WO2022102429A1 - Control device, control system, and control method - Google Patents

Abstract

The present invention moves a movable part of a work machine more precisely to a desired region. Provided is a control device (10) that controls a work machine having a movable part, said control device (10) comprising: a movement control unit (11) that controls the work machine such that the movable part is moved to a movement destination region; and a correction control unit (12) that refers to the value detected by a sensor and detects the positional relationship between the movement destination region and the movable part so as to control the work machine such that the position of the movable part is corrected.

Description

Control devices, control systems, and control methods

The present invention relates to a technique for controlling a work machine having a moving part.

The technique of controlling a work machine having a moving part is known. For example, Patent Document 1 describes a technique for controlling a movable portion of a ground leveling machine to be movable.

Japanese Patent Publication No. 2000-136549

The technique described in Patent Document 1 has a problem that the position of the movable part of the leveling machine may deviate from a desired region due to various errors in control.

One aspect of the present invention has been made in view of the above problems, and one example of the present invention is to provide a technique for moving a moving part of a work machine to a desired region with higher accuracy.

The control device according to one aspect of the present invention is a control device for controlling a work machine having a movable portion, and is a movement control means for controlling the work machine so as to move the movable portion to a destination region. A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor is provided.

The control system according to one aspect of the present invention is a control system including a control device for controlling a work machine having a movable portion and a sensor, and the control device moves the movable portion to a destination region. The work of correcting the position of the movable portion by detecting the positional relationship between the region and the movable portion by referring to the movement control means for controlling the work machine and the detection value of the sensor. It is provided with a correction control means for controlling the machine.

The control method according to one aspect of the present invention is a control method in which a control device controls a work machine having a movable portion, and controls the work machine so as to move the movable portion to a destination region. It also includes controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.

According to one aspect of the present invention, the movable part of the work machine can be moved to a desired region with higher accuracy.

It is a block diagram which shows the structure of the control system which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the control device which concerns on Embodiment 1 of this invention. It is a flow figure which shows the flow of the control method which concerns on the exemplary Embodiment 1 of this invention. It is a block diagram which shows the structure of the control system which concerns on Embodiment 2 of this invention. It is a flow figure which shows the flow of the control method which concerns on Embodiment 2 of this invention. It is a schematic diagram which shows the specific example of the control method in Embodiment 2 of this invention. It is a block diagram which shows the structure of the control system which concerns on Embodiment 3 of this invention. It is a flow figure which shows the flow of the control method which concerns on the exemplary Embodiment 3 of this invention. It is a schematic diagram which shows the specific example of the control method in Embodiment 3 of this invention. It is a block diagram which shows an example of the hardware composition of the control device in each exemplary Embodiment of this invention.

[Exemplary Embodiment 1]
A first exemplary embodiment of the invention will be described in detail with reference to the drawings. This exemplary embodiment is the basis of the exemplary embodiments described below.

<Control system configuration>
The configuration of the control system 1 according to this exemplary embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of the control system 1. The control system 1 is a system for controlling a work machine having a movable portion. As shown in FIG. 1, the control system 1 includes a control device 10 and a sensor E. The control device 10 is connected to the sensor E so that the detected value of the sensor E can be acquired. For example, the control device 10 may be connected to the sensor E by wire. Specific examples of the wired connection include USB (Universal Serial Bus), serial communication, and the like. Further, for example, the control device 10 may be connected to the sensor E via a network. In this case, specific examples of the network include, for example, wireless LAN (Local Area Network), wired LAN, WAN (Wide Area Network), public line network, mobile data communication network (3G, LTE: Long Term Evolution, 4G, 5G). , Local 5G, etc.), or a combination of these networks. However, the configuration for connecting the control device 10 and the sensor E is not limited to these. Further, for example, the control device 10 controls the work machine via the network. Specific examples of the network are as described above, but are not limited thereto.

(Control device configuration)
A detailed configuration of the control device 10 according to this exemplary embodiment will be described with reference to FIG. FIG. 2 is a block diagram showing the configuration of the control device 10. The control device 10 is a device that controls a work machine having a movable portion. As shown in FIG. 2, the control device 10 includes a movement control unit 11 and a correction control unit 12. The movement control unit 11 is configured to realize the movement control means in this exemplary embodiment. The correction control unit 12 is configured to realize the correction control means in this exemplary embodiment.

The movement control unit 11 controls the work machine so as to move the movable unit to the destination area. Specifically, the movement control unit 11 transmits an operation control signal for moving the movable unit to the destination region to the controller mounted on the work machine. For such operation control signal generation processing and transmission processing, known techniques corresponding to the target work machine can be adopted.

The correction control unit 12 controls the work machine to correct the position of the movable part by detecting the positional relationship between the moving destination area and the movable part with reference to the detection value of the sensor E. Specifically, the correction control unit 12 corrects the position of the movable portion so that the positional relationship between the destination area and the movable portion does not satisfy the predetermined condition. Take control. As predetermined conditions, various conditions for determining the positional relationship between two regions in space can be adopted.

For example, the correction control unit 12 calculates the difference between the target position in the destination region and the actual position of the movable portion as the positional relationship between the destination region and the movable portion. Further, the correction control unit 12 determines that the position of the movable unit is corrected when the difference is out of the predetermined range. In this case, the correction control unit 12 corrects the position of the movable unit so that the difference is within a predetermined range. However, the conditions for determining the positional relationship between the moving destination area and the movable portion and the process for correcting the position of the movable portion are not limited to these.

(Sensor configuration)
The sensor E is a sensor for detecting the positional relationship between the destination area and the movable portion. Specifically, the sensor E may include a two-dimensional or three-dimensional sensor that scans the space including the destination region. For example, specific examples of the sensor E include a camera (for example, a depth camera, a stereo camera, a ToF (Time-of-Flight) camera, etc.), a laser sensor (for example, 2DLiDAR, 3DLiDAR, etc.), a radar sensor, and the like. However, it is not limited to these.

<Flow of control method>
In the control system 1 configured as described above, the control device 10 executes the control method S1. The flow of the control method S1 will be described with reference to FIG. FIG. 3 is a flow chart showing the flow of the control method S1. As shown in FIG. 3, the control method S1 includes step S11 and step S12.

(Step S11)
In step S11, the movement control unit 11 controls the work machine so as to move the movable unit to the destination area.

(Step S12)
In step S12, the correction control unit 12 controls the work machine to correct the position of the movable portion by detecting the positional relationship between the destination region and the movable portion with reference to the detection value of the sensor E. ..

<Effect of this exemplary embodiment>
In this exemplary embodiment, the movement control unit 11 moves the movable portion to the destination region, and the correction control unit 12 detects the positional relationship between the movement destination region and the movable portion, thereby positioning the movable portion. To correct. As a result, in this exemplary embodiment, the movable portion can be moved to the destination region with higher accuracy.

[Exemplary Embodiment 2]
A second exemplary embodiment of the invention will be described in detail with reference to the drawings. The components having the same functions as those described in the first embodiment are designated by the same reference numerals, and the description thereof will not be repeated.

