WO2019187793A1 - 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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- WO2019187793A1 WO2019187793A1 PCT/JP2019/006037 JP2019006037W WO2019187793A1 WO 2019187793 A1 WO2019187793 A1 WO 2019187793A1 JP 2019006037 W JP2019006037 W JP 2019006037W WO 2019187793 A1 WO2019187793 A1 WO 2019187793A1
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- Prior art keywords
- work
- target
- controller
- end position
- work vehicle
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- 238000000034 method Methods 0.000 title description 31
- 238000013461 design Methods 0.000 claims abstract description 81
- 239000002689 soil Substances 0.000 claims description 74
- 238000012937 correction Methods 0.000 claims description 12
- 238000012986 modification Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 claims description 9
- 238000012876 topography Methods 0.000 abstract description 12
- 238000009412 basement excavation Methods 0.000 description 23
- 230000005540 biological transmission Effects 0.000 description 15
- 230000008569 process Effects 0.000 description 14
- 238000012545 processing Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000009430 construction management Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—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)
-
- 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
Definitions
- the present invention relates to a work vehicle control system, method, and work vehicle.
- the controller presets a target profile for the work machine to move on the work site from the topography of the work site.
- the controller starts excavation from the start position on the current terrain at the work site, and operates the work machine according to the target profile.
- the work implement may leave the target profile before reaching the target end position. In that case, if the work is continued as it is, irregularities will be created in the terrain, and work efficiency will be reduced.
- a large load may be applied to the work vehicle due to factors such as topography or soil hardness, and the traveling device of the work vehicle may slip excessively. In this case, the work is re-executed, and the work efficiency is lowered. Alternatively, even when the load applied to the work vehicle is excessive, an unnecessary margin is generated in the capacity of the vehicle, so that work efficiency is lowered.
- the purpose of the present invention is to solve the above problems.
- the first aspect is a control system for a work vehicle having a work machine, and includes a controller.
- the controller is programmed to perform the following processing.
- the controller determines a target design landform indicating the target locus of the work implement. At least part of the target design terrain is located below the current terrain.
- the controller acquires an end position and a target distance of work by the work vehicle.
- the controller determines a target distance and a point away from the end position as the start position.
- the controller starts work from the start position to the end position, and generates a command signal for operating the work implement according to the target design landform.
- the controller corrects the target distance based on the result of the work.
- the second mode is a control system for a work vehicle having a work machine, and includes a controller.
- the controller is programmed to perform the following processing.
- the controller determines a target design terrain that is at least partially below the current terrain and that indicates a target trajectory of the work implement.
- the controller acquires the end position of the work by the work vehicle and the target soil amount.
- the controller determines a point separated from the end position by the target soil amount as the start position.
- the controller starts work from the start position to the end position, and generates a command signal for operating the work implement according to the target design landform.
- the controller corrects the target soil volume based on the result of the work.
- the third aspect is a work vehicle control system having a traveling device and a work implement, and includes a controller.
- the controller is programmed to perform the following processing.
- the controller determines a target design landform indicating the target locus of the work implement. At least a part of the target design terrain is located below the current terrain.
- the controller acquires an end position and a target distance of work by the work vehicle.
- the controller determines a target distance and a point away from the end position as the start position.
- the controller starts work from the start position to the end position, and generates a command signal for operating the work implement according to the target design landform.
- a controller acquires the load parameter which shows the magnitude
- the controller corrects the target distance according to the load parameter.
- the target distance is corrected based on the result of the work.
- the target soil volume is corrected based on the result of the work. Therefore, it is possible to prevent the work machine from leaving the target design landform before reaching the end position by correcting the work start position. Or it can suppress that the unnecessary margin arises in the capability of a vehicle. Thereby, a reduction in work efficiency can be suppressed.
- the target distance is corrected according to the load parameter. Therefore, it is possible to suppress an excessive load on the traveling device by correcting the work start position. Or it can prevent that the load concerning a work vehicle becomes too small, and can suppress that the unnecessary margin arises in the capability of a vehicle. Thereby, a reduction in work efficiency can be suppressed.
