WO2022196641A1 - Working machine control system, and working machine control method - Google Patents
Working machine control system, and working machine control method Download PDFInfo
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- WO2022196641A1 WO2022196641A1 PCT/JP2022/011351 JP2022011351W WO2022196641A1 WO 2022196641 A1 WO2022196641 A1 WO 2022196641A1 JP 2022011351 W JP2022011351 W JP 2022011351W WO 2022196641 A1 WO2022196641 A1 WO 2022196641A1
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- working machine
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- 238000000034 method Methods 0.000 title claims description 28
- 238000001514 detection method Methods 0.000 claims description 105
- 238000005259 measurement Methods 0.000 claims description 43
- 230000000630 rising effect Effects 0.000 claims 2
- 239000000463 material Substances 0.000 description 27
- 238000010586 diagram Methods 0.000 description 16
- 238000009412 basement excavation Methods 0.000 description 13
- 239000008186 active pharmaceutical agent Substances 0.000 description 8
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- 238000013459 approach Methods 0.000 description 6
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- 230000005856 abnormality Effects 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 244000144972 livestock Species 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
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- 230000002349 favourable effect Effects 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—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
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/0841—Articulated frame, i.e. having at least one pivot point between two travelling gear units
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—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
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
Definitions
- the present disclosure relates to a work machine control system and a work machine control method.
- Patent Document 1 discloses an example of a work machine capable of measuring the position relative to a work target in a favorable manner in order to automate work by the work machine.
- the relative position between the wheel loader and the work target is measured based on the measurement data of the three-dimensional measuring device.
- three-dimensional measuring devices are susceptible to disturbances such as dust, rain, lighting, or direct sunlight.
- aspects of the present disclosure aim to detect the presence or absence of a work target with higher accuracy.
- a three-dimensional measuring device that measures a work target of a working machine, a detection device that detects the work target, and both the three-dimensional measurement device and the detection device detect the work target. and an intervention control unit that performs intervention control of the work machine.
- a work machine that performs intervention control of the work machine when the work target is detected by both a three-dimensional measuring device that measures the work target of the work machine and a detection device that detects the work target. is provided.
- the presence or absence of a work target can be detected with higher accuracy.
- FIG. 1 is a side view showing an example of a working machine according to this embodiment.
- FIG. 2 is a schematic diagram showing the operation of the work machine according to this embodiment.
- FIG. 3 is a schematic diagram showing the loading operation mode of the working machine according to this embodiment.
- FIG. 4 is a functional block diagram showing the control system of the work machine according to this embodiment.
- FIG. 5 is a diagram for explaining the operation of raising the working machine.
- FIG. 6 is a diagram for explaining the operation of loading the excavated material of the work machine to the loading destination.
- FIG. 7 is a diagram for explaining the operation of lowering the working machine.
- FIG. 8 is a diagram illustrating an example of processing based on determination results.
- FIG. 9 is a flow chart showing the control method of the work machine according to this embodiment.
- FIG. 10 is a flow chart showing a method of detecting a work target by a detection device.
- FIG. 11 is a block diagram showing an example of a computer system.
- a control system for a work machine is a system that more accurately detects the presence or absence of a work target of the work machine.
- a work machine control system is implemented by combining various parts of the work machine.
- FIG. 1 is a side view showing an example of a wheel loader 1 according to this embodiment.
- the work machine 1 performs a predetermined work on a work target at a work site.
- the working machine 1 is described as a wheel loader 1, which is a type of articulated working machine.
- Predetermined operations include excavation operations and loading operations.
- the work object includes an excavation object and a loading object into which the excavated excavated material is loaded.
- the wheel loader 1 performs an excavation work of excavating an excavation target and a loading work of loading an excavated object excavated by the excavation work onto a loading target.
- the loading work is a concept including the discharge work of discharging the excavated material to the discharge target.
- At least one of natural ground, rocky mountain, coal, and wall surface is exemplified as an excavation target.
- a natural mountain is a mountain composed of earth and sand, and a rocky mountain is a mountain composed of rocks or stones.
- At least one of a transport vehicle, a predetermined area of a work site, a hopper, a belt conveyor, and a crusher is exemplified as a loading target.
- the wheel loader 1 includes a vehicle body 2, a cab 3 provided with a driver's seat, a traveling device 4 for running the vehicle body 2, a transmission device 30, and a work machine 10 supported by the vehicle body 2.
- an angle sensor 50 for detecting the angle of the working machine 10; a three-dimensional measuring device 20 for measuring a work target in front of the vehicle body 2; a detection device 25 for detecting a work target in front of the vehicle body 2;
- a buzzer 7 provided around the table 3 , a lamp 8 provided around the cab 3 , and a control device 80 are provided.
- the car body 2 includes a car body front part 2F and a car body rear part 2R.
- the vehicle body front portion 2F and the vehicle body rear portion 2R are connected via a joint mechanism 9 so as to be bendable.
- the cab 3 is supported by the vehicle body 2. At least part of the wheel loader 1 is operated by a driver on the cab 3 .
- the traveling device 4 supports the vehicle body 2.
- the traveling device 4 can travel on the ground RS.
- the travel device 4 has wheels 5 .
- the wheels 5 are rotated by driving force generated by an engine mounted on the vehicle body 2 .
- the wheels 5 include two front wheels 5F mounted on the front part 2F of the vehicle body and two rear wheels 5R mounted on the rear part 2R of the vehicle body.
- a tire 6 is attached to the wheel 5 .
- the tire 6 includes a front tire 6F attached to the front wheel 5F and a rear tire 6R attached to the rear wheel 5R.
- the front wheels 5F and the front tires 6F are rotatable around the rotation axis FX.
- the rear wheels 5R and the rear tires 6R are rotatable around the rotation axis RX. When the vehicle body 2 runs straight, the rotation axis FX and the rotation axis RX are parallel.
- the direction parallel to the rotation axis FX of the front wheels 5F is appropriately referred to as the vehicle width direction.
- the direction perpendicular to the contact surface of the front tire 6F that contacts the ground RS is appropriately referred to as the vertical direction.
- a direction orthogonal to both the vehicle width direction and the vertical direction is appropriately referred to as the front-rear direction.
- the travel device 4 has a drive device 4A, a brake device 4B, and a steering device 4C.
- the driving device 4A generates driving force for accelerating the wheel loader 1 .
- the driving device 4A includes an internal combustion engine such as a diesel engine, for example.
- a driving force generated by the driving device 4A is transmitted to the wheels 5 via the transmission device 30, and the wheels 5 rotate.