<Control system configuration>
The configuration of the control system 1A according to this exemplary embodiment will be described with reference to FIG. FIG. 4 is a block diagram showing the configuration of the control system 1A. As shown in FIG. 4, the control system 1A includes a control device 10A and three-dimensional sensors E5 and E6. The control system 1A is a system for controlling the backhoe 8. More specifically, the control system 1A is a system that controls the backhoe 8 to carry the scooped earth and sand OBJ and load it on the dump truck 9. The control device 10A is communicably connected to the three-dimensional sensors E5, E6 and the controller 830 of the backhoe 8 via the network N1. The network N1 is, for example, a wireless LAN (Local Area Network), a wired LAN, a WAN (Wide Area Network), a public line network, a mobile data communication network, or a combination of these networks. However, the configuration of the network N1 is not limited to these. The control device 10A may be mounted on the backhoe 8.

Here, the backhoe 8 constitutes an example of the "working machine having a movable part" described in the claims. Further, the earth and sand OBJ constitutes an example of the moving object described in the claims. Carrying earth and sand OBJ is an example of "moving a moving object" described in the claims. Further, the bucket 824 included in the backhoe 8 constitutes an example of "a device for moving a moving object to the region" included in the "movable portion" described in the claims. Further, the loading target area 910 of the dump truck 9 constitutes an example of the "destination area" described in the claims. Moving the bucket 824 to the loading area 910 is an example of "moving the movable portion to the destination area" described in the claims.

(Structure of backhoe)
The configuration of the backhoe 8 to be controlled by the control system 1A will be described. The backhoe 8 operates according to the control by the control device 10A. As shown in FIG. 4, the backhoe 8 includes a traveling unit 810, a movable unit 820 attached to the traveling unit 810, and a controller 830. Further, the backhoe 8 is equipped with sensors E1 to E4.

The traveling unit 810 is a traveling unit that enables the backhoe 8 to move forward, backward, turn right, and turn left. The traveling unit 810 travels using, for example, an endless track belt. The movable portion 820 includes a swivel portion 821, a boom 822 attached to the swivel portion 821, an arm 823 attached to the tip of the boom 822, and a bucket 824 attached to the tip of the arm 823.

The swivel portion 821 can swivel on the traveling portion 810 in a plane perpendicular to the paper surface in the figure. When the backhoe 8 is on a horizontal ground, the plane perpendicular to the paper surface in FIG. 4 is a horizontal plane, and therefore, this plane is referred to as a “horizontal plane” for convenience below. The boom 822 can reciprocate around the boom shaft 822A in a plane substantially perpendicular to the horizontal plane. The arm 823 has the same turning surface as the boom 822, and can reciprocate around the arm shaft 823A. The bucket 824 has the same swivel surface as the swivel surface of the arm 823, and can reciprocate swivel around the bucket shaft 824A. The posture of the backhoe 8 changes as each portion of the movable portion 820 turns. The movable portion 820 refers to the swivel portion 821, the boom 822, the arm 823, and the bucket 824.

Sensors E1 to E4 are a group of sensors mounted on the backhoe 8. Sensors E1 to E4 each detect the posture of the backhoe 8. Sensors E1 to E4 are examples of the second sensor described in the claims. The posture of the backhoe 8 changes, for example, depending on the turning angle of each portion of the movable portion 820. In this example, each of the sensors E1 to E4 is a sensor that detects the turning angle of the turning portion 821, the boom 822, the arm 823, or the bucket 824.

Specifically, the sensor E1 is, for example, a gyro sensor that detects the turning angle of the turning portion 821. Further, the sensor E1 may be an encoder that detects the rotation speed of the motor that swivels the swivel portion 821. The sensor E2 is a tilt sensor or a gyro sensor that detects the angle of the boom 822 from the horizontal plane. The sensor E2 may be an encoder that detects the moving distance of the rod of the hydraulic cylinder that turns the boom 822. The sensor E3 is, for example, a tilt sensor, a gyro sensor, or an encoder that detects the angle of the arm 823 with respect to the boom 822. The sensor E4 is, for example, a tilt sensor, a gyro sensor, or an encoder that detects the angle of the bucket 824 with respect to the arm 823. The sensors E2 to E4 may be installed outside the backhoe 8 or may be installed inside the backhoe 8, respectively. When installed externally, the sensors E2 to E4 are tilt sensors, acceleration sensors, gyro sensors, stroke sensors, encoders, and the like, respectively. When installed inside, the sensors E2 to E4 are a pressure sensor, a flow rate sensor, a cylinder sensor, a hydraulic pressure sensor, a stroke sensor, or the like, respectively. However, the types of the sensors E1 to E4 are not limited to this. Further, the mounting positions of the sensors E1 to E4 are not limited to the positions shown in the figure.

The controller 830 has a processor, a memory, and a communication interface (all not shown). The controller 830 acquires the detected values of the sensors E1 to E5 by reading and executing the program stored in the memory, and transmits the acquired detected values to the control device 10A via the communication interface. The detected values of the sensors E1 to E5 may be directly acquired by the controller 10A instead of being acquired by the controller 830 and transmitted to the controller 10A. Further, the controller 830 controls each part of the backhoe 8 according to the operation control signal received from the control device 10A via the communication interface by reading and executing the program stored in the memory.

For example, the controller 830 swivels a part or all of the swivel portion 821, the boom 822, the arm 823, and the bucket 824 according to the operation control signal. For example, when part or all of the swivel portion 821, the boom 822, and the arm 823 is swiveled, the position of the bucket 824 changes and the bucket 824 moves. Further, for example, when the bucket 824 is swiveled, the bucket 824 performs an operation of scooping up the earth and sand OBJ, an operation of loading, or an operation of discharging the earth and sand (an operation of unloading the scooped earth and sand OBJ from the bucket 824).

(Dump truck configuration)
The configuration of the dump truck 9 which is the loading destination of the earth and sand OBJ carried by the backhoe 8 will be described. As shown in FIG. 4, the dump truck 9 has a loading target area 910. The loading target area 910 is, for example, a vessel. When the earth and sand OBJ is discharged from the bucket 824 at the upper part of the loading target area 910, it is loaded into the loading target area 910.

(3D sensor configuration)
The three-dimensional sensor E5 is a sensor that detects the surrounding environment of the backhoe 8. Specifically, the three-dimensional sensor E5 is a sensor that three-dimensionally detects an object in the space SP2 including the excavation area. Hereinafter, the three-dimensional sensor E5 may be simply referred to as the sensor E5. Space SP2 includes, for example, earth and sand OBJ as an object. Further, when excavating the earth and sand OBJ, the space SP2 further includes a bucket 824 as an object.