- FIG. 6 is a flowchart showing processing of a start position correcting method according to a second embodiment. It is a figure which shows the correction method of a starting position. It is a figure which shows the correction method of a starting position.
- 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. It is a figure which shows the modification of target design topography.
- FIG. 6 is a view showing a modification of the start position correcting method according to the first embodiment.
- FIG. 6 is a view showing a modification of the start position correcting method according to the first embodiment. It is a figure which shows the modification of a starting position and the remaining distance. It is a figure which shows the modification of a start position and an end position.
- FIG. 1 is a side view showing a work vehicle 1 according to the embodiment.
- the work vehicle 1 according to the present embodiment is a bulldozer.
- the work vehicle 1 includes a vehicle body 11, a traveling device 12, and a work implement 13.
- the vehicle body 11 has a cab 14 and an engine compartment 15.
- a driver's seat (not shown) is arranged in the cab 14.
- the engine compartment 15 is disposed in front of the cab 14.
- the traveling device 12 is attached to the lower part of the vehicle body 11.
- the traveling device 12 has a pair of left and right crawler belts 16. In FIG. 1, only the left crawler belt 16 is shown. As the crawler belt 16 rotates, the work vehicle 1 travels.
- the 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 vehicle 1.
- the drive system 2 includes an engine 22, a hydraulic pump 23, and a power transmission device 24.
- the hydraulic pump 23 is driven by the engine 22 and discharges hydraulic oil.
- the hydraulic oil discharged from the hydraulic pump 23 is supplied to the lift cylinder 19.
- one hydraulic pump 23 is shown, but a plurality of hydraulic pumps may be provided.
- the power transmission device 24 transmits the driving force of the engine 22 to the traveling device 12.
- the power transmission device 24 may be, for example, HST (Hydro Static Transmission).
- the power transmission device 24 may be, for example, a torque converter or a transmission having a plurality of transmission gears.
- the control system 3 includes an 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 vehicle 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 place (for example, a control center) away from the work vehicle 1. The operator may operate the work vehicle 1 from the input device 25 in the control center via wireless communication.
- the controller 26 is programmed to control the work vehicle 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 vehicle 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.
- the control system 3 includes an output sensor 34 that measures the output of the power transmission device 24.
- the output sensor 34 may be a pressure sensor that detects the drive hydraulic pressure of the hydraulic motor.
- the output sensor 34 may be a rotation sensor that detects the output rotation speed of the hydraulic motor.
- the output sensor 34 may be a rotation sensor that detects the output rotation speed of the power transmission device 24.
- a detection signal indicating the detection value of the output sensor 34 is output to the controller 26.
- FIG. 3 is a schematic diagram showing the configuration of the work vehicle 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 vehicle 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 and the vehicle speed of the work vehicle 1 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 vehicle 1 or in the vicinity of the work vehicle 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 vehicle 1.
- the storage device 28 stores design terrain data and work site terrain data.
- the designed terrain data indicates the final designed terrain.
- the final design terrain is the final target shape of the worksite surface.
- the design terrain data is, for example, a civil engineering construction diagram in a three-dimensional data format.
- the work site topographic data indicates a wide area topography of the work site.
- the work site topographic data is, for example, a current topographic survey map in a three-dimensional data format.
- Work site topographic data can be obtained, for example, by aviation laser surveying.
- Controller 26 obtains current terrain data.
- Current terrain data indicates the current terrain at the work site.
- the current topography of the work site is the topography of the area along the traveling direction of the work vehicle 1.
- the current terrain data is obtained by calculation in the controller 26 from the work site terrain data and the position and traveling direction of the work vehicle 1 obtained from the position 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 vehicle 1 may be automatically controlled by the controller 26.
- the traveling control of the work vehicle 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 vehicle 1 may be performed manually by an operator.
- FIG. 4 is a flowchart showing automatic control processing.
- 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.
- step S102 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 vehicle 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.
- Current terrain data is information indicating the terrain located in the traveling direction of the work vehicle 1.
- FIG. 5 shows a cross section of the current terrain 50.
- the vertical axis indicates the height of the terrain
- the horizontal axis indicates the distance from the current position in the traveling direction of the work vehicle 1.
