WO2019187192A1 - 作業機械の制御システム、方法、及び作業機械 - Google Patents
作業機械の制御システム、方法、及び作業機械 Download PDFInfo
- Publication number
- WO2019187192A1 WO2019187192A1 PCT/JP2018/029399 JP2018029399W WO2019187192A1 WO 2019187192 A1 WO2019187192 A1 WO 2019187192A1 JP 2018029399 W JP2018029399 W JP 2018029399W WO 2019187192 A1 WO2019187192 A1 WO 2019187192A1
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- WIPO (PCT)
- Prior art keywords
- cliff
- work machine
- controller
- work
- end position
- Prior art date
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Classifications
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- 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
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- 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
- E02F3/7622—Scraper equipment with the scraper blade mounted on a frame to be hitched to the tractor by bars, arms, chains or the like, the frame having no ground supporting means of its own, e.g. drag scrapers
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- 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
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- 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
Definitions
- the present invention relates to a work machine control system, method, and work machine.
- the controller determines in advance a target profile on which the work machine should move at the work site from the topography of the work site.
- the controller determines a plurality of cut locations so as to divide into a plurality of work sections along the target profile.
- the controller starts excavation from the determined cut location and operates the work machine along the target profile.
- the work performed by the work machine includes the work of carrying the excavated material near the cliff and dropping it from the cliff, such as mining work.
- the controller advances the work machine while pushing the material to the end position, and moves the work machine backward when the work machine reaches the end position.
- An object of the present invention is to create a desired terrain when working on a cliff by automatic control of a work machine.
- the first aspect is a control system for a work machine having a work machine, and includes a controller.
- the controller is programmed to perform the following processing.
- the controller acquires cliff position data.
- the cliff position data indicates the position of the cliff included in the current terrain of the work site.
- the controller determines a target design terrain located below the current terrain.
- the controller determines an end position of work by the work machine from the cliff position data.
- the controller generates a command signal for operating the work machine according to the end position and the target design landform.
- the second aspect is a method executed by a controller to control a work machine having a work machine, and includes the following processing.
- the first process is to acquire cliff position data.
- the cliff position data indicates the position of the cliff included in the current terrain of the work site.
- the second process is to determine the target design terrain located below the current terrain.
- the third process is to determine the end position of work by the work machine from the cliff position data.
- the fourth process is to generate a command signal for operating the work machine according to the end position and the target design landform.
- the third aspect is a work machine, which includes a work machine and a controller that controls the work machine.
- the controller is programmed to perform the following processing.
- the controller acquires cliff position data.
- the cliff position data indicates the position of the cliff included in the current terrain of the work site.
- the controller determines a target design terrain located below the current terrain.
- the controller determines an end position of work by the work machine from the cliff position data.
- the controller generates a command signal for operating the work machine according to the end position and the target design landform.
- cliff position data indicating the position of the cliff is acquired, and the work end position is determined from the cliff position data. Therefore, the end position can be determined in response to changes in the actual cliff position and shape. Thereby, desired terrain can be created.
- FIG. 6 is a diagram showing a method for determining the work end position according to the first embodiment.
- FIG. 6 is a block diagram showing a configuration according to a first modification of the control system.
- FIG. 10 is a block diagram showing a configuration according to a second modification of the control system.
- FIG. 10 is a diagram showing a method for determining the work end position according to the second embodiment. It is a figure which shows the other example of the present terrain.
- FIG. 1 is a side view showing a work machine 1 according to the embodiment.
- the work machine 1 according to the present embodiment is a bulldozer.
- the work machine 1 includes a vehicle body 11, a traveling device 12, and a work machine 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 machine 1 travels.
- 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 frame 17 may be attached to the traveling device 12.
- 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 machine 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 input device 25, a controller 26, a storage device 28, and a control valve 27.
- the input device 25 is disposed in the cab 14.
- the input device 25 is a device for setting automatic control of the work machine 1 described later.
- the input device 25 receives an operation by the operator and outputs an operation signal corresponding to the operation.
- the operation signal of the input device 25 is output to the controller 26.
- the input device 25 includes, for example, a touch panel display. However, the input device 25 is not limited to a touch panel, and may include a hardware key.
- the input device 25 may be arranged at a location (for example, a control center) away from the work machine 1. The operator may operate the work machine 1 from the input device 25 in the control center via wireless communication.
- the controller 26 is programmed to control the work machine 1 based on the acquired data.
- the controller 26 includes a processing device (processor) such as a CPU.
- the controller 26 acquires an operation signal from the input device 25.