The three-dimensional sensor E6 is a sensor that three-dimensionally detects an object in the space SP1 including the loading target area 910. The three-dimensional sensor E6 is an example of the first sensor described in the claims. Hereinafter, the three-dimensional sensor E6 may be simply referred to as the sensor E6. The space SP1 includes, for example, a vessel constituting the loading target area 910 as an object. Further, when there is an earth and sand OBJ already loaded in the loading target area 910, the space SP1 further includes the earth and sand OBJ as an object. Further, when the movement control of the bucket 824 is completed, the space SP1 further includes the bucket 824 as an object.

For example, the three-dimensional sensors E5 and E6 are configured by a three-dimensional laser scanner. In this case, the three-dimensional sensors E5 and E6 measure the three-dimensional shape of the object by irradiating each object in the spaces SP2 and SP1 with a laser beam. The measurement data is represented by, for example, point cloud data in a three-dimensional space. Each point cloud data includes three-dimensional coordinates, color information, reflectance and the like. However, the three-dimensional sensor E6 is not limited to the three-dimensional laser scanner. For example, specific examples of the three-dimensional sensors E5 and E6 include a camera (for example, a depth camera, a stereo camera, a ToF (Time-of-Flight) camera, etc.), a laser sensor (for example, 3DLiDAR, etc.), a radar sensor, and the like. However, it is not limited to these.

(Control device configuration)
A detailed configuration of the control device 10A according to this exemplary embodiment will be described. As shown in FIG. 4, the control device 10A includes a control unit 110A, a storage unit 120A, and a communication unit 130A. The control unit 110A includes a movement control unit 11A, a correction control unit 12A, a posture estimation unit 13A, and a target position determination unit 14A. Details of each part will be described later. The storage unit 120A stores the determination rule R1. The communication unit 130A communicates with the controller 830 of the backhoe 8 and the three-dimensional sensor E6 under the control of the control unit 110A. Hereinafter, it is also described that the control unit 110A controls the communication unit 130A to transmit and receive data, and the control unit 110A simply transmits and receives data.

(Judgment rule R1)
The determination rule R1 is a rule referred to for determining whether or not to correct the position of the bucket 824. Specifically, the determination rule R1 is a rule that corrects the position of the bucket 824 when the difference between the target position in the loading target area 910 and the position of the actual bucket 824 is out of the predetermined range.

(Movement control unit)
The movement control unit 11A controls the backhoe 8 so as to move the bucket 824 to the loading target area 910 with reference to each detection value of a part or all of the sensors E1 to E6. Here, the sensors E1 to E4 are examples of the second sensor described in the claims as described above, and are sensors that detect the posture of the backhoe 8. That is, the movement control unit 11A controls the backhoe 8 so as to move the bucket 824 to the loading target area 910 with reference to at least the detection values of the sensors E1 to E4 that detect the posture of the backhoe 8. The movement control unit 11A is configured to realize the movement control means in this exemplary embodiment.

(Correction control unit)
The correction control unit 12A detects the positional relationship between the loading target area 910 and the bucket 824 with reference to the detection value of the three-dimensional sensor E6. Further, the correction control unit 12A controls the backhoe 8 so as to correct the position of the bucket 824 based on the detected positional relationship. Here, the three-dimensional sensor E6 is an example of the first sensor described in the claims as described above. The correction control unit 12A is configured to realize the correction control means in this exemplary embodiment.

Specifically, the correction control unit 12A determines whether or not to correct the position of the bucket 824 according to the determination rule R1. That is, the correction control unit 12A calculates the difference between the target position in the loading target area 910 and the actual position of the bucket 824 as the positional relationship between the loading target area 910 and the bucket 824. Further, the correction control unit 12A determines that the position of the bucket 824 is corrected when the difference is out of the predetermined range. In this case, the correction control unit 12A corrects the position of the bucket 824 so that the difference is within a predetermined range.

(Posture estimation unit)
The posture estimation unit 13A estimates the posture of the backhoe 8 with reference to each detected value of a part or all of the sensors E1 to E6. For example, the posture estimation unit 13A estimates the current turning angle of each part of the movable part 820, the position of the bucket 824, and the like as the posture of the backhoe 8. Hereinafter, the posture of the bucket 824 estimated by the posture estimation unit 13A is also referred to as an estimated posture.

(Target position determination unit)
The target position determination unit 14A determines a target position in the loading target area 910 with reference to each detected value of a part or all of the sensors E1 to E6. The target position is a target position of the destination of the bucket 824 in the loading target area 910. In other words, the target position is the position where the operation of loading the earth and sand OBJ should be performed. For example, the target position determination unit 14A determines the target position according to the accumulation state of the sediment OBJ in the loading target area 910 by referring to the detected value of the three-dimensional sensor E6.

<Flow of control method>
In the control system 1A configured as described above, the control device 10A executes the control method S1A. The flow of the control method S1A will be described with reference to FIG. FIG. 5 is a flow chart showing the flow of the control method S1A. As shown in FIG. 5, the control method S1A includes steps S101 to S109.

(Step S101)
In step S101, the target position determination unit 14A determines the target position in the loading target area 910 with reference to each detection value of a part or all of the sensors E1 to E6. A specific example of the process of determining the target position will be described later.

(Step S102)
In step S102, the movement control unit 11A moves the bucket 824 to the target position. Specifically, the movement control unit 11A refers to the estimated posture of the bucket 824 and generates an operation control signal for moving the bucket 824 to the target position. Here, the estimated posture of the bucket 824 is estimated by the posture estimation unit 13A with reference to each detected value of a part or all of the sensors E1 to E6. Further, the target position is estimated by the target position determination unit 14A with reference to each detected value of a part or all of the sensors E1 to E6. In other words, the movement control unit 11A refers to the estimated posture and the target position based on each detection value of a part or all of the sensors E1 to E6, and generates an operation control signal for moving the bucket 824 to the target position. .. The operation control signal is an operation control signal for changing the posture of the backhoe 8, and includes, for example, a turning direction and a turning amount in which each part of the movable part 820 should be turned. Further, the movement control unit 11A transmits the generated operation control signal to the controller 830 of the backhoe 8. As a result, the backhoe 8 performs an operation of moving the bucket 824 according to the received operation control signal.

(Step S103)
In step S103, the movement control unit 11A determines whether or not the movement operation of the backhoe 8 has been completed. Specifically, for example, when the movement control unit 11A receives information from the controller 830 of the backhoe 8 indicating that the movement operation based on the operation control signal transmitted in step S102 is completed, the movement operation is completed. You may judge that. The process of step S103 is repeatedly executed until it is determined to be Yes.

(Step S104)
If it is determined to be Yes in step S103, in step S104, the correction control unit 12A acquires information indicating a target position in the loading target area 910. Here, the correction control unit 12A acquires information indicating the target position determined in step S101.

(Step S105)
In step S105, the correction control unit 12A refers to the detected value of the three-dimensional sensor E6 and acquires information indicating the actual position of the bucket 824. Specifically, the correction control unit 12A identifies the point cloud data indicating the three-dimensional shape of the bucket 824 among the point cloud data generated by the three-dimensional sensor E6, thereby indicating the actual position of the bucket 824. To get. The correction control unit 12A may specify the point cloud data indicating the three-dimensional shape of the bucket 824 based on the characteristics of the three-dimensional shape of the bucket 824.