- the braking device 4B generates braking force for decelerating or stopping the wheel loader 1 .
- the steering device 4C can adjust the running direction of the wheel loader 1 .
- the traveling direction of the wheel loader 1 includes the orientation of the vehicle body front portion 2F.
- the steering device 4C adjusts the traveling direction of the wheel loader 1 by bending the vehicle body front portion 2F with a hydraulic cylinder.
- the travel device 4 is operated by a driver riding in the cab 3 .
- a traveling operation device 40 for operating the traveling device 4 is arranged on the cab 3 .
- the driver operates the traveling operation device 40 to operate the traveling device 4 .
- the traveling operation device 40 includes an accelerator pedal, a brake pedal, a steering lever, and a shift lever 41 for switching between forward and backward travel.
- the traveling speed of the wheel loader 1 is increased by operating the accelerator pedal.
- By operating the brake pedal the traveling speed of the wheel loader 1 is reduced or stopped.
- the wheel loader 1 turns by operating the steering lever.
- By operating the shift lever 41 the forward or reverse travel of the wheel loader 1 is switched.
- the transmission device 30 transmits the driving force generated by the driving device 4A to the wheels 5.
- the work machine 10 is controlled by the control device 80 .
- the work machine 10 has a boom 11 rotatably connected to the front portion 2F of the vehicle body, and a bucket 12 rotatably connected to the boom 11 .
- the boom 11 is operated by the power generated by the boom cylinder 13. As the boom cylinder 13 expands and contracts, the boom 11 is raised or lowered.
- the boom cylinder 13 has a boom control valve (not shown) that controls the flow rate and direction of hydraulic oil supplied from a hydraulic pump (not shown).
- the bucket 12 is a working member having a tip portion 12B including cutting edges.
- the bucket 12 is arranged forward of the front wheel 5F.
- Bucket 12 is connected to the tip of boom 11 .
- Bucket 12 is connected to bucket cylinder 14 via bell crank 15 and link 16 .
- Bucket 12 is operated by power generated by bucket cylinder 14 .
- the bucket cylinder 14 has a bucket control valve (not shown) that controls the flow rate and direction of hydraulic oil supplied from the hydraulic pump. As the bucket cylinder 14 expands and contracts, the bucket 12 performs a dump operation or a tilt operation.
- the dumping operation causes the excavated material in the bucket 12 to be ejected from the bucket 12 .
- the tilting action causes the bucket 12 to skim the excavated material.
- the angle sensor 50 is mounted on the work machine 10 and detects the attitude of the work machine 10 .
- Angle sensor 50 detects the angle of work implement 10 .
- Angle sensor 50 includes a boom angle sensor 51 that detects the angle of boom 11 and a bucket angle sensor 52 that detects the angle of bucket 12 .
- the boom angle sensor 51 detects the angle of the boom 11 with respect to the reference axis of the vehicle body coordinate system defined, for example, in the front portion 2F of the vehicle body.
- Bucket angle sensor 52 detects the angle of bucket 12 with respect to boom 11 .
- the angle sensor 50 may be a potentiometer, a stroke sensor that detects the stroke of a hydraulic cylinder, an inertial measurement device, or an inclinometer.
- the angle data indicating the angle of work implement 10 is output to position data calculation section 83 and determination section 91, which will be described later.
- the three-dimensional measuring device 20 is mounted on the wheel loader 1.
- the three-dimensional measuring device 20 measures a work target in front of the front part 2F of the vehicle body.
- the work target includes a loading target on which an excavated material excavated by work machine 10 is loaded.
- the three-dimensional measuring device 20 measures relative positions from the three-dimensional measuring device 20 to each of a plurality of measurement points on the surface of the work target to measure the three-dimensional shape of the work target.
- the three-dimensional measuring device 20 includes a stereo camera 22, which is a type of photographic measuring device.
- the stereo cameras 22 are arranged on the right and left sides of the vehicle body 2 in the vehicle width direction. In the following description, the stereo camera 22 on one side will be described.
- the stereo camera 22 shoots forward.
- the stereo camera 22 captures an image of the work target and measures the work target.
- the stereo camera 22 measures at least a work target including a loading target such as a transport vehicle LS.
- the measurement data of the stereo camera 22 includes image data of the work target.
- Image data is composed of a plurality of pixels.
- Image data is an example of measurement data.
- the stereo camera 22 has a first camera 22A and a second camera 22B as a pair.
- the first camera 22A and the second camera 22B are arranged with an interval therebetween.
- the first image data acquired by the first camera 22 ⁇ /b>A and the second image data acquired by the second camera 22 ⁇ /b>B are output to the control device 80 .
- the first image data and the second image data are two-dimensional image data.
- the detection device 25 is mounted on the wheel loader 1.
- the detection device 25 is arranged at a position different from that of the three-dimensional measurement device 20 .
- the detection device 25 detects a detection target ahead of the vehicle body front portion 2F.
- the detection device 25 measures the three-dimensional shape of the detection target.
- Detection device 25 includes a non-contact sensor 26 .
- the non-contact sensor 26 is arranged on the wheel loader 1 .
- the non-contact sensor 26 detects objects around the wheel loader 1 without contact.
- the non-contact sensor 26 scans the periphery of the wheel loader 1 to detect objects.
- the non-contact sensor 26 includes a radar device that scans the surroundings of the wheel loader 1 with radio waves such as millimeter waves to detect objects.
- the detection data of the non-contact sensor 26 includes presence/absence data indicating the presence/absence of an object and position data indicating the position of the object. Detection data of the non-contact sensor 26 is output to the control device 80 .
- the buzzer 7 is arranged near the cab 3 .
- a buzzer 7 is a buzzer device that outputs an alarm sound.
- the buzzer 7 outputs the determination result of the determination section 91 .
- the buzzer 7 outputs an alarm sound when the determination unit 91 determines that either one of the transportation vehicles LS is detected.
- the lamp 8 is arranged near the cab 3 .
- the lamp 8 outputs the determination result of the determination section 91 .
- the lamp 8 blinks when the determination unit 91 determines that the transportation vehicle LS is detected on either side.
- the lamp 8 is turned on when the determination unit 91 determines that the transport vehicle LS has been detected on both sides.
- the lamp 8 is turned off when the determination unit 91 determines that neither of the transportation vehicles LS is detected.
- FIG. 2 is a schematic diagram showing the operation of the wheel loader 1 according to this embodiment.
- the wheel loader 1 works in multiple work modes.