- the controller 26 is not limited to being integrated, and may be divided into a plurality of controllers.
- the controller 26 controls the traveling device 12 or the power transmission device 24 to cause the work machine 1 to travel.
- the controller 26 moves the blade 18 up and down by controlling the control valve 27.
- 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. Thereby, the lift cylinder 19 is controlled.
- 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 13, and outputs a work machine position signal indicating the position of the work machine 13.
- the work machine sensor 29 may be a displacement sensor that detects the displacement of the work machine 13.
- 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.
- the work machine sensor 29 may be a rotation sensor that directly detects the rotation angle of the work machine 13.
- FIG. 3 is a schematic diagram showing the configuration of the work machine 1.
- the reference position of the work machine 13 is indicated by a two-dot chain line.
- the reference 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 reference 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 machine 1.
- the position sensor 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).
- 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 controller 26 obtains the traveling direction of the work machine 1 and the vehicle speed from the vehicle body position data.
- the vehicle body position data may not be the antenna position data.
- the vehicle body position data may be data indicating the position of an arbitrary place where the positional relationship with the antenna is fixed in the work machine 1 or in the vicinity of the work machine 1.
- the IMU 33 is an inertial measurement device (Inertial Measurement Unit).
- the IMU 33 acquires vehicle body tilt angle 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 controller 26 acquires vehicle body tilt angle data from the IMU 33.
- the controller 26 calculates the cutting edge position Pb 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 Pb with respect to the GNSS receiver 32 based on the lift angle ⁇ lift and the vehicle body dimension 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 Pb based on the global coordinates of the GNSS receiver 32, the local coordinates of the cutting edge position Pb, and the vehicle body inclination angle data.
- the controller 26 acquires the global coordinates of the cutting edge position Pb 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 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 machine 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.
- Worksite terrain data indicates the terrain over a wide area of the worksite.
- the work site topographic data is, for example, a current topographic survey map in a three-dimensional data format. Worksite terrain data can be obtained, for example, by aviation laser surveying.
- Controller 26 obtains current terrain data.
- Current terrain data indicates the current terrain of the work site.
- the current topography of the work site is the topography of the area along the traveling direction of the work machine 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 machine 1 obtained from the position sensor 31 described above.
- the current terrain data may be obtained from distance measurement of the current terrain by an on-board lidar (LIDAR: Laser Imaging Detection and Ranging) or the like.
- LIDAR Laser Imaging Detection and Ranging
- the controller 26 automatically controls the work machine 13 based on the current terrain data, the design terrain data, and the blade edge position data.
- the automatic control of the work machine 13 may be 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.
- the traveling of the work machine 1 may be automatically controlled by the controller 26.
- the traveling control of the work machine 1 may be fully automatic control that is performed without manual operation by an operator.
- the traveling control may be semi-automatic control performed in combination with a manual operation by an operator.
- the traveling of the work machine 1 may be performed manually by an operator.
- FIG. 4 is a flowchart showing an automatic control process according to the first embodiment.
- step S101 the controller 26 acquires current position data.
- the controller 26 acquires the current cutting edge position Pb of the blade 18 as described above.
- the controller 26 acquires design terrain data.
- the plurality of reference points Pn indicate a plurality of points at predetermined intervals along the traveling direction of the work machine 1.
- the plurality of reference points Pn are on the traveling 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 the traveling direction data obtained from the position sensor 31.
- the current terrain data is information indicating the terrain located in the traveling direction of the work machine 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 machine 1.
- the current terrain data includes the height Zn of the current terrain 50 at a plurality of reference points Pn from the current position to a predetermined terrain recognition distance dA in the traveling direction of the work machine 1.
- the current position is a position determined based on the current cutting edge position Pb of the work machine 1.
- the current position may be determined based on the current position of other parts of the work machine 1.
- the plurality of reference points are arranged at a predetermined interval, for example, every 1 m.
- step S104 the controller 26 acquires cliff position data.
- the cliff position data indicates the position and shape of the cliff 51 included in the current landform 50.
- the controller 26 may calculate the slope of the current terrain from the current terrain data and detect the cliff 51 from the magnitude of the slope.
- the controller 26 may obtain the detected position and shape of the cliff 51 from the current terrain data and acquire it as cliff position data.
- the operator may input the position of the cliff 51 using the input device 25.
- the controller 26 may obtain the shape of the input cliff 51 from the current terrain data and acquire it as cliff position data.
- the cliff position data may be stored in the storage device 28 in advance, and the controller 26 may acquire the cliff position data from the storage device 28.