(Step S106)
In step S106, the correction control unit 12A detects the positional relationship between the loading target area 910 and the bucket 824. Specifically, the correction control unit 12A calculates the difference between the target position and the actual position of the bucket 824. For example, the correction control unit 12A may calculate the difference between the target position and the actual position of the bucket 824 on a plane with the loading target area 910 viewed from above.

(Step S107)
In step S107, the correction control unit 12A determines whether or not the calculated difference is within a predetermined range. If it is determined to be Yes in the step, the control device 10A ends the control method S1A.

(Step S108)
If No is determined in step S107, the correction control unit 12A determines the correction direction and the correction amount of the position of the bucket 824 based on the calculated difference in step S108.

(Step S109)
In step S109, the correction control unit 12A generates an operation control signal for correcting the position of the bucket 824 based on the determined correction direction and correction amount. The operation control signal is an operation control signal for changing the posture of the backhoe 8, and includes, for example, a turning direction and a turning amount in which each part of the movable part 820 should be turned. The correction control unit 12A transmits the generated operation control signal to the controller 830 of the backhoe 8. As a result, the backhoe 8 performs an operation of correcting the position of the bucket 824 according to the received operation control signal. That is, the backhoe 8 performs an operation of moving the bucket 824 in order to correct the position of the bucket 824. After that, the correction control unit 12A repeats the process from step S105.

<Specific example of control method>
A specific example of the control method S1A will be described with reference to FIG. FIG. 6 is a schematic diagram showing a specific example of the control method S1A. FIG. 6 schematically shows the dump truck 9 viewed from above.

In FIG. 6, the bucket 824-1 and the arm 823-1 schematically show the actual bucket 824 and the arm 823 detected by the correction control unit 12A. The center line L1 is the center line of the bucket 824-1 projected on a plane (here, referred to as a horizontal plane) with the dump truck 9 viewed from above. Here, the center line of the bucket 824 is a straight line passing through the center in the width direction of the bucket 824 in the horizontal plane. The width direction of the bucket 824 is a direction orthogonal to the turning direction of the bucket 824 in the horizontal plane. That is, the center line of the bucket 824 is a straight line extending in the turning direction of the bucket 824. In this specific example, the position of the bucket 824-1 is represented using the center line L1.

Further, the center line L2 is an example of the target position determined by the target position determination unit 14A. In other words, in this specific example, the target position is represented using the center line L2. The center line L2 is the center line of the loading target area 910 projected on the horizontal plane, and is the target position where the center line L1 of the bucket 824-1 is expected to be arranged. Bucket 824-2 and arm 823-2 schematically represent bucket 824 and arm 823 that are expected to be in the target position. Hereinafter, when it is not necessary to separately explain the buckets 824-1 and 824-2, each of them may be referred to as a bucket 824.

In this example, the target position determination unit 14A determines the center line L2 of the loading target area 910 as the target position with reference to each detection value of a part or all of the sensors E1 to E6. The center line L2 of the loading target area 910 is a straight line passing through the center in the width direction of the loading target area 910 in the horizontal plane. The width direction of the loading target area 910 is a direction perpendicular to the forward / backward direction of the dump truck 9 on the horizontal plane. That is, the center line of the loading target area 910 is a straight line extending in the forward / backward direction. Although it is described in FIG. 6 that the center lines L1 and L2 are parallel, it is not limited to the fact that they are parallel.

Further, the center lines L2a and L2b indicate a predetermined range of the positions of the bucket 824-1 allowed with respect to the target position. In other words, if the center line L1 is included in the range from the center line L2a to L2b, the position of the bucket 824-1 is within the allowable range with respect to the target position. For example, the center lines L2a and L2b may be lines obtained by translating the center line L2 by + d and −d in the width direction. In this case, + d and −d are threshold values that define the lower limit and the upper limit of the predetermined range. The center lines L2a and L2b are not limited to lines obtained by translating the center line L2. For example, the center lines L2a and L2b may be lines obtained by rotating the center line L2 by + dθ and −dθ about the reference point. In this case, + dθ and −dθ are threshold values that define the lower limit and the upper limit of the predetermined range.

The correction control unit 12A obtains the difference between the center lines L1 and L2 as the difference between the actual position of the bucket 824-1 and the target position. For example, the correction control unit 12A may obtain the angle formed by the center lines L1 and L2 as the difference between the center lines L1 and L2. Further, for example, the correction control unit 12A may obtain the distance between the center lines L1 and L2 at the tip portions of the buckets 824-1 and 824-2. When the difference between the center lines L1 and L2 is not within the predetermined range, the correction control unit 12A controls to correct the position of the bucket 824-1 so that the difference is within the predetermined range. Specifically, the correction control unit 12A changes the posture of the movable unit 820 in order to correct the position of the bucket 824-1. For example, the correction control unit 12A calculates a turning direction and a turning amount in which each part of the movable part 820 should be turned in order to keep the difference within a predetermined range. The arrow AR shown in FIG. 6 schematically indicates the turning direction and the turning amount determined by the correction control unit 12A. Further, the correction control unit 12A generates an operation control signal based on the calculated turning direction and turning amount, and transmits the operation control signal to the backhoe 8.

Further, when the operation of the backhoe 8 corresponding to the transmitted operation control signal is completed, the correction control unit 12A again refers to the detection value of the three-dimensional sensor E6 to detect the actual bucket 824-1 and its center thereof. Find the line L1. Then, the correction control unit 12A generates an operation control signal and transmits it to the backhoe 8 until the difference between the center line L1 and the center line L2 is within a predetermined range, and repeats the process of obtaining the difference again. As a result, the position of the bucket 824 is corrected.

(Variations of processing to calculate the difference)
In this specific example, the correction control unit 12A has described an example of calculating the above-mentioned difference using the center lines L1 and L2 of each bucket 824. Not limited to this, the correction control unit 12A may calculate the difference using the center point of the region of the bucket 824 projected on the horizontal plane and the center point of the loading target area 910. In this case, the correction control unit 12A may calculate the distance between the actual center point of the bucket 824-1 and the center point of the loading target area 910, which is the target position. In this case, a range of 0 or more and a threshold d or less is defined as a predetermined range. The correction control unit 12A is not limited to the center line or the center point, and may calculate the difference by using other information.

<Effect of this exemplary embodiment>
In this exemplary embodiment, the bucket 824 of the backhoe 8 can be moved to the loading target area 910 more accurately. The reason for this will be described in detail below.

In this exemplary embodiment, the movement control unit 11A moves the bucket 824 to the loading target area 910, and the correction control unit 12A determines that the difference between the target position in the loading target area 910 and the actual position of the bucket 824 is The position of the bucket 824 is corrected so as to be within the predetermined range. As a result, even if the detection values of the sensors E1 to E6 referred to by the movement control unit 11A include measurement errors due to internal factors, external environmental factors, etc., the actual position of the bucket 824 after correction is the target. This is because it is closer to the position. Further, in the present exemplary embodiment, after the correction control unit 12A controls to correct the position of the bucket 824, the actual position of the bucket 824 is detected again, and the target position and the actual position of the bucket 824 are set. The process of correcting the position of the bucket 824 is repeated until the difference is within the predetermined range. This is because the actual bucket 824 moves more accurately in a region within a predetermined range based on the target position.