- the work modes include an excavation work mode in which the bucket 12 of the work machine 10 excavates an excavation target, and a loading work mode in which the excavated material scooped up by the bucket 12 in the excavation work mode is loaded onto a loading target.
- the excavation target is, for example, a natural ground DS on the ground RS.
- An object to be loaded is, for example, a vessel BE of a carrier vehicle LS capable of traveling on the ground RS.
- the transport vehicle LS is, for example, a dump truck.
- the wheel loader 1 moves forward toward the ground DS with no excavated material held in the bucket 12 .
- the driver operates the travel operation device 40 to move the wheel loader 1 forward and approach the rock DS as indicated by the arrow M1 in FIG.
- the control device 80 controls the working machine 10 so that the ground DS is excavated by the bucket 12 .
- the ground DS is excavated by the bucket 12 and the excavated material is scooped up by the bucket 12 .
- the wheel loader 1 moves backward away from the natural ground DS while the excavated material is held in the bucket 12 .
- the driver operates the travel operation device 40 to move the wheel loader 1 backward and away from the natural mound DS as indicated by the arrow M2 in FIG.
- the loading operation mode is implemented.
- the wheel loader 1 advances toward the transport vehicle LS with the excavated material held in the bucket 12 .
- the driver operates the travel operation device 40 to move the wheel loader 1 forward while rotating it to approach the transport vehicle LS, as indicated by an arrow M3 in FIG.
- the three-dimensional measuring device 20 mounted on the wheel loader 1 measures the transport vehicle LS.
- the control device 80 controls the working machine 10 based on the measurement data of the three-dimensional measuring device 20 so that the excavated material held in the bucket 12 is loaded onto the vessel BE of the transport vehicle LS. That is, the control device 80 controls the work implement 10 so that the boom 11 is raised while the wheel loader 1 is moving forward to approach the transport vehicle LS.
- controller 80 controls work implement 10 so that bucket 12 is dumped. The excavated material is discharged from the dumped bucket 12 and loaded into the vessel BE.
- the wheel loader 1 moves backward away from the transport vehicle LS while the bucket 12 does not hold the excavated material.
- the driver operates the travel operation device 40 to move the wheel loader 1 backward while turning it away from the transport vehicle LS, as indicated by an arrow M4 in FIG.
- the operator and the control device 80 repeat the above operation until the vessel BE is fully loaded with excavated material or until the excavation of the natural ground DS is completed.
- FIG. 3 is a schematic diagram showing the loading operation mode of the wheel loader 1 according to this embodiment.
- the driver operates the travel operation device 40 to move the wheel loader 1 forward while rotating it to approach the transport vehicle LS.
- the three-dimensional measuring device 20 measures the three-dimensional shape of the transport vehicle LS and the relative position with respect to the transport vehicle LS.
- the control device 80 detects the distance Db between the wheel loader 1 and the transport vehicle LS and the height Hb of the upper end BEt of the vessel BE based on the measurement data of the three-dimensional measuring device 20 .
- the control device 80 controls the bucket 12 to move to the vessel based on the measurement data of the three-dimensional measuring device 20 while the wheel loader 1 is moving forward so as to approach the transport vehicle LS.
- the boom 11 is raised while controlling the angle of the bucket 12 so that the excavated material placed above the upper end BEt of the BE and held by the bucket 12 does not fall out of the bucket 12.
- the control device 80 controls the work implement 10 so that the bucket 12 is dumped. .
- the excavated material is thereby discharged from the bucket 12 and loaded into the vessel BE.
- the driver operates the traveling operation device 40 to move the wheel loader 1 backward while turning it away from the transport vehicle LS.
- FIG. 4 is a functional block diagram showing a control system 200 for the wheel loader 1 according to this embodiment.
- Controller 80 includes a computer system.
- a control device 80 controls the wheel loader 1 .
- the work machine 10 , the three-dimensional measuring device 20 , the detecting device 25 , the angle sensor 50 , the travel operating device 40 , the buzzer 7 , and the lamp 8 are connected to the control device 80 .
- the control device 80 includes a measurement data acquisition unit 81, a detection data acquisition unit 84, a storage unit 82, a position data calculation unit 83, a target calculation unit 86, a work machine control unit 87 as an intervention control unit, and a determination 91 and an output control unit 92 .
- Buzzer 7 is an example of an output unit.
- Lamp 8 is an example of an output section.
- Work implement control unit 87 is an example of an intervention control unit.
- the position data calculator 83 is an example of a position calculator.
- Control system 200 is an example of an abnormality determination system.
- Control system 200 includes work machine 10 , three-dimensional measuring device 20 , angle sensor 50 , traveling operation device 40 , buzzer 7 , lamp 8 , and control device 80 .
- the control device 80 calculates parameters related to the object to be loaded based on the measured three-dimensional shape of the object to be loaded.
- the parameters related to the object to be loaded include at least one of the distance to the object to be loaded, the position of the upper end of the object to be loaded, and the height of the object to be loaded.
- Control device 80 performs intervention control for work implement 10 based on the calculated parameters.
- the measurement data acquisition unit 81 acquires the measurement data of the three-dimensional measurement device 20.
- the measurement data acquisition unit 81 acquires first image data from the first camera 22A of the stereo camera 22 and acquires second image data from the second camera 22B.
- the image data of the work target acquired by the measurement data acquisition section 81 is output to the target calculation section 86 .
- the detection data acquisition unit 84 acquires detection data of the detection device 25 .
- the detection data acquisition unit 84 acquires detection data from the non-contact sensor 26 .
- a known method can be used to determine the presence or absence of the transport vehicle LS including the vessel BE from the detection data, and an example thereof will be described later with reference to FIG. 10 .
- the detection data acquired by the detection data acquisition section 84 is output to the determination section 91 .
- the detection data acquisition unit 84 can detect the presence or absence of the transportation vehicle LS depending on whether or not the detection point exists within a predetermined area.
- the predetermined area is a position within the scanning range of the non-contact sensor 26 where the transportation vehicle LS is presumed to exist.
- the predetermined area may be defined according to, for example, the relative positional relationship between the wheel loader 1 and the transport vehicle LS, or the distance Db between the wheel loader 1 and the transport vehicle LS.
- the storage unit 82 stores work machine data.
- the work machine data includes, for example, design data including CAD (Computer Aided Design) data of the work machine 10, or specification data.
- the work machine data includes outline data including dimension data of work machine 10 of work machine 10 .
- the work machine data includes boom length, bucket length, and bucket outer shape.