- the current terrain data includes the 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 vehicle 1.
- the current position is a position determined based on the current cutting edge position PB of the work vehicle 1.
- the current position may be determined based on the current position of the other part of the work vehicle 1.
- the plurality of reference points are arranged at a predetermined interval, for example, every 1 m.
- step S104 the controller 26 acquires 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 construction management at the work site.
- step S105 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 cutting edge of the blade 18 in the operation, that is, a target trajectory.
- 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 construction management at the work site. 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 S106 the controller 26 acquires target distance data.
- the controller 26 performs excavation according to the target design landform 70 for each of the plurality of cuts 71-73 arranged in the traveling direction of the work vehicle 1. In FIG. 6, only a part of a plurality of cuts within the work range is shown.
- the target distance data indicates the target distance L1 between the excavation start position and the end position of each cut 71-73.
- the target distance L1 may be a constant value set in advance.
- the target distance L1 may be set by an operator using the input device 25.
- the target distance L1 may be determined by the controller 26 based on a predetermined parameter.
- the predetermined parameter may be a target soil amount.
- the target soil volume may be determined from the mechanical capacity of the work vehicle 1 such as the capacity of the blade 18.
- step S107 the controller 26 determines the work order.
- the controller 26 determines the work start position and the work order of each cut 71-73 within the work range in the target design landform 70.
- the controller acquires the end position of the work performed by the work implement 13, and determines a point away from the end position by the target distance L1 as the start position. Also, the next end position is acquired, and the corrected target distance L1 and a point away from the next end position are determined as the next start position.
- the controller 26 determines the end position of the work range as the first end position.
- the controller 26 determines a position separated by the target distance L1 from the first end position to the start end side as the first start position Ps1.
- the controller 26 determines the first start position Ps1 as the second end position, and determines a position separated by the target distance L1 from the second end position to the start end side as the second start position Ps2.
- the controller 26 determines the second start position Ps2 as the third end position, and determines the position separated by the target distance L1 from the third end position to the start end side as the third start position Ps3.
- the controller 26 determines a plurality of start positions within the work range, and determines the work order so that excavation is performed in order from the closest to the end.
- step S108 the controller 26 controls the blade 18 toward the target design landform 70.
- the controller 26 starts work by the work machine from the start position determined in step S107 to the end position, and sends the cutting edge position of the blade 18 to the work machine 13 so as to move according to the target design landform 70 created in step S105.
- Command signal is generated.
- the generated command signal is input to the control valve 27.
- the blade tip position PB of the blade 18 moves from the start position toward the target design landform 70.
- the work includes the work of starting excavating the topsoil with the blade 18 from the start position and taking the blade 18 out of the topsoil at the end position.
- the controller 26 moves the work vehicle 1 to the second start position Ps2, and when excavation of the cut 72 for excavation of the next cut 72 is completed The controller 26 moves the work vehicle 1 to the third start position Ps3 and excavates the next cut 73. By repeating these operations, excavation of one target design landform 70 is completed within the operation range.
- the controller 26 determines the start position and the work sequence of each cut for the next target design terrain 70 located further downward, and each cut Start drilling. By repeating such processing, excavation is performed so that the current terrain 50 approaches the final design terrain 60.
- step S109 the controller 26 updates the work site topographic data.
- the controller 26 updates the work site topographic data with position data indicating the latest locus of the blade edge position PB.
- the update of the work site topographic 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 topographic data with the position data indicating the locus of the bottom surface of the crawler belt 16. In this case, 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 vehicle 1.
- a surveying device for example, an aviation laser surveying may be used.
- the current terrain 50 may be captured by a camera, and work site terrain data may be generated from image data obtained by the camera.
- aerial surveying by UAV Unmanned Aerial Vehicle
- the work site topographic data may be updated at predetermined intervals or at any time.
- FIG. 7 is a flowchart showing a process for correcting the start position according to the first embodiment.
- a predetermined load is applied to the work machine 13 before the cutting edge of the blade 18 reaches the end position, and the work machine 13 is released to release the load. Due to the load control to be raised, the target design terrain 70 may be separated. Implementing load control in order to release the load during excavation work is an example of the result of the work.