[Exemplary Embodiment 3]
A third exemplary embodiment of the invention will be described in detail with reference to the drawings. The components having the same functions as those described in the second embodiment are designated by the same reference numerals, and the description thereof will not be repeated.

<Control system configuration>
The configuration of the control system 1B according to this exemplary embodiment will be described with reference to FIG. 7. FIG. 4 is a block diagram showing the configuration of the control system 1B. As shown in FIG. 7, the control system 1B is configured in substantially the same manner as the control system 1A according to the exemplary embodiment 2, except that the control device 10B is provided in place of the control device 10A. Other points are the same as those of the control system 1A.

(Control device configuration)
A detailed configuration of the control device 10B according to this exemplary embodiment will be described. As shown in FIG. 7, the control device 10B includes a control unit 110B, a storage unit 120B, and a communication unit 130A. The control unit 110B includes a movement control unit 11A, a correction control unit 12B, a posture estimation unit 13A, and a target position determination unit 14A. The storage unit 120B stores the determination rule R2 in place of the determination rule R1 in the exemplary embodiment 2. Hereinafter, the details of the determination rule R2 and the correction control unit 12B will be described. Other configurations are the same as those of the exemplary embodiment 2.

(Judgment rule R2)
The determination rule R2 is a rule for determining whether or not to correct the position of the bucket 824. Specifically, the determination rule R2 is a rule that the position of the bucket 824 is corrected when the entire bucket 824 is not included in the loading target area 910.

(Correction control unit)
The correction control unit 12B differs from the correction control unit 12A in the second embodiment in the details of the process of detecting the positional relationship between the loading target area 910 and the bucket 824. Other points are configured in the same manner as the correction control unit 12A.

Specifically, the correction control unit 12B determines whether or not to correct the position of the bucket 824 according to the determination rule R2. That is, the correction control unit 12B detects the inclusion relationship between the bucket 824 and the loading target area 910 as the positional relationship between the loading target area 910 and the bucket 824. Further, the correction control unit 12B corrects the position of the bucket 824 when the entire bucket 824 is not included in the loading target area 910, that is, when at least a part of the bucket 824 is outside the loading target area 910. judge. In this case, the correction control unit 12B corrects the position of the bucket 824 so that the bucket 824 is included in the loading target area 910. Here, the bucket 824 is an example of the "at least predetermined portion of the movable portion" described in the claims. The correction control unit 12B is configured to realize the correction control means in this exemplary embodiment.

<Flow of control method>
In the control system 1B configured as described above, the control device 10B executes the control method S1B. The flow of the control method S1B will be described with reference to FIG. FIG. 8 is a flow chart showing the flow of the control method S1B. As shown in FIG. 8, the control method S1B includes steps S101 to S103, S204, S105, S206 to S207, and S108 to S109. Hereinafter, steps S204, S105, S206 and S207 will be described. The other steps are as described in the control method S1A.

(Step S204)
If it is determined to be Yes in step S103, in step S204, the correction control unit 12B refers to the detected value of the three-dimensional sensor E6 and acquires information indicating the position of the loading target area 910. Specifically, the correction control unit 12B identifies the point cloud data indicating the three-dimensional shape of the loading target area 910 from the point cloud data generated by the three-dimensional sensor E6, thereby specifying the loading target area 910. Get the information indicating the position. The correction control unit 12B may specify the point cloud data indicating the three-dimensional shape of the loading target area 910 based on the characteristics of the three-dimensional shape of the loading target area 910.

(Step S105)
In step S105, the correction control unit 12B refers to the detected value of the three-dimensional sensor E6 and acquires information indicating the actual position of the bucket 824. The details of the processing of the step are as described in the exemplary embodiment 2.

(Step S206)
In step S206, the correction control unit 12B detects the inclusion relationship between the loading target area 910 and the bucket 824.

(Step S207)
In step S207, the correction control unit 12B determines whether or not the entire bucket 824 is included in the loading target area 910 based on the detection result of step S206. When it is determined as No in step S207, the correction control unit 12B executes steps S108 to S109 in the same manner as in the exemplary embodiment 2 and controls to correct the position of the bucket 824. If it is determined to be Yes in step S207, the control device 10B ends the control method S1B.

<Specific example of control method>
A specific example of the control method S1B will be described with reference to FIG. FIG. 9 is a schematic diagram showing a specific example of the control method S1B. FIG. 9 schematically shows a dump truck 9 viewed from above.

In FIG. 9, the bucket 824-1 and the arm 823-1 schematically show the actual bucket 824 and the arm 823 detected by the correction control unit 12B. The region A1 is a region of the bucket 824-1 projected on a plane (here, referred to as a horizontal plane) when the dump truck 9 is viewed from above. The area A2 is the area of the loading target area 910 projected on the horizontal plane. The correction control unit 12B determines whether or not the entire area A1 is included in the area A2. The correction control unit 12B buckets so that the entire area A1 is included in the area A2 when the entire area A1 is not included in the area A2 (that is, when at least a part of the area A1 is outside the area A2). Control is performed to correct the position of 824-1. The arrow AR shown in FIG. 9 schematically shows the turning direction and the turning amount determined by the correction control unit 12B. The details of the control in which the correction control unit 12B changes the posture of the movable unit 820 in order to correct the position of the bucket 824-1 are as described in the specific example of the second embodiment.

Further, when the operation of the backhoe 8 corresponding to the operation control signal for correcting the position of the bucket 824-1 is completed, the correction control unit 12B detects the bucket 824-1 again and determines the inclusion relationship of the regions A1 and A2. To detect. Then, the correction control unit 12B generates an operation control signal and transmits it to the backhoe 8 until the entire area A1 is included in the area A2, and repeats the process of detecting the inclusion relationship again. As a result, the position of the bucket 824 is corrected.

<Effect of this exemplary embodiment>
In this exemplary embodiment, the bucket 824 of the backhoe 8 can be moved to the loading target area 910 more accurately. The reason for this will be described in detail below.

In this exemplary embodiment, the movement control unit 11A moves the bucket 824 to the loading target area 910, and the correction control unit 12B corrects the position of the bucket 824 so that the entire bucket 824 is included in the loading target area 910. do. As a result, even if the detection values of the sensors E1 to E6 referred to by the movement control unit 11A include a measurement error due to an internal factor or an external environmental factor, the actual position of the bucket 824 after correction is the product. This is because it is sufficiently included in the inclusion target area 910. Further, in the present exemplary embodiment, after the correction control unit 12B controls to correct the position of the bucket 824, the actual position of the bucket 824 is detected again, and the entire bucket 824 is included in the loading target area 910. The process of correcting the position of the bucket 824 is repeated until the result is obtained. This is because the entire bucket 824 moves more accurately within the loading target area 910.