- the controller 26 may acquire cliff position data from an external computer.
- step S105 the controller 26 acquires work range data.
- the work range data indicates a work range set by the input device 25. As shown in FIG. 5, the work range includes a start end and a termination end.
- the work range data includes the coordinates of the start end and the coordinates of the end.
- the work range data may include the start end coordinates and the work range length, and the end coordinates may be calculated from the start end coordinates and the work range length.
- the work range data may include the end coordinates and the work range length, and the start end coordinates may be calculated from the end coordinates and the work range length.
- the controller 26 acquires work range data based on an operation signal from the input device 25.
- the controller 26 may acquire the work range data by other methods.
- the controller 26 may acquire work range data from an external computer that performs work site construction management.
- step S106 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 a target design landform 70 that is at least partially located below the current landform 50. For example, the controller 26 determines a target design terrain 70 that extends in the horizontal direction. The controller 26 generates a target design landform 70 that is displaced downward by a predetermined distance dZ from the current landform 50.
- the predetermined distance dZ may be set based on an operation signal from the input device 25.
- the predetermined distance dZ may be acquired from an external computer that performs work site construction management.
- the predetermined distance dZ may be a fixed value.
- 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.
- step S107 the controller 26 determines the end position Pf.
- FIG. 6 is a diagram showing a method for determining the end position Pf and the start position Ps1 according to the first embodiment. As shown in FIG. 6, the controller 26 determines the end position Pf from the target design landform 70 and the cliff position data. Specifically, the controller 26 calculates the position of the intersection Pc between the cliff 51 and the target design landform 70. The controller 26 determines a point away from the position of the intersection point Pc by a predetermined distance D1 as the end position Pf.
- the predetermined distance D1 is determined in consideration of work efficiency.
- the predetermined distance D1 may be a constant value.
- the predetermined distance D1 may be settable by an operator.
- the predetermined distance D1 may be automatically determined by the controller 26 in accordance with the machine capability of the work machine 1, the capacity of the blade 18, and the like.
- step S108 the controller 26 determines the start position Ps1.
- the controller 26 determines a plurality of start positions Ps1-Ps4 arranged in the traveling direction of the work machine 1.
- Each start position Ps1-Ps4 is a position at which the work for one cut by the blade 18 is started.
- the work for one cut means excavation work by the blade 18 in one forward travel of the work vehicle 1.
- the controller 26 may determine a position away from the end position Pf by a predetermined section distance as the first start position Ps1.
- the controller 26 may determine other start positions Ps2-Ps4 such that the distance between the start positions Ps1-Ps4 is a predetermined section distance.
- the predetermined section distance may be a constant value. Alternatively, the predetermined section distance may be set by an operator. Alternatively, the predetermined section distance may be automatically determined by the controller 26 according to the machine capability of the work machine 1, the capacity of the blade 18, the amount of material to be excavated, and the like.
- step S109 the controller 26 controls the work implement 13 according to the end position Pf, the start position Ps1, and the target design landform 70.
- the controller 26 starts work from the first start position Ps1, and generates a command signal to the work machine 13 so that the blade tip position of the blade 18 moves according to the target design landform 70.
- the generated command signal is input to the control valve 27.
- the blade tip position Pb of the blade 18 moves from the first start position Ps1 toward the target design landform 70.
- the controller 26 advances the work machine 1 until the cutting edge position Pb of the blade 18 reaches the end position Pf. As a result, the material held by the blade 18 is dropped from the cliff 51. When the cutting edge position Pb of the blade 18 reaches the end position Pf, the controller 26 moves the work machine 1 backward. Thereby, the work in one work section from the first start position Ps1 is completed.
- the controller 26 moves the work machine 1 to the second start position Ps2, and excavates the work section from the next second start position Ps2. . Then, the controller 26 advances the work machine 1 again until the cutting edge position Pb of the blade 18 reaches the end position Pf. As a result, the material held by the blade 18 is dropped from the cliff 51.
- the controller 26 moves the work machine 1 backward when the cutting edge position Pb of the blade 18 reaches the end position Pf.
- the controller 26 moves the work machine 1 to the third start position Ps3 and excavates the work section from the next third start position Ps3. . By repeating these operations, excavation of one target design landform 70 is completed within the operation range.
- the controller 26 When the excavation of one target design terrain 70 is completed within the working range, the controller 26, as shown in FIG. And start excavation from the start position Ps1 ′.