- the controller 26 can determine whether or not the work machine 13 has left the target design landform 70 based on whether or not load control has been performed. In such a case, the controller 26 executes the process shown in FIG.
- step S201 the controller 26 calculates the remaining distance Lx of the remaining soil.
- the remaining distance Lx is the distance from the point Px where the cutting edge of the blade 18 is away from the target design landform 70 to the end position.
- the presence of the remaining soil may be detected by detection means such as a laser or a stereo camera, or may be detected by comparing the current terrain 50 of the controller 26 with the result of the trajectory on which the work machine 13 is operated.
- the presence of the remaining soil may be detected based on the result of the traveling track of the crawler belt 16.
- the existence result of the remaining soil is an example of the result of the work.
- the controller 26 can determine whether or not the work machine has moved away from the target design landform based on the determination result of the presence of remaining soil.
- step S202 the controller 26 determines whether the remaining distance Lx is greater than a predetermined distance threshold.
- the distance threshold may be a constant value set in advance in consideration of work efficiency.
- the distance threshold may be set by an operator using the input device 25.
- step S203 the controller 26 corrects the target distance L1 to be shorter. As shown in FIG. 9, the controller 26 corrects the target distance from L1 to L1 '.
- the target distance decrease dL1 from L1 to L1 ' may be a constant value.
- the decrease dL1 of the target distance may be determined by the controller 26 according to the length of the remaining distance Lx. That is, the controller 26 may shorten the target distance L1 as the remaining distance Lx increases.
- step S204 the controller 26 corrects the start position. As shown in FIG. 9, the controller 26 determines a corrected target distance L1 'and a position away from the end position as the corrected first start position Ps1' from the start position to the start end side. The controller 26 determines a position closer to the end than the initial first start position Ps1 as the corrected first start position Ps1 '.
- the controller 26 determines the corrected first start position Ps1 ′ as the second end position, and corrects the corrected target distance L1 ′ and the position away from the second end position to the start end side.
- the second start position Ps2 ′ is determined.
- the controller 26 determines the corrected second start position Ps2 ′ as the third end position, and corrects the corrected target distance L1 ′ and the position away from the third end position to the start end side.
- the third start position Ps3 ′ is determined.
- the controller 26 corrects a plurality of start positions within the work range.
- the controller 26 starts work by the work machine 13 from the corrected start position toward the end position, and in the same manner as Step S108 described above, the blade tip position of the blade 18 moves according to the target design landform 70. A command signal to the work machine 13 is generated.
- step S202 when the remaining distance Lx is equal to or smaller than the predetermined distance threshold, the start position in step S203 is not corrected. In that case, the controller 26 performs excavation of each cut according to the initially determined work order.
- the controller 26 performs the same processing as described above. May be executed.
- the target distance L1 is shortened.
- the target distance L1 is corrected.
- the work start position is corrected, so that the work implement 13 can be prevented from leaving the target design landform 70 before reaching the end position. Thereby, a reduction in work efficiency can be suppressed.
- FIG. 10 is a flowchart showing a process for correcting the start position according to the second embodiment.
- the controller 26 acquires a slip parameter.
- the slip parameter indicates the magnitude of slip of the crawler belt 16 of the traveling device 12. As the degree of slip increases, the slip parameter increases.
- the controller 26 calculates the slip parameter Rs (%) from the following equation (1).
- Rs (1-Va / Vt) ⁇ 100
- Va is the actual vehicle speed of the work vehicle 1.
- the controller 26 calculates the actual vehicle speed Va from the position data of the work vehicle 1 obtained from the position sensor 31.
- Vt is the theoretical vehicle speed of the work vehicle 1.
- the theoretical vehicle speed Vt is an estimated value of the vehicle speed of the work vehicle 1 in a state where no slip occurs.
- the controller 26 calculates the theoretical vehicle speed Vt from the detection value from the output sensor 34.
- the method of acquiring the slip parameter is not limited to the above, and may be changed.
- the slip parameter only needs to change according to the degree of slip, and is not limited to the above (1).
