、
をさらに備え、
前記コントローラは、
前記位置センサから前記位置信号を受信し、
前記位置信号から前記作業車両の移動距離を取得し、
前記目標パラメータデータを参照して、前記作業車両の移動距離から前記目標パラメータを決定し、
前記目標パラメータに応じた目標変位を決定し、
前記勾配の判定結果に応じて前記目標変位を変更し、
前記現況地形を、前記目標変位、鉛直方向に変位させることで、前記目標設計地形を決定する、
請求項1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ためにコントローラによって実行される方法であって、
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、
前記現況地形に基づいて、前記作業機の目標軌跡を示す目標設計地形を決定することと、
前記現況地形データに基づいて、前記現況地形が上り勾配であるか、又は、下り勾配であるかを判定することと、
前記勾配の判定結果に応じて前記目標設計地形を変更すること、
を備える方法。 - 前記目標設計地形を決定することは、前記現況地形を鉛直方向に変位させることで、前記目標設計地形を決定することを含み、
前記目標設計地形を変更することは、前記現況地形が上り勾配であると判定したときに、前記現況地形からの前記目標設計地形の変位量を減少させることを含む、
請求項9に記載の方法。 - 前記目標設計地形を変更することは、前記上り勾配の傾斜が急であるほど、前記変位量を小さくすることを含む、
請求項10に記載の方法。 - 前記目標設計地形を決定することは、前記現況地形を鉛直方向に変位させることで、前記目標設計地形を決定することを含み、
前記目標設計地形を変更することは、前記現況地形が下り勾配であると判定したときに、前記現況地形からの前記目標設計地形の変位量を増大させることを含む、
請求項9に記載の方法。 - 前記目標設計地形を変更することは、前記下り勾配の傾斜が急であるほど、前記変位量を大きくすることを含む、
請求項12に記載の方法。 - 前記現況地形データに基づいて、前記現況地形の傾斜度を示す傾斜度パラメータを取得することをさらに備え、
前記現況地形が上り勾配であるか、又は、下り勾配であるかを判定することは、前記傾斜度パラメータの大きさに応じて、前記現況地形が上り勾配であるか、下り勾配であるかを判定することを含む、
請求項9に記載の方法。 - 前記傾斜度パラメータを取得することは、
前記現況地形と所定の水平面との差分を算出することと、
前記差分を前記傾斜度パラメータとして決定すること、
を含む、
請求項14に記載の方法。 - 作業機と、
前記作業機を制御するコントローラと、
を備え、
前記コントローラは、
作業対象の現況地形を示す現況地形データを取得し、
前記現況地形に基づいて、前記作業機の目標軌跡を示す目標設計地形を決定し、
前記現況地形データに基づいて、前記現況地形が上り勾配であるか、又は、下り勾配であるかを判定し、
前記勾配の判定結果に応じて前記目標設計地形を変更し、
前記目標設計地形に従って前記作業機を制御する指令信号を出力する、
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ることで、前記目標設計地形を決定し、
前記現況地形が上り勾配であると判定したときには、前記現況地形からの前記目標設計地形の変位量を減少させる、
請求項16に記載の作業車両。 - 前記コントローラは、前記上り勾配の傾斜が急であるほど、前記変位量を小さくする、
請求項17に記載の作業車両。 - 前記コントローラは、
前記現況地形を鉛直方向に変位させることで、前記目標設計地形を決定し、
前記現況地形が下り勾配であると判定したときには、前記現況地形からの前記目標設計地形の変位量を増大させる、
請求項16に記載の作業車両。 - 前記コントローラは、前記下り勾配の傾斜が急であるほど、前記変位量を大きくする、
請求項19に記載の作業車両。
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JP2014084683A (ja) * | 2012-10-26 | 2014-05-12 | Komatsu Ltd | ブレード制御装置、作業機械及びブレード制御方法 |
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US7509198B2 (en) | 2006-06-23 | 2009-03-24 | Caterpillar Inc. | System for automated excavation entry point selection |
DE112014000129B4 (de) * | 2014-09-05 | 2016-03-03 | Komatsu Ltd. | Hydraulikbagger |
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- 2018-08-28 AU AU2018325612A patent/AU2018325612B2/en active Active
- 2018-08-28 CA CA3061462A patent/CA3061462A1/en not_active Withdrawn
- 2018-08-28 WO PCT/JP2018/031751 patent/WO2019044821A1/ja active Application Filing
- 2018-08-28 US US16/607,773 patent/US11401697B2/en active Active
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JPH0615775B2 (ja) * | 1986-10-20 | 1994-03-02 | 株式会社トキメック | 掘削機の掘削制御装置 |
WO2008118027A2 (en) * | 2007-03-28 | 2008-10-02 | Caterpillar Trimble Control Technologies Llc | Method for planning the path of a contour-shaping machine |
WO2013051378A1 (ja) * | 2011-10-06 | 2013-04-11 | 株式会社小松製作所 | ブレード制御システム、建設機械及びブレード制御方法 |
JP2014084683A (ja) * | 2012-10-26 | 2014-05-12 | Komatsu Ltd | ブレード制御装置、作業機械及びブレード制御方法 |
US20160076223A1 (en) * | 2014-09-12 | 2016-03-17 | Caterpillar Inc. | System and Method for Controlling the Operation of a Machine |
WO2017119517A1 (ja) * | 2017-01-13 | 2017-07-13 | 株式会社小松製作所 | 作業機械の制御システム、作業機械及び作業機械の制御方法 |
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JP6899283B2 (ja) | 2021-07-07 |
US20200131740A1 (en) | 2020-04-30 |
JP2019039280A (ja) | 2019-03-14 |
AU2018325612B2 (en) | 2020-12-24 |
CA3061462A1 (en) | 2019-10-24 |
US11401697B2 (en) | 2022-08-02 |
AU2018325612A1 (en) | 2019-11-14 |
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