In addition, I will explain other reasons. In this exemplary embodiment, the correction control unit 12B detects the positional relationship between the loading target area 910 and the bucket 824 with reference to the detection value of the three-dimensional sensor E6 only. Therefore, even if the target position itself determined based on the detected values of the sensors E1 to E6 includes an error with respect to the target position in the real space, the error can be corrected.

[Other variants]
<Modification example of correction control unit>
In the above-described exemplary embodiment 2 or 3, the correction control units 12A and 12B generate the operation control signal by referring to the table for generating the operation control signal, and refer to the position of the corrected bucket 824. You may modify the table. In this case, the storage units 120A and 120B store the table.

For example, the table includes information relating the correction amount of the position of the bucket 824 and the turning amount of each part of the movable part 820. The correction control units 12A and 12B refer to the table and generate an operation control signal using the turning amount of each part of the movable unit 820 associated with the correction amount of the bucket 824. Further, the correction control units 12A and 12B control to correct the position of the bucket 824 using the operation control signal, and then the corrected position intended by the operation control signal and the bucket 824 detected after the correction. Detect the difference from the actual position. Further, the correction control units 12A and 12B correct the table based on the detected difference. For example, an example in which the swivel amount α of the boom 822 is associated with the correction amount 1 cm of the bucket 824 will be described. The correction control units 12A and 12B generate an operation control signal for turning the boom 822 by the turning amount α with reference to the table in order to move the bucket 824 by 1 cm. At this time, it is assumed that the bucket 824 actually moves more than 1 cm as a result of transmitting the operation control signal to the backhoe 8. In this case, the correction control units 12A and 12B correct the turning amount associated with the correction amount of 1 cm of the bucket 824 to a value smaller than α in the table.

<Modification example of the sensor used by the correction control unit>
In the above-described exemplary embodiment 2 or 3, the correction control unit 12A, 12B uses the sensor E6, which is one of the sensors E1 to E6 used by the movement control unit 11A, as the sensor used to correct the position of the bucket 824. An example to be used has been described. Not limited to this, the correction control units 12A and 12B may correct the position of the bucket 824 using a sensor different from the sensor group used by the movement control unit 11A.

Further, in the above-described exemplary embodiment 2 or 3, the correction control units 12A and 12B may use a two-dimensional sensor instead of the three-dimensional sensor E6. An example of a two-dimensional sensor is a camera that captures the surroundings and generates a two-dimensional image. In this case, the camera generates a captured image which is a two-dimensional image captured from above the loading target area 910. In this case, the correction control units 12A and 12B detect the positional relationship between the bucket 824 and the loading target area 910 in the captured image.

<Example of deformation of the surface that detects the positional relationship>
In the above-described exemplary embodiment 2 or 3, the correction control units 12A and 12B have described an example of detecting the positional relationship in the horizontal plane as the “positional relationship between the bucket 824 and the loading target area 910”. However, the "positional relationship between the bucket 824 and the loading target area 910" is not limited to the positional relationship on the horizontal plane. For example, the correction control units 12A and 12B may determine the positional relationship on a surface other than the horizontal plane. The surface other than the horizontal surface may be, for example, a vertical surface. In this case, the correction control units 12A and 12B can correct the position of the bucket 824 in the vertical direction. Further, the correction control units 12A and 12B may determine the positional relationship on the horizontal plane and the vertical plane, respectively, and perform control to correct the position of the bucket 824 by integrating the judgment results. In this case, the correction control units 12A and 12B can correct the position of the bucket 824 in the horizontal direction and the vertical direction. Further, the correction control units 12A and 12B may determine the positional relationship in the three-dimensional space. In this case, the correction control units 12A and 12B can correct the position of the bucket 824 three-dimensionally.

<Modification example of work machine>
In each of the above-mentioned exemplary embodiments, a robot or a construction machine can be applied as a working machine. For example, in exemplary embodiments 2 and 3, a crane may be applied instead of the backhoe 8. In this case, in each exemplary embodiment, hooks can be applied instead of bucket 824. Further, in this case, instead of the loading target area 910, the destination area of the moving target to be moved by using the hook is applied. The work machine is not limited to the crane, but may be another construction machine or another robot.

Further, in each of the above-described exemplary embodiments, the controller (830) is not limited to being mounted on the work machine (backhoe 8), but may be installed outside the work machine (backhoe 8). In this case, the movement control unit 11 (11A, 11B) transmits an operation control signal to the controller (830) installed outside the work machine (backhoe 8). The controller (830) controls the drive unit of the moving mechanism that moves the movable unit (bucket 824) of the work machine (backhoe 8) by wireless communication according to the received operation control signal. When the controller (830) is installed in a remote location (for example, on the cloud) from the work machine, the controller (830) controls the drive unit via the relay device. In this case, the relay device is installed in a place where the drive unit can be controlled by wireless communication (for example, around a work machine, in a work site, etc.).

Further, in each of the above-described exemplary embodiments, the work machine (backhoe 8) is replaced with or in addition to the controller, the operation unit (operation lever, etc.), and the operation unit drive device (attachment) attached to the operation unit. Etc.) and may have. Here, the operation unit accepts an operation by an operator for moving the movable unit (bucket 824). Further, the operation unit drive device is a device that drives the operation unit instead of the operator.

In this case, the movement control unit 11 (11A) controls the work machine by transmitting the operation control signal to the operation unit drive device in place of or in addition to transmitting the operation control signal to the controller (830). Control. Thereby, in each exemplary embodiment, the work machine (backhoe 8) on which the operator can board can be controlled.

Further, in each of the above-described exemplary embodiments, the movement control unit 11 (11A) may generate an operation control signal for controlling the work machine (backhoe 8) based on the operation of the operator. In this case, the movement control unit 11 (11A) may be configured by another computer installed in a place physically different from the computer constituting the correction control unit 12 (12A, 12B). As a result, the operator can remotely move the movable portion (bucket 824) of the work machine (backhoe 8). In this case, in each exemplary embodiment, the position of the movable portion (bucket 824) moved by the operator can be moved to the destination area (loading target area 910) with higher accuracy.

Further, in the above-described exemplary embodiments 2 and 3, the movement control unit 11A may control the bucket 824 to move to the loading target area 910 without referring to the detected values of the sensors E1 to E6. .. For example, the target position in the loading target area 910 may be predetermined. In this case, the movement control unit 11A can generate an operation control signal for moving the bucket 824 to a predetermined target position without referring to the estimated posture based on the detected values of the sensors E1 to E6. Such an operation control signal includes a predetermined turning direction and turning amount for each part of the movable part 820. The movement control unit 11A may, for example, generate such an operation control signal based on the past control results up to a predetermined target position. In this case, in the exemplary embodiments 2 and 3, the backhoe 8 does not necessarily have to be equipped with the sensors E1 to E4. Further, the control devices 10A and 10B do not necessarily have to include the posture estimation unit 13A and the target position determination unit 14A.