- step S302 the controller 26 determines whether the slip parameter is larger than a predetermined first threshold value.
- the first threshold may be a constant value set in advance in consideration of work efficiency.
- the first threshold value may be set by an operator using the input device 25.
- step S303 the controller 26 corrects the target distance L2 to be shorter.
- the controller 26 corrects the target distance L2 from the initial value L2 to L2 '.
- the target distance decrease dL2 from L2 to L2 ' may be a constant value.
- the decrease dL2 of the target distance L1 may be determined by the controller 26 according to the slip parameter. That is, the controller 26 may shorten the target distance L2 as the slip parameter increases.
- step S304 the controller 26 corrects the start position. As shown in FIG. 11, the controller 26 determines a corrected target distance L2 'and a position away from the end position as the corrected first start position Ps1' from the start position to the start end side. The controller 26 determines a position closer to the end than the initial first start position Ps1 as the corrected first start position Ps1 '. Since the other start position correction and the control of the work machine 13 based on the corrected start position are the same as those in the first embodiment described above, detailed description thereof is omitted.
- step S302 when the slip parameter is equal to or smaller than the first threshold value, the process proceeds to step S305.
- step S305 it is determined whether the slip parameter is smaller than the second threshold value.
- the second threshold is a value smaller than the first threshold.
- the second threshold may be a constant value set in advance in consideration of work efficiency.
- the second threshold value may be set by the operator using the input device 25.
- step S306 the controller 26 corrects the target distance L2 to be longer. As shown in FIG. 12, the controller 26 corrects the target distance from the initial value L2 to L2 ′′.
- the target distance increment dL3 from L2 to L2 ′′ may be a constant value.
- the target distance increment dL3 may be determined by the controller 26 depending on the slip parameter. That is, the controller 26 may modify the target distance L2 so as to increase as the slip parameter decreases.
- the controller 26 corrects the start position in step S304. As shown in FIG. 12, the controller 26 determines a corrected target distance L1 'and a position away from the end position as the corrected first start position Ps1' from the start position to the start end side. When the slip parameter is smaller than the second threshold value, the controller 26 determines a position farther from the end than the initial first start position as the corrected first start position Ps1 '. Since the other start position correction and the control of the work machine 13 based on the corrected start position are the same as those in the first embodiment described above, detailed description thereof is omitted.
- step S305 when the slip parameter is greater than or equal to the second threshold, the start position in step S304 is not corrected. In that case, the controller 26 performs excavation of each cut according to the initially determined work order.
- the target distance L2 is corrected according to the slip parameter. Specifically, when the slip parameter is larger than the first threshold, the target distance L2 is corrected to be shorter. Therefore, it is possible to suppress the traveling device 12 from slipping excessively. Thereby, a reduction in work efficiency can be suppressed. Further, when the slip parameter is smaller than the second threshold value, the target distance L2 is corrected to become longer. The state in which the traveling device 12 is slightly slipped due to a corresponding load acting on the work vehicle 1 is the state in which the work efficiency is the best. Therefore, when the slip parameter is smaller than the second threshold, it is possible to prevent the load on the work vehicle 1 from becoming too small by increasing the target distance L2, and to create an unnecessary margin in the capacity of the work vehicle 1. Can be suppressed. Thereby, a reduction in work efficiency can be suppressed.
- Work vehicle 1 is not limited to a bulldozer, but may be another vehicle such as a wheel loader, a motor grader, or a hydraulic excavator.
- Work vehicle 1 may be a vehicle that can be remotely controlled. In that case, a part of the control system 3 may be arranged outside the work vehicle 1.
- the controller 26 may be disposed outside the work vehicle 1.
- the controller 26 may be located in a control center remote from the work site.
- the work vehicle 1 may be a vehicle that does not include the cab 14.
- Work vehicle 1 may be a vehicle driven by an electric motor.
- the power source may be arranged outside the work vehicle 1.
- the work vehicle 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 vehicle 1 and an in-vehicle controller 262 mounted on the work vehicle 1.
- the remote controller 261 and the vehicle-mounted controller 262 may be able to communicate wirelessly via the communication devices 38 and 39.