- the boom length is the distance between the boom rotation axis and the bucket rotation axis.
- the bucket length refers to the distance between the bucket rotating shaft and the tip portion 12B of the bucket 12 .
- the boom rotation axis refers to the axis of rotation of the boom 11 with respect to the front part 2F of the vehicle body, and includes a connecting pin that connects the front part 2F of the vehicle body and the boom 11 .
- the bucket rotation axis refers to the rotation axis of the bucket 12 with respect to the boom 11 and includes a connecting pin that connects the boom 11 and the bucket 12 .
- Bucket geometry includes the shape and dimensions of bucket 12 .
- the dimensions of the bucket 12 include the bucket width indicating the distance between the left end and the right end of the bucket 12, the height of the opening of the bucket 12, the length of the bottom surface of the bucket, and the like.
- the position data calculator 83 calculates position data indicating the attitude of the work implement 10 based on the detection result of the angle sensor 50 . More specifically, position data calculation unit 83 determines the position of work implement 10 based on the angle data of work implement 10 detected by angle sensor 50 and the work implement data of work implement 10 stored in storage unit 82 . Calculate location data.
- the position data of work implement 10 includes, for example, position data of each part of bucket 12 in the vehicle body coordinate system.
- the position data of work implement 10 calculated by position data calculation portion 83 is output to determination portion 91 .
- the object calculation unit 86 calculates the position of the object to be loaded by the wheel loader 1 based on the measurement result of the three-dimensional measuring device 20 . More specifically, the object calculation unit 86 calculates three-dimensional data of the work object measured by the three-dimensional measuring device 20 based on the measurement data acquired by the measurement data acquisition unit 81 .
- the work object is the transport vehicle LS including the vessel BE.
- the three-dimensional data of the work target indicates the three-dimensional shape of the transport vehicle LS.
- the three-dimensional data of the transport vehicle LS calculated by the object calculation unit 86 is output to the work machine control unit 87 and the determination unit 91 .
- the target calculation unit 86 performs stereo processing based on the image data acquired by the first camera 22A and the image data acquired by the second camera 22B, and measures the three-dimensional shape of the work target.
- the target calculation unit 86 stereo-processes the image data (the first image data and the second image data), and calculates the distances from the stereo camera 22 to a plurality of measurement points on the surface of the work target shown in each pixel.
- the target calculation unit 86 calculates, for example, three-dimensional data in the vehicle body coordinate system based on the distance to each measurement point.
- the target calculation unit 86 calculates parameters related to the transport vehicle LS based on the three-dimensional data of the transport vehicle LS.
- the parameters relating to the transport vehicle LS include the position (height) Hb of the upper end BEt of the transport vehicle LS (vessel BE) relative to the ground RS and the distance Db from the wheel loader 1 to the transport vehicle LS.
- the distance Db from the wheel loader 1 to the transport vehicle LS is, for example, the distance between the tip 12B of the bucket 12 and the closest point indicating the portion of the transport vehicle LS closest to the tip 12B of the bucket 12 in the horizontal direction.
- the work machine control unit 87 Based on the three-dimensional data of the work target calculated by the target calculation unit 86, the work machine control unit 87 performs intervention control to control the operation of the work machine 10 that loads the excavated material onto the work target.
- the work machine control unit 87 controls the operation of the work machine 10 that loads the excavated material into the vessel BE based on the calculated three-dimensional data of the transport vehicle LS.
- the work machine control unit 87 loads excavated materials into the vessel BE based on height data indicating the height Hb of the upper end BEt of the vessel BE and distance data indicating the distance Db from the wheel loader 1 to the transport vehicle LS. control the operation of machine 10;
- Control of the operation of the work machine 10 by the work machine control unit 87 includes control of the operation of at least one of the boom cylinder 13 and the bucket cylinder 14 . More specifically, the work machine control unit 87 outputs a control signal to the boom control valve and controls the flow rate and direction of hydraulic oil supplied to the boom cylinder 13 to control the raising and lowering operation of the boom 11 . The work machine control unit 87 outputs a control signal to the bucket control valve to control the flow rate and direction of hydraulic oil supplied to the bucket cylinder 14 , thereby controlling the raising and lowering operation of the bucket 12 .
- the intervention control includes control for raising the bucket 12 of the work machine 10 with respect to the loading target.
- the intervention control includes control to raise the bucket 12 of the work machine 10 with respect to the loading target, control to load the excavated material in the bucket 12 of the work machine 10 to the loading destination, and control to lower the bucket 12 of the work machine 10. may contain.
- FIG. 5 to 7 indicates a predetermined range of angles of the work implement 10.
- the measurement range of the three-dimensional measuring device 20 in other words, the imaging range of the stereo camera 22 (viewing area of the optical system of the stereo camera 22) is indicated by A2.
- A2 of the three-dimensional measuring device 20 not only the transport vehicle LS but also objects around the transport vehicle LS, such as the work machine 10 and the ground RS, exist as work targets.
- A3 indicates the detection range of the detection device 25, in other words, the scanning range of the non-contact sensor 26 (scanning area of the non-contact sensor 26).
- the non-contact sensor 26 which is the detection range of the detection device 25, not only the transport vehicle LS but also the working machine 10, for example, exist as work targets.
- the non-contact sensor 26 is installed at a position different from that of the three-dimensional measuring device 20 .
- the non-contact sensor 26 is installed on the front axle.
- FIG. 5 is a diagram explaining the operation of raising the bucket 12.
- the bucket 12 of the working machine 10 is raised to the vessel BE of the transport vehicle LS.
- the vessel BE must exist near the bucket 12 .
- FIG. 6 is a diagram for explaining the operation of loading the excavated material of the bucket 12 to the loading destination.
- excavated material in bucket 12 of work machine 10 is loaded into vessel BE of transport vehicle LS.
- a vessel BE must be present in the vicinity of the bucket 12 when loading excavated material in the bucket 12 .
- FIG. 7 is a diagram explaining the operation of lowering the bucket 12.
- the bucket 12 of the work implement 10 is lowered from the height Hb of the vessel BE of the transport vehicle LS.
- the vessel BE must exist near the bucket 12 .