Further, in the above-mentioned exemplary embodiments 2 and 3, the sensor E5 may be mounted on the backhoe 8. Further, the sensor E5 may be installed in another place where the object contained in the space SP2 can be detected. For example, the sensor E5 may be installed at a position (for example, a ceiling, a pillar, etc.) where the excavation area can be overlooked. Further, when the shape change due to excavation of the earth and sand OBJ in the space SP2 is small, the sensor E5 does not necessarily have to be installed. Further, the sensor E5 may be any sensor that detects the surrounding environment of the backhoe 8, and is not limited to the three-dimensional sensor. Further, the sensor E5 may be used to control the traveling of the traveling unit 810.

Further, in the above-mentioned exemplary embodiments 2 and 3, the backhoe 8 may be equipped with another sensor for controlling the traveling of the traveling unit 810. The other sensor may be, for example, a camera, a ToF, a laser sensor, or a radar sensor that captures the traveling direction of the back hoe 8. May be.

[Example of implementation by software]
Some or all the functions of the control devices 10, 10A and 10B may be realized by hardware such as an integrated circuit (IC chip) or by software.

In the latter case, the control devices 10, 10A, and 10B are realized by, for example, a computer that executes a program instruction, which is software that realizes each function. An example of such a computer (hereinafter referred to as computer C) is shown in FIG. The computer C includes at least one processor C1 and at least one memory C2. A program P for operating the computer C as the control devices 10, 10A, and 10B is recorded in the memory C2. In the computer C, the processor C1 reads the program P from the memory C2 and executes it, so that the functions of the control devices 10, 10A, and 10B are realized.

Examples of the processor C1 include CPU (Central Processing Unit), GPU (Graphic Processing Unit), DSP (Digital Signal Processor), MPU (Micro Processing Unit), FPU (Floating point number Processing Unit), and PPU (Physics Processing Unit). , Microcontrollers, or combinations thereof. As the memory C2, for example, a flash memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or a combination thereof can be used.

Note that the computer C may further include a RAM (RandomAccessMemory) for expanding the program P at the time of execution and temporarily storing various data. Further, the computer C may further include a communication interface for transmitting / receiving data to / from another device. Further, the computer C may further include an input / output interface for connecting an input / output device such as a keyboard, a mouse, a display, and a printer.

Further, the program P can be recorded on a non-temporary tangible recording medium M that can be read by the computer C. As such a recording medium M, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The computer C can acquire the program P via such a recording medium M. Further, the program P can be transmitted via a transmission medium. As such a transmission medium, for example, a communication network, a broadcast wave, or the like can be used. The computer C can also acquire the program P via such a transmission medium.

[Appendix 1]
The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims. For example, an embodiment obtained by appropriately combining the technical means disclosed in the above-described embodiment is also included in the technical scope of the present invention.

[Appendix 2]
Some or all of the embodiments described above may also be described as follows. However, the present invention is not limited to the aspects described below.

(Appendix 1)
A control device that controls a work machine with moving parts.
A movement control means for controlling the work machine so as to move the movable portion to a destination area,
A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
Equipped with a control device.

With the above configuration, the movable part can be moved to the destination area more accurately. The reason is that even if the actual position of the movable part deviates from the desired area after the movement control means controls to move the movable part to the destination area, the correction control means is used for the movement destination. This is because the position of the movable portion is corrected by detecting the positional relationship between the region and the movable portion.

(Appendix 2)
The control device according to Appendix 1, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.

With the above configuration, the positional relationship between the movable part and the destination area can be detected three-dimensionally, so that the movable part can be moved to the destination area more accurately.

(Appendix 3)
The movement control means controls the work machine so as to move the movable portion to the region with reference to the detection value of the second sensor that detects the posture of the work machine.
The control device according to Appendix 2, wherein the correction control means controls the work machine so as to correct the position of the movable portion with reference to the detection value of the first sensor.

With the above configuration, even if the detection value of the second sensor used for movement control includes a measurement error, the movable part can be accurately moved to the destination region.

(Appendix 4)
The control according to any one of Supplementary note 1 to 3, wherein the correction control means corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range. Device.

With the above configuration, the position of the movable part can be brought closer to the target position.

(Appendix 5)
The control device according to any one of Supplementary note 1 to 3, wherein the correction control means corrects the position of the movable portion so that at least a predetermined portion of the movable portion is included in the region.

With the above configuration, it is possible to increase the certainty that at least a predetermined portion of the movable portion is included in the destination area.

(Appendix 6)
The control device according to any one of Supplementary note 1 to 5, wherein the movable portion includes an instrument for moving a moving object to the region.

With the above configuration, the moving object can be moved more reliably to the destination area.

(Appendix 7)
The work machine has a configuration in which the movable portion is moved by changing the posture.
The control device according to any one of Supplementary note 1 to Supplementary note 6, wherein the correction control means controls the work machine so as to change the posture in order to correct the position of the movable portion.

With the above configuration, the posture of the work machine can be controlled so as to correct the position of the movable part.

(Appendix 8)
A control system including a control device for controlling a work machine having a moving part and a sensor.
The control device
A movement control means for controlling the work machine so as to move the movable portion to a destination area,
A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
Equipped with a control system.

With the above configuration, the same effect as in Appendix 1 is achieved.

(Appendix 9)
The control system according to Appendix 8, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.

With the above configuration, the same effect as in Appendix 2 is achieved.

(Appendix 10)
The movement control means controls the work machine so as to move the movable portion to the region with reference to the detection value of the second sensor that detects the posture of the work machine.
The control system according to Appendix 9, wherein the correction control means controls the work machine so as to correct the position of the movable portion with reference to the detection value of the first sensor.

With the above configuration, the same effect as in Appendix 3 is achieved.

(Appendix 11)
The control according to any one of Supplementary note 8 to 10, wherein the correction control means corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range. system.

With the above configuration, the same effect as in Appendix 4 is achieved.

(Appendix 12)
The control system according to any one of Supplementary note 8 to 10, wherein the correction control means corrects the position of the movable portion so that at least a predetermined portion of the movable portion is included in the region.

With the above configuration, the same effect as in Appendix 5 is achieved.

(Appendix 13)
The control system according to any one of Supplementary note 8 to 12, wherein the movable portion includes an instrument for moving an object to be moved to the region.

With the above configuration, the same effect as in Appendix 6 is achieved.

(Appendix 14)
The work machine has a configuration in which the movable portion is moved by changing the posture.
The control system according to any one of Supplementary note 8 to Supplementary note 13, wherein the correction control means controls the work machine so as to change the posture in order to correct the position of the movable portion.

With the above configuration, the same effect as in Appendix 7 is achieved.

(Appendix 15)
It is a control method for controlling a work machine having a moving part.
Controlling the work machine to move the movable part to the destination area, and
Controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
Control methods, including.

With the above configuration, the same effect as in Appendix 1 is achieved.

(Appendix 16)
The control method according to Appendix 15, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.