- a part of the functions of the controller 26 described above may be executed by the remote controller 261, and the remaining functions may be executed by the in-vehicle controller 262.
- the 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 arranged outside the work vehicle 1. In that case, the cab may be omitted from the work vehicle 1. Alternatively, the input device 25 may be omitted from the work vehicle 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 of the work vehicle 1 such as forward and reverse 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 terrain data measured by the external measuring device 41 by radio.
- the interface device 37 may be a recording medium reading device, and may receive the current landform data measured by the external measuring device 41 via the recording medium.
- the 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.
- the controller 26 may automatically determine the predetermined angle.
- the start position correction method is not limited to that of the above embodiment, and may be changed.
- the process of step S202 may be omitted.
- the process of step S302 may be omitted.
- the target distance L1 is corrected to be shorter based on the remaining distance Lx.
- the controller 26 may correct the target distance L1 to be longer based on the remaining distance Lx.
- the controller 26 may correct the target distance L1 to be longer when the remaining distance Lx is zero.
- the target distance L1 is corrected based on the remaining distance Lx.
- the remaining distance Lx is the distance from the point Px where the cutting edge of the blade 18 is away from the target design landform 70 to the end position.
- the controller 26 may correct the target distance L1 based on the remaining soil distance indicating the degree of remaining soil up to the end position, and the remaining soil distance is not limited to the remaining distance Lx.
- the remaining soil distance may be a distance from the position where the blade tip of the blade 18 comes out on the current landform 50 to the end position.
- the controller 26 may correct the target distance L1 based on the amount of remaining soil indicating the degree of remaining soil up to the end position.
- the controller 26 may determine a plurality of start positions after the next start position based on the target distance L1 'when the corrected target distance L1' is determined. Alternatively, the controller 26 may determine only the next start position based on the target distance L1 'when the corrected target distance L1' is determined. That is, only the next target distance L1 'may be determined each time excavation from each start position is performed. In that case, every time excavation from each start position is performed, the next target distance L1 'may be different.
- the controller 26 may calculate the remaining soil amount V1 and correct the next start position in consideration of the remaining soil amount V1. For example, the controller 26 may correct the next start position so that the remaining soil amount is less than V1 in the next operation. If the controller 26 determines the next start position based on the target soil volume, the controller 26 may correct the next start position based on the soil volume obtained by subtracting the remaining soil volume V1 from the target soil volume. Good. The controller 26 may correct the target soil amount based on the remaining soil distance indicating the degree of remaining soil up to the end position.
- the controller 26 may calculate the excavated soil volume V2 and correct the next start position so that the next excavation can be performed with the soil volume equivalent to the excavated soil volume V2.
- the excavated soil volume V2 when the soil remains can be regarded as the maximum excavated soil volume of the work vehicle 1 in the work situation. Therefore, as described above, the work efficiency can be improved by correcting the next start position in accordance with the excavated soil volume V2.
- the controller 26 may set the excavated soil volume V2 when the remaining soil is generated as a target soil volume after the next time, and correct the next start position based on the corrected target soil volume. Further, the controller 26 may correct the next start position using the remaining soil volume V1 and the excavated soil volume V2 so that no remaining soil is generated and excavation can be performed with the maximum excavated soil volume of the work vehicle 1.
- the controller 26 may be modified to increase the target distance L1 when the work machine 13 reaches the end position without leaving the target design landform 70.
- the controller 26 corrects the target distance from L1 to L1 '' larger than L1 when the work machine 13 reaches the end position without leaving the target design landform 70. Good.
- the controller 26 may determine a corrected target distance L1 ′′ and a position away from the end position as the corrected first start position Ps1 ′′ from the end position to the start end side.
- the controller 26 may determine a position farther from the end than the initial first start position Ps1 as the corrected first start position Ps1 ′′.
- the controller 26 determines the corrected first start position Ps1 '' as the second end position, and corrects the corrected target distance L1 '' and the position away from the second end position to the start end side.
- the determined second start position Ps2 ′′ may be determined.