- the work machine control unit 87 performs intervention control of the work machine 10 when both the three-dimensional measuring device 20 and the detection device 25 detect the transport vehicle LS. In the present embodiment, the work machine control unit 87 performs intervention control of the work machine 10 when the transport vehicle LS is detected by both the stereo camera 22 and the non-contact sensor 26 . The work machine control unit 87 performs intervention control based on the position of the object to be loaded calculated by the object calculation unit 86 . When neither the three-dimensional measuring device 20 nor the detection device 25 detects the object to be loaded, the working machine control unit 87 stops the lifting of the working machine 10 . In the present embodiment, the work machine control unit 87 stops the lifting of the work machine 10 when neither the stereo camera 22 nor the non-contact sensor 26 detects the object to be loaded.
- the working machine control unit 87 stops at least one of lifting, loading, and lowering of the working machine 10. good.
- the work implement control unit 87 controls at least one of lifting the work implement 10, loading the work implement 10, and lowering the work implement 10. You can stop it.
- the wheel loader 1 has a transmission control section 88 and a traveling control section 89.
- a transmission control unit 88 outputs a control signal for controlling the transmission device 30 .
- the travel control unit 89 controls the operation of the travel device 4 based on the operation of the travel operation device 40 by the driver.
- the traveling control unit 89 outputs a driving command for operating the traveling device 4 .
- the travel control unit 89 outputs an accelerator command for operating the driving device 4A.
- the travel control unit 89 outputs a brake command for operating the brake device 4B.
- the travel control unit 89 outputs a steering command for operating the steering device 4C.
- the determination unit 91 determines whether or not the transport vehicle LS is detected by both the three-dimensional measuring device 20 and the detection device 25 . In this embodiment, the determination unit 91 determines whether or not the transport vehicle LS is detected by both the stereo camera 22 and the non-contact sensor 26 . More specifically, the determination unit 91 determines whether or not the target calculation unit 86 has calculated the three-dimensional data of the transport vehicle LS based on the measurement data and detected the transport vehicle LS based on the detection data. .
- FIG. 8 is a diagram illustrating an example of processing based on determination results. Intervention control is activated when both the stereo camera 22 and the non-contact sensor 26 detect the transportation vehicle LS, in other words, when both the three-dimensional measuring device 20 and the detection device 25 detect the transportation vehicle LS. In this case, a message indicating that the detection was successful is displayed. As an indication of successful detection, for example, the lamp 8 may be turned on.
- intervention control is not activated.
- the fact that the detection is abnormal is displayed.
- the lamp 8 may be blinked.
- intervention control is not activated. In this case, it displays that it is not detected. For example, the lamp 8 may be extinguished as an indication that no detection has been made.
- the determination unit 91 may perform determination when the boom angle of the work implement 10 is equal to or greater than the angle threshold ⁇ . For example, the determination may be made when the work implement 10 is greater than or equal to the angle threshold ⁇ such that the work implement 10 is out of the scanning range of the non-contact sensor 26 . Alternatively, the determination may be made when the angle is equal to or greater than the angle threshold ⁇ , which is larger than the predetermined range A1.
- the determination unit 91 performs determination when the boom angle of the work implement 10 is equal to or greater than the angle threshold value ⁇ .
- the output control unit 92 controls to output the determination result of the determination unit 91 .
- the output control unit 92 controls the buzzer 7 to output an alarm sound when the determination unit 91 determines that one of them has been detected.
- the output control unit 92 controls the lamp 8 to blink when the determination unit 91 determines that one of them has been detected.
- the output control unit 92 controls the lamp 8 to turn on when the determination unit 91 determines that both have been detected.
- FIG. 9 is a flow chart showing a control method for the wheel loader 1 according to this embodiment.
- a loading operation will be described.
- the driver activates the transportation vehicle detection mode via an operation unit (not shown).
- the stereo camera 22 as the three-dimensional measurement device 20 and the non-contact sensor 26 as the detection device 25 detect the work target.
- the transport vehicle LS is measured with the stereo camera 22 (step S11). More specifically, the stereo camera 22 measures forward. Measurement data of the stereo camera 22 is output to the control device 80 .
- the control device 80 acquires the image data captured by the stereo camera 22 by the measurement data acquisition section 81 .
- the image data of the work target acquired by the measurement data acquisition section 81 is output to the target calculation section 86 .
- the control device 80 calculates the position of the object to be loaded by the wheel loader 1 based on the measurement result of the stereo camera 220 by the object calculation unit 86 .
- the controller 80 proceeds to step S12.
- the transport vehicle LS is detected by the non-contact sensor 26 (step S12). More specifically, the non-contact sensor 26 scans the front with radio waves. Detection data of the non-contact sensor 26 is output to the control device 80 . The control device 80 acquires the detection data detected by the non-contact sensor 26 by means of the detection data acquisition section 84 . The detection data of the detection target acquired by the detection data acquisition unit 84 is output to the determination unit 91 . The controller 80 proceeds to step S13.
- the control device 80 uses the determination unit 91 to determine whether or not the stereo camera 22 has detected the transport vehicle LS (step S13). When the determination unit 91 determines that the stereo camera 22 has detected the transport vehicle LS (Yes in step S13), the controller 80 proceeds to step S14. When the determination unit 91 does not determine that the stereo camera 22 has detected the transportation vehicle LS (No in step S13), the control device 80 proceeds to step S16.
- the control device 80 uses the determination unit 91 to determine whether or not the non-contact sensor 26 has detected the transport vehicle LS (step S14). When the determination unit 91 determines that the non-contact sensor 26 has detected the transport vehicle LS (Yes in step S14), the control device 80 proceeds to step S15. When the determination unit 91 does not determine that the non-contact sensor 26 has detected the transport vehicle LS (No in step S14), the control device 80 proceeds to step S16.
- the control device 80 activates intervention control (step S15).
- the control device 80 controls the work implement 10 by the work implement control portion 87 based on the height Hb of the vessel BE and the distance Db to the transport vehicle LS calculated by the target calculation portion 86 .
- the control device 80 ends the process.
- the work implement control unit 87 determines the distance to the transport vehicle LS calculated by the target calculation unit 86 while the wheel loader 1 is moving forward so as to approach the transport vehicle LS. Based on the distance Db and the height Hb of the upper end BEt of the vessel BE, the bucket 12 is arranged above the upper end BEt of the vessel BE, and the excavated material held in the bucket 12 does not spill out of the bucket 12. , the boom 11 is raised while controlling the angle of the bucket 12 . The work implement control unit 87 arranges the bucket 12 above the vessel BE. Work implement control unit 87 then controls work implement 10 such that bucket 12 performs a dump operation. In this manner, the excavated material is discharged from the bucket 12 and loaded into the vessel BE.
- step S15 the control device 80 may cause the output control section 92 to turn on the lamp 8 .