With the above configuration, the same effect as in Appendix 2 is achieved.

(Appendix 17)
In order to control the work machine so as to move the movable part to the destination area, the detection value of the second sensor that detects the posture of the work machine is referred to.
The control method according to Appendix 16, wherein the detection value of the first sensor is referred to in order to control the work machine so as to correct the position of the movable portion.

With the above configuration, the same effect as in Appendix 3 is achieved.

(Appendix 18)
Any one of Appendix 15 to 17, which corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range with reference to the detection value of the sensor. The control method described in.

With the above configuration, the same effect as in Appendix 4 is achieved.

(Appendix 19)
The control method according to any one of Supplementary note 15 to 17, wherein the position of the movable portion is corrected so that at least a predetermined portion of the movable portion is included in the region with reference to the detection value of the sensor.

With the above configuration, the same effect as in Appendix 5 is achieved.

(Appendix 20)
The control method according to any one of Supplementary note 15 to Supplementary note 19, wherein the movable portion includes an instrument for moving a moving object to the region.

With the above configuration, the same effect as in Appendix 6 is achieved.

(Appendix 21)
The work machine has a configuration in which the movable portion is moved by changing the posture.
The control method according to any one of Supplementary note 15 to Supplementary note 20, wherein the correction control means controls the work machine so as to change the posture in order to correct the position of the movable portion.

With the above configuration, the same effect as in Appendix 7 is achieved.

(Appendix 22)
A program that causes a computer to function as a control device for controlling a work machine having moving parts.
The computer
A movement control means for controlling the work machine so as to move the movable portion to a destination area,
A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
A program that functions as.

With the above configuration, the same effect as in Appendix 1 is achieved.

(Appendix 23)
22. The program according to Appendix 22, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.

With the above configuration, the same effect as in Appendix 2 is achieved.

(Appendix 24)
The movement control means controls the work machine so as to move the movable portion to the region with reference to the detection value of the second sensor that detects the posture of the work machine.
The program according to Appendix 23, wherein the correction control means controls the work machine so as to correct the position of the movable portion with reference to the detection value of the first sensor.

With the above configuration, the same effect as in Appendix 3 is achieved.

(Appendix 25)
The program according to any one of Supplementary note 22 to 24, wherein the correction control means corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range. ..

With the above configuration, the same effect as in Appendix 4 is achieved.

(Appendix 26)
The program according to any one of Supplementary note 22 to 24, wherein the correction control means corrects the position of the movable portion so that at least a predetermined portion of the movable portion is included in the region.

With the above configuration, the same effect as in Appendix 5 is achieved.

(Appendix 27)
The program according to any one of Supplementary note 22 to 26, wherein the movable portion includes an instrument for moving an object to be moved to the region.

With the above configuration, the same effect as in Appendix 6 is achieved.

(Appendix 28)
The work machine has a configuration in which the movable portion is moved by changing the posture.
The program according to any one of Supplementary note 22 to Supplementary note 27, wherein the correction control means controls the work machine so as to change the posture in order to correct the position of the movable portion.

With the above configuration, the same effect as in Appendix 7 is achieved.

(Appendix 29)
A storage medium that stores a program that causes a computer to function as a control device for controlling a work machine having a movable part.
The program is the computer.
A movement control means for controlling the work machine so as to move the movable portion to a destination area,
A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
A storage medium that stores a program that functions as.

(Appendix 30)
The processor includes at least one processor, and the processor refers to a movement control process that controls the work machine so as to move the movable portion to a destination region, and a detection value of the sensor, and the region and the movable portion. A control device that executes a correction control process that controls the work machine so as to correct the position of the movable portion by detecting the positional relationship with the movable portion.

The control device may further include a memory, and the memory may store a program for causing the processor to execute the movement control process and the correction control process. The program may also be recorded on a computer-readable, non-temporary, tangible recording medium.

1, 1A, 1B Control system 10, 10A, 10B Control device 11, 11A Movement control unit 12, 12A, 12B Correction control unit 13A Posture estimation unit 14A Target position determination unit 110A, 110B Control unit 120A, 120B Storage unit 130A Communication unit 820 Movable part 824 Bucket 910 Loading target area (destination area)

Claims (18)

1. A control device that controls a work machine with moving parts.
   A movement control means for controlling the work machine so as to move the movable portion to a destination area,
   A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
   Equipped with a control device.
2. The control device according to claim 1, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.
3. The movement control means controls the work machine so as to move the movable portion to the region with reference to the detection value of the second sensor that detects the posture of the work machine.
   The control device according to claim 2, wherein the correction control means controls the work machine so as to correct the position of the movable portion with reference to the detection value of the first sensor.
4. The correction control means according to any one of claims 1 to 3, wherein the correction control means corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range. Control device.
5. The control device according to any one of claims 1 to 3, wherein the correction control means corrects the position of the movable portion so that at least a predetermined portion of the movable portion is included in the region.
6. The control device according to any one of claims 1 to 5, wherein the movable portion includes an instrument for moving a moving object to the region.
7. A control system including a control device for controlling a work machine having a moving part and a sensor.
   The control device
   A movement control means for controlling the work machine so as to move the movable portion to a destination area,
   A correction control means for controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
   Equipped with a control system.
8. The control system according to claim 7, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.
9. The movement control means controls the work machine so as to move the movable portion to the region with reference to the detection value of the second sensor that detects the posture of the work machine.
   The control system according to claim 8, wherein the correction control means controls the work machine so as to correct the position of the movable portion with reference to the detection value of the first sensor.
10. The correction control means according to any one of claims 7 to 9, wherein the correction control means corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range. Control system.
11. The control system according to any one of claims 7 to 9, wherein the correction control means corrects the position of the movable portion so that at least a predetermined portion of the movable portion is included in the region.
12. The control system according to any one of claims 7 to 11, wherein the movable portion includes an instrument for moving a moving object to the region.
13. It is a control method for controlling a work machine having a moving part.
    Controlling the work machine to move the movable part to the destination area, and
    Controlling the work machine to correct the position of the movable portion by detecting the positional relationship between the region and the movable portion with reference to the detection value of the sensor.
    Control methods, including.
14. The control method according to claim 13, wherein the sensor includes a first sensor that three-dimensionally detects an object in a space including the region.
15. In order to control the work machine so as to move the movable part to the destination area, the detection value of the second sensor that detects the posture of the work machine is referred to.
    The control method according to claim 14, wherein the working machine is controlled so as to correct the position of the movable portion, and the detection value of the first sensor is referred to.
16. Any one of claims 13 to 15, which corrects the position of the movable portion so that the difference between the target position and the position of the movable portion in the region is within a predetermined range with reference to the detection value of the sensor. The control method described in the section.
17. The control method according to any one of claims 13 to 15, wherein the position of the movable portion is corrected so that at least a predetermined portion of the movable portion is included in the region with reference to the detection value of the sensor.
18. The control method according to any one of claims 13 to 17, wherein the movable portion includes an instrument for moving a moving object to the region.
    

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