- the controller 26 determines a point away from the position of the intersection Pc 'between the cliff 51 and the next target design landform 70' by a predetermined distance D1 as the end position Pf '. By repeating such processing, excavation is performed so that the current terrain 50 approaches the final design terrain 60.
- step S110 the controller 26 updates the work site topographic data.
- the controller 26 updates the work site terrain data with position data indicating the latest locus of the cutting edge position Pb.
- the update of the work site terrain data may be performed at any time.
- 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 update the work site landform data with the position data indicating the trajectory of the bottom surface of the crawler belt 16.
- the controller 26 may update the work site terrain data according to the positioning signal output from the vehicle-mounted lidar. In these cases, the work site topographic data can be updated immediately.
- the work site topographic data may be generated from survey data measured by a surveying device outside the work machine 1.
- a surveying device for example, an aviation laser surveying may be used.
- the current terrain 50 may be photographed by a camera, and the work site terrain data may be generated from image data obtained by the camera.
- aerial surveying by UAV Unmanned Aerial Vehicle
- the update of the work site terrain data may be performed at predetermined intervals or at any time.
- the cliff position data indicating the position of the cliff 51 is acquired, and the work end position Pf is determined from the cliff position data. Therefore, the end position Pf can be determined in accordance with the actual change in the position and shape of the cliff 51. Thereby, while making a desired topography accurately, the fall of work efficiency can be suppressed.
- the end position Pf is determined from a point separated by a predetermined distance D1 from the position of the intersection Pc between the cliff 51 and the target design landform 70. Therefore, the end position Pf is determined according to the actual shape of the cliff 51. Therefore, the material that could not be dropped at the end of the cliff 51 is prevented from remaining. Thereby, while making a desired topography accurately, the fall of work efficiency can be suppressed.
- the work machine 1 is not limited to a bulldozer, but may be another vehicle such as a wheel loader, a motor grader, or a hydraulic excavator.
- the work machine 1 may be a vehicle that can be remotely controlled. In that case, a part of the control system 3 may be disposed outside the work machine 1.
- the controller 26 may be disposed outside the work machine 1.
- the controller 26 may be located in a control center remote from the work site. In that case, the work machine 1 may be a vehicle that does not include the cab 14.
- Work machine 1 may be a vehicle driven by an electric motor.
- the power source may be arranged outside the work machine 1.
- the work machine 1 to which power is supplied from the outside may be a vehicle that does not include an internal combustion engine and an engine room.
- 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 machine 1 and an in-vehicle controller 262 mounted on the work machine 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 target design landform 70 and the process of determining the work order 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 input device 25 may be disposed outside the work machine 1. In that case, the cab may be omitted from the work machine 1. Alternatively, the input device 25 may be omitted from the work machine 1.
- the input device 25 may include an operation element such as an operation lever, a pedal, or a switch for operating the traveling device 12 and / or the work implement 13. Depending on the operation of the input device 25, traveling such as forward and reverse of the work machine 1 may be controlled. Depending on the operation of the input device 25, operations such as raising and lowering of the work machine 13 may be controlled.
- the current landform 50 is not limited to the position sensor 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 landform 50 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 50 data measured by the external measuring device 41 via the recording medium.
- the method for determining the target design landform 70 is not limited to that of the above embodiment, and may be changed.
- the target design landform 70 may be obtained by displacing the current landform 50 by a predetermined distance in the vertical direction.
- the target design landform 70 may be inclined at a predetermined angle with respect to the horizontal direction. The predetermined angle may be set by an operator. Alternatively, the controller 26 may automatically determine the predetermined angle.
- FIG. 10 is a diagram showing a method for determining the end position Pf according to the second embodiment.
- the controller 26 calculates the inclination angle a1 of the cliff 51 from the cliff position data.
- the controller 26 determines, from the cliff position data, an inclined surface 71 that is a predetermined distance D2 away from the cliff 51 in the traveling direction of the work machine 1.
- the inclined surface 71 is inclined at the same angle as the inclination angle a1 of the cliff 51.
- the inclined surface 71 has a shape along the cliff 51.
- the controller 26 determines the position of the intersection of the inclined surface 71 and the target design landform 70 as the end position Pf.
- the predetermined distance D2 is determined in consideration of work efficiency.
- the predetermined distance D2 may be a constant value.
- the predetermined distance D2 may be settable by an operator.
- the predetermined distance D2 may be automatically determined by the controller 26 in accordance with the machine capability of the work machine 1, the capacity of the blade 18, and the like.
- start positions Ps1-Ps4 are automatically determined by the controller 26.