- the controller 26 may correct a plurality of start positions in the work range. Further, when the work machine 13 reaches the end position without leaving the target design landform 70, the controller 26 increases the target soil amount by a predetermined amount and determines the next start position based on the corrected target soil amount. It may be corrected.
- the target distance is corrected according to the slip parameter.
- the controller 26 may correct the target distance based on the load parameter indicating the magnitude of the load of the traveling device 12, and the load parameter is not limited to the slip parameter.
- the load parameter may be the traction force of the work vehicle 1.
- the optimum traction force range may be determined by the vehicle grade of the work vehicle 1 or the like.
- Correcting the target distance based on whether or not load control has occurred is an example of correcting the target distance according to the load parameter.
- the controller 26 may detect whether or not shoe slip has occurred, and whether or not shoe slip has occurred is an example of a load parameter or a slip parameter. In that case, detecting that a shoe slip has occurred corresponds to when the slip parameter is equal to or less than the first threshold value in step S302 in the second embodiment.
- the remaining distance Lx is the target design landform 70 from the point Px where the blade tip of the blade 18 is away from the target design landform 70 to the end. It may be a distance in a direction parallel to.
- the controller 26 may determine a position away from the end position by the target distance L1 in the direction parallel to the target design landform 70 as the start position.
- the end position and start position are not limited to points on the current landform 50 as in the above embodiment, but may be other points.
- the controller 26 may determine the intersection between the target design landform 70 and the cut at the previous work as the end position and the start position.
- the controller 26 may execute load control in parallel with the control of the work machine 13 according to the target design landform 70 described above.
- the controller 26 determines whether the load on the work machine 13 is equal to or greater than a predetermined load threshold.
- the controller 26 raises the work implement 13 when the load on the work implement 13 becomes equal to or greater than a predetermined load threshold.
- the controller 26 obtains the traction force of the work vehicle 1 and performs the determination by regarding the traction force as the load of the work implement 13.
- the controller 26 may execute the above-described process for correcting the start position when the work implement 13 is raised by executing the load control.
- the controller 26 calculates the traction force from the detection value of the output sensor 34.
- the controller 26 can calculate the traction force from the drive hydraulic pressure of the hydraulic motor and the rotation speed of the hydraulic motor.
- the controller 26 can calculate the traction force from the output rotation speed of the torque converter. Specifically, the controller 26 calculates the traction force from the following equation (2).
- F k ⁇ T ⁇ R / (L ⁇ Z) (2)
- T the transmission input torque
- R the reduction ratio
- L the crawler belt link pitch