- the control device 80 deactivates the intervention control (step S16).
- Control device 80 stops control of work implement 10 by work implement control portion 87 .
- the control device 80 may cause the output control section 92 to output sound from the buzzer 7 .
- the control device 80 may blink the lamp 8 by the output control section 92 .
- the control device 80 ends the process.
- FIG. 10 is a flowchart showing a method of detecting a work target by the non-contact sensor 26, which is the detection device 25.
- FIG. The process of FIG. 10 is executed when the process of step S12 of FIG. 9 is executed.
- the counts of time with detection and time without detection are cleared.
- the angle sensor 50 detects the angle of the work implement 10 .
- the angle of work implement 10 includes the angle of boom 11 detected by boom angle sensor 51 and the angle of bucket 12 detected by bucket angle sensor 52 .
- Angle data indicating the angle of work implement 10 is output to position data calculation unit 83 .
- the control device 80 determines whether or not the boom angle is greater than or equal to the angle threshold ⁇ (step S21).
- Control device 80 calculates position data of work implement 10 by position data calculation portion 83 based on the angle data of work implement 10 and the work implement data of work implement 10 stored in storage portion 82 .
- the process proceeds to step S22.
- the control device 80 does not determine that the boom angle is equal to or greater than the angle threshold ⁇ (No in step S21)
- the process of step S21 is executed again.
- the control device 80 determines whether or not there is a detection point within the area (step S22). When the detection data acquiring unit 84 determines that there is a detection point within the scanning area A3 of the non-contact sensor 26 (Yes in step S22), the control device 80 proceeds to step S23. If the detection data acquiring unit 84 does not determine that there is a detection point within the scanning area A3 of the non-contact sensor 26 (No in step S22), the control device 80 proceeds to step S26.
- the control device 80 updates the time with detection by the detection data acquisition unit 84 (step S23).
- the controller 80 proceeds to step S24.
- the control device 80 determines whether or not the existence of the detection point continues for a predetermined period of time or longer (step S24).
- the predetermined time is arbitrary time. If the detection data acquiring unit 84 determines that the presence of the detection point continues for a predetermined period of time or more (Yes in step S24), the control device 80 proceeds to step S25. If the detection data acquiring unit 84 does not determine that the presence of the detection point continues for a predetermined time or longer (No in step S24), the control device 80 executes the process of step S21 again.
- the control device 80 determines presence of detection by the detection data acquisition unit 84 (step S25). The control device 80 determines that the transport vehicle LS has been detected by the detection data acquisition unit 84 . The control device 80 ends the process.
- control device 80 causes the detection data acquisition section 84 to update the no-detection time (step S26).
- the controller 80 proceeds to step S27.
- the control device 80 determines whether or not the absence of detection points continues for a predetermined time or longer (step S27). If the detection data acquisition unit 84 determines that the absence of detection points continues for a predetermined period of time or more (Yes in step S27), the control device 80 proceeds to step S28. If the detection data acquiring unit 84 does not determine that no detection points have continued for a predetermined time or longer (No in step S27), the control device 80 executes the process of step S21 again.
- the control device 80 determines no detection by the detection data acquisition unit 84 (step S28). The control device 80 determines that the transport vehicle LS is not detected by the detection data acquisition unit 84 . The control device 80 ends the process.
- FIG. 11 is a block diagram of an example computer system 1000 .
- the control device 80 described above is configured by a computer system 1000 .
- a computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), It has a storage 1003 and an interface 1004 including an input/output circuit.
- the functions of the control device 80 described above are stored in the storage 1003 as programs.
- the processor 1001 reads the program from the storage 1003, develops it in the main memory 1002, and executes the above-described processing according to the program. Note that the program may be distributed to computer system 1000 via a network.
- intervention control of the wheel loader 1 is performed when both the three-dimensional measurement device 20 and the detection device 25 detect the transport vehicle LS. According to this embodiment, when performing intervention control of the wheel loader 1, the presence or absence of the transport vehicle LS can be determined with higher accuracy.
- intervention control is stopped when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS and the other does not detect the transport vehicle LS. According to this embodiment, intervention control can be stopped when there is a possibility that the transport vehicle LS does not exist.
- an alarm is output.
- an alarm can be output to notify the driver.
- intervention control is performed based on the calculated position of the object to be loaded. According to this embodiment, intervention control can be performed with high accuracy.
- intervention control is performed when the boom angle of the wheel loader 1 is equal to or greater than the angle threshold ⁇ and the transport vehicle LS is detected by both the three-dimensional measurement device 20 and the detection device 25 .
- detection can be performed when the transport vehicle LS can be detected by the detection device 25 .
- This embodiment can stop the lifting of the bucket 12 when one of the three-dimensional measuring device 20 and the detection device 25 detects the transport vehicle LS and the other does not detect the transport vehicle LS.
- the detection device 25 is installed at a position different from that of the three-dimensional measurement device 20 . According to this embodiment, the presence or absence of the transport vehicle LS can be determined with higher accuracy.
- the three-dimensional measuring device 20 is not limited to the stereo camera 22, and may be laser scanning, for example.
- the detection device 25 is not limited to a radar device that scans with millimeter waves.
- the non-contact sensor 26 may include a laser scanner device that scans the periphery of the wheel loader 1 with laser light to detect objects.
- the non-contact sensor 26 may include an ultrasonic sensor device that scans the periphery of the wheel loader 1 with ultrasonic waves to detect objects.
- intervention control is stopped when one of the three-dimensional measurement device 20 and the detection device 25 detects the transportation vehicle LS and the other does not detect the transportation vehicle LS, it is not limited to this.
- the operation may be continued while an alarm is output.
- the work site where the wheel loader 1 performs work may be a mining site, a construction site, or a construction site.
- the wheel loader 1 may be used for snow removal work, may be used for work in the agriculture and livestock industry, and may be used for work in the forestry industry.
- the bucket 12 may have a plurality of blades or straight cutting edges.
- the working member connected to the tip of the boom 11 may not be the bucket 12, but may be a snow plow or snow bucket used for snow removal work, or a bale grab or fork used in agricultural and livestock industry work. Alternatively, it may be a fork or bucket used in forestry operations.
- the determination result may be displayed on a monitor (not shown) set on the wheel loader 1.
- the buzzer 7, the lamp 8, and the monitor need not be provided in the wheel loader 1, and one or more of them may be provided. Also, the buzzer 7, the lamp 8, and the monitor may be provided outside the wheel loader 1. FIG.