- the start positions Ps1-Ps4 may be determined by the operator. That is, the start positions Ps1-Ps4 may be positions where the operator manually operates the work machine 13 and starts excavation.
- the shape of the cliff 51 may be different from that of the above embodiment.
- the cliff 51 may be a part of the hole 100 as shown in FIG.
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Abstract
Description
13 作業機
26 コントローラ
50 現況地形
51 崖
70 目標設計地形
Claims (18)
- 作業機を有する作業機械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、
ワークサイトの現況地形に含まれる崖の位置を示す崖位置データを取得し、
前記現況地形よりも下方に位置する目標設計地形を決定し、
前記崖位置データから前記作業機による作業の終了位置を決定し、
前記終了位置と前記目標設計地形とに従って前記作業機を動作させる指令信号を生成する、
作業機械の制御システム。 - 前記コントローラは、
前記崖と前記目標設計地形との交点の位置を算出し、
前記交点の位置から前記終了位置を決定する、
請求項1に記載の作業機械の制御システム。 - 前記コントローラは、前記作業機械の進行方向において、前記交点の位置から所定距離、後方に離れた地点を、前記終了位置として決定する、
請求項2に記載の作業機械の制御システム。 - 前記コントローラは、
前記崖位置データから、前記作業機械の進行方向において前記崖から後方に離れた傾斜面を決定し、
前記傾斜面と前記目標設計地形との交点の位置から、前記終了位置を決定する、
請求項1に記載の作業機械の制御システム。 - 前記コントローラは、前記崖位置データから前記崖の傾斜角を算出し、
前記傾斜面は、前記崖の傾斜角と同じ角度で傾斜している、
請求項4に記載の作業機械の制御システム。 - 前記傾斜面は、前記崖に沿った形状を有する、
請求項4に記載の作業機械の制御システム。 - 作業機を有する作業機械を制御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、
ワークサイトの現況地形に含まれる崖の位置を示す崖位置データを取得することと、
前記現況地形よりも下方に位置する目標設計地形を決定することと、
前記崖位置データから前記作業機による作業の終了位置を決定することと、
前記終了位置と前記目標設計地形とに従って前記作業機を動作させる指令信号を生成すること、
を備える方法。 - 前記終了位置を決定することは、
前記崖と前記目標設計地形との交点の位置を算出することと、
前記交点の位置から前記終了位置を決定すること、
を含む、
請求項7に記載の方法。 - 前記終了位置を決定することは、前記作業機械の進行方向において、前記交点の位置から所定距離、後方に離れた地点を、前記終了位置として決定することを含む、
請求項8に記載の作業機械の制御システム。 - 前記終了位置を決定することは、
前記崖位置データから、前記作業機械の進行方向において前記崖から後方に離れた傾斜面を決定することと、
前記傾斜面と前記目標設計地形との交点の位置から、前記終了位置を決定すること、
を含む、
請求項7に記載の方法。 - 前記終了位置を決定することは、前記崖位置データから前記崖の傾斜角を算出することをさらに含み、
前記傾斜面は、前記崖の傾斜角と同じ角度で傾斜している、
請求項10に記載の作業機械の制御システム。 - 前記傾斜面は、前記崖に沿った形状を有する、
請求項10に記載の作業機械の制御システム。 - 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、
ワークサイトの現況地形に含まれる崖の位置を示す崖位置データを取得し、
前記現況地形よりも下方に位置する目標設計地形を決定し、
前記崖位置データから前記作業機による作業の終了位置を決定し、
前記終了位置と前記目標設計地形とに従って前記作業機を動作させる指令信号を生成する、
作業機械。 - 前記コントローラは、
前記崖と前記目標設計地形との交点の位置を算出し、
前記交点の位置から前記終了位置を決定する、
請求項13に記載の作業機械。 - 前記コントローラは、前記作業機械の進行方向において、前記交点の位置から所定距離、後方に離れた地点を、前記終了位置として決定する、
請求項14に記載の作業機械。 - 前記コントローラは、
前記崖位置データから、前記作業機械の進行方向において前記崖から後方に離れた傾斜面を決定し、
前記傾斜面と前記目標設計地形との交点の位置から、前記終了位置を決定する、
請求項13に記載の作業機械。 - 前記コントローラは、前記崖位置データから前記崖の傾斜角を算出し、
前記傾斜面は、前記崖の傾斜角と同じ角度で傾斜している、
請求項16に記載の作業機械。 - 前記傾斜面は、前記崖に沿った形状を有する、
請求項16に記載の作業機械。
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