- Z the number of sprocket teeth.
- the input torque T is calculated based on the output rotation speed of the torque converter.
- the traction force detection method is not limited to the above-described method, and may be detected by other methods.
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Abstract
Description
Rs = (1 - Va / Vt) × 100 (1)
Vaは、作業車両1の実車速である。例えば、コントローラ26は、位置センサ31から得られた作業車両1の位置データから、実車速Vaを算出する。Vtは、作業車両1の理論車速である。理論車速Vtは、スリップが生じていない状態での作業車両1の車速の推測値である。例えば、コントローラ26は、出力センサ34からの検出値から、理論車速Vtを算出する。
F = k × T × R / (L × Z) (2)
ここで、Fは牽引力、kは定数、Tはトランスミッション入力トルク、Rは減速比、Lは履帯リンクピッチ、Zはスプロケット歯数を示す。入力トルクTは、トルクコンバーターの出力回転速度を基に演算される。ただし、牽引力の検出方法は上述したものに限らず、他の方法により検出されてもよい。
13 作業機
26 コントローラ
50 現況地形
Claims (14)
- 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、
少なくとも一部が現況地形よりも下方に位置し、前記作業機の目標軌跡を示す目標設計地形を決定し、
前記作業車両による作業の終了位置と目標距離とを取得し、
前記終了位置から、前記目標距離、離れた地点を開始位置として決定し、
前記開始位置から前記終了位置に向かって前記作業を開始し、前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記作業の結果に基づいて、前記目標距離を修正する、
作業車両の制御システム。 - 前記コントローラは、
前記作業機が前記終了位置に到達する前に前記目標設計地形から離れたときには、前記終了位置までの残土の程度を示す残土距離の長さに応じて、前記目標距離を短くするように修正する、
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、前記作業機が前記目標設計地形から離れることなく前記終了位置に到達したときには、前記目標距離を長くするように修正する、
請求項1記載の作業車両の制御システム。 - 前記コントローラは、
前記作業機が前記終了位置に到達する前に前記目標設計地形から離れたときには、前記終了位置までの残土の程度を示す残土量に応じて、前記目標距離を短くするように修正する、
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、
前記作業機にかかる負荷を逃がすため前記作業機を上昇させる負荷制御が実施されたときには、前記終了位置までの残土の程度を示す残土距離の長さに応じて、前記目標距離を短くするように修正する、
請求項1に記載の作業車両の制御システム。 - 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、
少なくとも一部が現況地形よりも下方に位置し、前記作業機の目標軌跡を示す目標設計地形を決定し、
前記作業車両による作業の終了位置と目標土量とを取得し、
前記終了位置から、前記目標土量分、離れた地点を開始位置として決定し、
前記開始位置から前記終了位置に向かって前記作業を開始し、前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記作業の結果に基づいて、前記目標土量を修正する、
作業車両の制御システム。 - 前記目標土量を修正することは、前記作業機が前記終了位置に到達する前に前記目標設計地形から離れたときに、前記終了位置までの残土の程度を示す残土量に応じて前記目標土量を小さくするように修正することを含む、
請求項6に記載の作業車両の制御システム。 - 前記目標土量を修正することは、前記作業機が前記目標設計地形から離れることなく前記終了位置に到達したときに、前記目標土量を大きくするように修正することを含む、
請求項6に記載の作業車両の制御システム。 - 前記目標土量を修正することは、前記作業機が前記終了位置に到達する前に前記目標設計地形から離れたときに、前記終了位置までの残土の程度を示す残土距離に応じて前記目標土量を小さくするように修正することを含む、
請求項6に記載の作業車両の制御システム。 - 前記目標土量を修正することは、前記作業機が前記終了位置に到達する前に前記目標設計地形から離れたときに、前記作業機の掘削土量に応じて前記目標土量を小さくするように修正することを含む、
請求項6に記載の作業車両の制御システム。 - 前記目標土量を修正することは、前記作業機にかかる負荷を逃がすため前記作業機を上昇させる負荷制御が実施されたときに、前記終了位置までの残土の程度を示す残土量に応じて前記目標土量を小さくするように修正することを含む、
請求項6に記載の作業車両の制御システム。 - 走行装置と作業機と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、
少なくとも一部が現況地形よりも下方に位置し、前記作業機の目標軌跡を示す目標設計地形を決定し、
前記作業車両による作業の終了位置と目標距離とを取得し、
前記終了位置から、前記目標距離、離れた地点を開始位置として決定し、
前記開始位置から前記終了位置に向かって前記作業を開始し、前記目標設計地形に従って前記作業機を動作させる指令信号を生成し、
前記走行装置の負荷の大きさを示す負荷パラメータを取得し、
前記負荷パラメータに応じて前記目標距離を修正する、
作業車両の制御システム。 - 前記コントローラは、
前記負荷パラメータが、所定の第1閾値より大きいかを判定し、
前記負荷パラメータが、前記第1閾値より大きいときには、前記目標距離を短くする、
請求項12に記載の作業車両の制御システム。 - 前記コントローラは、
前記負荷パラメータが、所定の第2閾値より小さいかを判定し、
前記負荷パラメータが、前記第2閾値より小さいときには、前記目標距離を長くする、
請求項12に記載の作業車両の制御システム。
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- 2019-02-19 WO PCT/JP2019/006037 patent/WO2019187793A1/ja active Application Filing
- 2019-02-19 US US16/636,937 patent/US11746504B2/en active Active
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AU2019246096A1 (en) | 2020-02-27 |
US20200370281A1 (en) | 2020-11-26 |
CA3071963A1 (en) | 2019-10-03 |
JP6946226B2 (ja) | 2021-10-06 |
JP2019173470A (ja) | 2019-10-10 |
AU2019246096B2 (en) | 2021-05-13 |
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