- control system 200 a part of the components constituting the control system 200 may be mounted inside the working machine 1 and the other components may be provided outside the working machine 1 .
- control system 200 according to the above-described embodiment has been described as including the working machine 10, the three-dimensional measuring device 20, the angle sensor 50, the traveling operation device 40, the buzzer 7, the lamp 8, and the control device 80, It is not limited to this, and some configurations may not be included. As an example, the control system 200 may not include the buzzer 7 and lamp 8 .
- the control device 80 may be configured by a single computer, or the configuration of the control device 80 may be divided into a plurality of computers, and the plurality of computers may cooperate with each other. may function as the control device 80.
- the work machine 1 is not limited to a wheel loader, and the control device 80 and control method described in the above embodiment can be applied to work machines having work machines such as hydraulic excavators or bulldozers.
- SYMBOLS 1 Wheel loader (working machine), 2... Vehicle body, 2F... Front part of vehicle body, 2R... Rear part of vehicle body, 3... Driver's cab, 4... Traveling device, 4A... Driving device, 4B... Brake device, 4C...
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Abstract
Description
[ホイールローダ]
図1は、本実施形態に係るホイールローダ1の一例を示す側面図である。作業機械1は、作業現場において作業対象に対して所定の作業を実施する。本実施形態においては、作業機械1がアーティキュレート式の作業機械の一種であるホイールローダ1であるとして説明する。所定の作業は、掘削作業及び積込作業を含む。作業対象は、掘削対象、及び、掘削された掘削物が積み込まれる積込対象を含む。ホイールローダ1は、掘削対象を掘削する掘削作業、及び掘削作業により掘削した掘削物を積込対象に積み込む積込作業を実施する。積込作業は、掘削物を排出対象に排出する排出作業を含む概念である。掘削対象として、地山、岩山、石炭、及び壁面の少なくとも一つが例示される。地山は、土砂により構成される山であり、岩山は、岩又は石により構成される山である。積込対象として、運搬車両、作業現場の所定エリア、ホッパ、ベルトコンベヤ、及びクラッシャの少なくとも一つが例示される。 (embodiment)
[Wheel loader]
FIG. 1 is a side view showing an example of a
図2は、本実施形態に係るホイールローダ1の動作を示す模式図である。ホイールローダ1は、複数の作業モードで作業する。作業モードは、作業機10のバケット12で掘削対象を掘削する掘削作業モードと、掘削作業モードによりバケット12ですくい取った掘削物を積込対象に積み込む積込作業モードとを含む。掘削対象は、例えば地面RS上の地山DSである。積込対象は、例えば地面RSを走行可能な運搬車両LSのベッセルBEである。運搬車両LSは、例えばダンプトラックである。 [motion]
FIG. 2 is a schematic diagram showing the operation of the
図4は、本実施形態に係るホイールローダ1の制御システム200を示す機能ブロック図である。制御装置80は、コンピュータシステムを含む。制御装置80は、ホイールローダ1を制御する。制御装置80に、作業機10、三次元計測装置20、検出装置25、角度センサ50、走行操作装置40、ブザー)7、及びランプ8が接続される。制御装置80は、計測データ取得部81と、検出データ取得部84と、記憶部82と、位置データ算出部83と、対象算出部86と、介入制御部としての作業機制御部87と、判定部91と、出力制御部92とを有する。ブザー7は、出力部の一例である。ランプ8は、出力部の一例である。作業機制御部87は、介入制御部の一例である。位置データ算出部83は、位置算出部の一例である。 [Control device]
FIG. 4 is a functional block diagram showing a
図9は、本実施形態に係るホイールローダ1の制御方法を示すフローチャートである。一例として、積込作業について説明する。積込作業時に、運転者によって、図示しない操作部を介して運搬車両検出モードが起動される。積込作業モードにおいて、三次元計測装置20であるステレオカメラ22及び検出装置25である非接触センサ26は、作業対象を検出する。 [Control method]
FIG. 9 is a flow chart showing a control method for the
図11は、コンピュータシステム1000の一例を示すブロック図である。上述の制御装置80は、コンピュータシステム1000によって構成される。コンピュータシステム1000は、CPU(Central Processing Unit)のようなプロセッサ1001と、ROM(Read Only Memory)のような不揮発性メモリ及びRAM(Random Access Memory)のような揮発性メモリを含むメインメモリ1002と、ストレージ1003と、入出力回路を含むインターフェース1004とを有する。上述の制御装置80の機能は、プログラムとしてストレージ1003に記憶されている。プロセッサ1001は、プログラムをストレージ1003から読み出してメインメモリ1002に展開し、プログラムに従って上述の処理を実行する。なお、プログラムは、ネットワークを介してコンピュータシステム1000に配信されてもよい。 [Computer system]
FIG. 11 is a block diagram of an
以上説明したように、本実施形態によれば、三次元計測装置20及び検出装置25の両方で運搬車両LSを検出したとき、ホイールローダ1の介入制御を行う。本実施形態によれば、ホイールローダ1の介入制御を行う際に、運搬車両LSの有無をより高精度に判定することができる。 [effect]
As described above, according to the present embodiment, intervention control of the
上述の各実施形態において、三次元計測装置20は、ステレオカメラ22に限定されるものではなく、例えばレーザスキャンでもよい。 [Other embodiments]
In each of the above-described embodiments, the three-
Claims (16)
- 作業機械の作業対象を計測する三次元計測装置と、
前記作業対象を検出する検出装置と、
前記三次元計測装置及び前記検出装置の両方で前記作業対象を検出したとき、作業機械の介入制御を行う介入制御部、
を備える作業機械の制御システム。 a three-dimensional measuring device for measuring a work target of the working machine;
a detection device that detects the work target;
an intervention control unit that performs intervention control of the work machine when the work target is detected by both the three-dimensional measuring device and the detection device;
A work machine control system comprising: - 前記介入制御部は、前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、介入制御を停止する、
請求項1に記載の作業機械の制御システム。 The intervention control unit stops intervention control when one of the three-dimensional measuring device and the detection device detects the work target and the other does not detect the work target.
The work machine control system according to claim 1 . - 前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、警報を出力する出力部、
を備える、請求項1又は2に記載の作業機械の制御システム。 an output unit that outputs an alarm when one of the three-dimensional measuring device and the detecting device detects the work target and the other does not detect the work target;
The work machine control system according to claim 1 or 2, comprising: - 前記三次元計測装置の計測結果に基づいて、前記作業機械の積み込み対象の位置を算出する対象算出部、
を備え、
前記介入制御部は、前記対象算出部が算出した前記積み込み対象の位置に基づいて、介入制御を行う、
請求項1から請求項3のいずれか一項に記載の作業機械の制御システム。 an object calculation unit that calculates a position of an object to be loaded on the working machine based on the measurement result of the three-dimensional measuring device;
with
The intervention control unit performs intervention control based on the position of the loading target calculated by the target calculation unit.
A control system for a working machine according to any one of claims 1 to 3. - 前記介入制御部は、前記作業機械の作業機の角度が角度閾値以上であり、前記三次元計測装置及び前記検出装置の両方で前記作業対象を検出したとき、介入制御を行う、
請求項1から請求項4のいずれか一項に記載の作業機械の制御システム。 The intervention control unit performs intervention control when an angle of the work machine of the work machine is equal to or greater than an angle threshold and the work target is detected by both the three-dimensional measurement device and the detection device.
The work machine control system according to any one of claims 1 to 4. - 前記介入制御は、前記作業機械の積み込み対象に対して、前記作業機械の作業機を上昇させる制御を含み、
前記介入制御部は、前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、前記作業機の上昇を停止させる、
請求項1から請求項5のいずれか一項に記載の作業機械の制御システム。 The intervention control includes control for raising the working machine of the working machine with respect to the loading target of the working machine,
When one of the three-dimensional measurement device and the detection device detects the work target and the other does not detect the work target, the intervention control unit stops the work machine from rising.
A control system for a working machine according to any one of claims 1 to 5. - 前記介入制御は、前記作業機械の積み込み対象に対して、前記作業機械の作業機を上昇させる制御、前記作業機の掘削物を前記積み込み対象に積み込みする制御、及び前記作業機を下降させる制御を含み、
前記介入制御部は、前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、前記作業機の上昇、前記積み込み、及び前記作業機の下降の少なくもいずれかを停止させる、
請求項1から請求項5のいずれか一項に記載の作業機械の制御システム。 The intervention control includes control to raise the working machine of the working machine, control to load the excavated object of the working machine to the loading target, and control to lower the working machine with respect to the loading target of the working machine. including
When one of the three-dimensional measuring device and the detection device detects the work target and the other does not detect the work target, the intervention control unit controls the lifting, loading, and lowering of the work machine. stop at least one of
A control system for a working machine according to any one of claims 1 to 5. - 前記検出装置は、前記三次元計測装置と異なる位置に設置される、
請求項1から請求項7のいずれか一項に記載の作業機械の制御システム。 The detection device is installed at a position different from the three-dimensional measurement device,
A control system for a working machine according to any one of claims 1 to 7. - 前記作業機械は、ホイールローダであって、
前記検出装置は、フロントアクスル上に設置され、
前記介入制御部は、作業機の角度が角度閾値以上の場合において、前記三次元計測装置及び前記検出装置の両方で前記作業対象を検出したとき、介入制御を行う、
請求項1から請求項8のいずれか一項に記載の作業機械の制御システム。 The working machine is a wheel loader,
The detection device is mounted on the front axle,
The intervention control unit performs intervention control when the work target is detected by both the three-dimensional measurement device and the detection device when the angle of the working machine is equal to or greater than the angle threshold.
The work machine control system according to any one of claims 1 to 8. - 作業機械の作業対象を計測する三次元計測装置及び前記作業対象を検出する検出装置の両方で前記作業対象を検出したとき、作業機械の介入制御を行う、
作業機械の制御方法。 performing intervention control of the work machine when the work target is detected by both a three-dimensional measuring device that measures the work target of the work machine and a detection device that detects the work target;
Work machine control method. - 前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、介入制御を停止する
請求項10に記載の作業機械の制御方法。 11. The method of controlling a working machine according to claim 10, wherein intervention control is stopped when one of said three-dimensional measuring device and said detecting device detects said work target and the other does not detect said work target. - 前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、警報を出力する
請求項10又は11に記載の作業機械の制御方法。 12. The method of controlling a working machine according to claim 10, wherein an alarm is output when one of said three-dimensional measuring device and said detecting device detects said work target and the other does not detect said work target. - 前記三次元計測装置の計測結果に基づいて、前記作業機械の積み込み対象の位置を算出し、
算出した前記積み込み対象の位置に基づいて、介入制御を行う、
請求項10から請求項12のいずれか一項に記載の作業機械の制御方法。 calculating the position of the object to be loaded on the working machine based on the measurement result of the three-dimensional measuring device;
performing intervention control based on the calculated position of the object to be loaded;
A control method for a work machine according to any one of claims 10 to 12. - 前記作業機械の作業機の角度が角度閾値以上であり、前記三次元計測装置及び前記検出装置の両方で前記作業対象を検出したとき、介入制御を行う、
請求項10から請求項13のいずれか一項に記載の作業機械の制御方法。 Intervention control is performed when the angle of the work machine of the work machine is equal to or greater than the angle threshold and the work target is detected by both the three-dimensional measurement device and the detection device.
A control method for a working machine according to any one of claims 10 to 13. - 前記介入制御は、前記作業機械の積み込み対象に対して、前記作業機械の作業機を上昇させる制御を含み、
前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、前記作業機の上昇を停止させる、
請求項10から請求項14のいずれか一項に記載の作業機械の制御方法。 The intervention control includes control for raising the working machine of the working machine with respect to the loading target of the working machine,
When one of the three-dimensional measuring device and the detection device detects the work target and the other does not detect the work target, stopping the work machine from rising;
The method for controlling a work machine according to any one of claims 10 to 14. - 前記介入制御は、前記作業機械の積み込み対象に対して、前記作業機械の作業機を上昇させる制御、前記作業機の掘削物を前記積み込み対象に積み込みする制御、及び前記作業機を下降させる制御を含み、
前記三次元計測装置及び前記検出装置の一方が前記作業対象を検出し、他方が前記作業対象を検出しないとき、前記作業機の上昇、前記積み込み、及び前記作業機の下降の少なくもいずれかを停止させる、
請求項10から請求項15のいずれか一項に記載の作業機械の制御方法。 The intervention control includes control to raise the working machine of the working machine, control to load the excavated object of the working machine to the loading target, and control to lower the working machine with respect to the loading target of the working machine. including
When one of the three-dimensional measuring device and the detection device detects the work target and the other does not detect the work target, at least one of lifting, loading, and lowering of the work machine is performed. to stop
The method for controlling a working machine according to any one of claims 10 to 15.
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