WO2022230880A1 - Control method, control system, and control device - Google Patents

Abstract

In order to cause a work machine to operate more safely, a control method (S1) includes: an acquisition step (S11) for acquiring location information for a first work machine, and first work information that indicates the work content of a work machine; a range specifying step (S12) for specifying, in accordance with the work content indicated by the first work information, a first range that includes the range in which the first work machine will operate and the perimeter of said range; and an action control step (S13) for referencing the first range and the location information for the first work machine and controlling an action of the first work machine.

Description

Control method, control system, and control device

The present invention relates to technology for controlling work machines.

Technology for controlling work machines is known. For example, Patent Literature 1 describes a technique for setting a restricted swing area based on the loading position and excavating position of a hydraulic excavator. In order to avoid contact with the transport vehicle of the loading destination, the technology controls to limit the turning of the hydraulic excavator when the bucket is positioned in the turning restricted area.

Also, for example, Patent Document 2 describes a technique for detecting the position of a worker using a magnetic field generator fixed to a hydraulic excavator and a wireless tag carried by the worker. This technique determines an approach notification area corresponding to a range in which a magnetic field is generated according to the working state of the hydraulic excavator, and issues an approach notification when the determined approach notification area includes the worker's position.

Japanese Patent Application Laid-Open No. 2020-169515 Japanese Patent Application Laid-Open No. 2019-060108

However, the techniques described in Patent Documents 1 and 2 still have room for improvement in terms of safer operation of work machines.

For example, in the technology described in Patent Document 1, the restricted turning area is determined based on the loading position and excavation position regardless of the actual work content. Therefore, this technology may not be able to sufficiently avoid contact with obstacles depending on the actual work content of the hydraulic excavator.

Also, in the technology described in Patent Document 2, the range in which the magnetic field is generated does not necessarily correspond to the area where the actual approach notification should be made, and the approach notification area may not be set accurately. For this reason, this technology may not be able to sufficiently avoid contact between the work machine and the obstacle.

One aspect of the present invention has been made in view of the above problems, and an example of its purpose is to provide a technique for operating work machines more safely.

A control method according to an aspect of the present invention includes an acquisition step of acquiring first work information indicating work content of a first work machine and position information of the first work machine, and work content indicated by the first work information. a range specifying step of specifying a first range including the range in which the first work machine operates and the perimeter of the range, and referring to the first range and the position information of the first work machine according to and an operation control step of controlling the operation of the first work machine.

A control system according to an aspect of the present invention includes: first work information indicating work content of a first work machine; acquisition means for acquiring position information of the first work machine; and work content indicated by the first work information. with reference to range specifying means for specifying a first range including the range in which the first work machine operates and the periphery of the range, and the first range and the position information of the first work machine according to and motion control means for controlling the motion of the first working machine.

A control device according to an aspect of the present invention includes: first work information indicating work content of a first work machine; acquisition means for acquiring position information of the first work machine; and work content indicated by the first work information. with reference to range specifying means for specifying a first range including the range in which the first work machine operates and the periphery of the range, and the first range and the position information of the first work machine according to and motion control means for controlling the motion of the first working machine.

According to one aspect of the present invention, working machines can be operated more safely.

1 is a block diagram showing the configuration of a control system according to exemplary embodiment 1 of the present invention; FIG. 1 is a block diagram showing the configuration of a control device according to exemplary embodiment 1 of the present invention; FIG. FIG. 4 is a flow chart showing the flow of a control method according to exemplary embodiment 1 of the present invention; FIG. 3 is a block diagram showing the configuration of a control system according to exemplary embodiment 2 of the present invention; FIG. 7 is a flow diagram showing the flow of a control method according to exemplary embodiment 2 of the present invention; FIG. 10 is a flow diagram showing a detailed flow of processing for acquiring work information in exemplary embodiment 2 of the present invention; FIG. 10 is a flow diagram showing a detailed flow of processing for identifying a contact range in exemplary embodiment 2 of the present invention; FIG. 10 is a schematic diagram showing a specific example of processing for determining a working radius in exemplary embodiment 2 of the present invention; It is the figure which looked at the backhoe shown in FIG. 8 from Z-axis positive direction. FIG. 10 is a schematic diagram showing a specific example of a contact range in exemplary embodiment 2 of the present invention; FIG. 10 is a schematic diagram showing another specific example of the contact area in the exemplary embodiment 2 of the present invention; FIG. 10 is a diagram schematically showing a specific example of the contact range of two backhoes in exemplary embodiment 2 of the present invention; FIG. 11 is a flow chart showing the flow of processing for specifying a contact range in Modification 1 of Exemplary Embodiment 2 of the present invention; FIG. 10 is a schematic diagram illustrating a specific example of determination processing in modification 1 of exemplary embodiment 2 of the present invention; FIG. 10 is a schematic diagram showing a specific example of a contact range in modification 1 of exemplary embodiment 2 of the present invention; FIG. 11 is a schematic diagram showing another specific example of the contact range in modification 1 of exemplary embodiment 2 of the present invention; FIG. 10 is a diagram schematically showing a specific example of contact ranges of two backhoes in Modification 1 of Illustrative Embodiment 2 of the present invention; FIG. 10 is a flow diagram illustrating the flow of a control method according to Modification 2 of Illustrative Embodiment 2 of the present invention; FIG. 10 is a schematic diagram illustrating an overview of exemplary embodiment 3 of the present invention; FIG. 10 is a block diagram showing the configuration of a control system according to exemplary embodiment 3 of the present invention; FIG. 11 is a flow diagram showing the flow of a control method according to exemplary embodiment 3 of the present invention; FIG. 11 is a block diagram showing the configuration of a control system according to exemplary embodiment 4 of the present invention; FIG. 12 is a flow diagram showing the flow of a control method according to exemplary embodiment 4 of the present invention; FIG. 11 is a block diagram showing the configuration of a control system according to exemplary embodiment 5 of the present invention; FIG. 11 is a flow diagram showing the flow of a control method according to exemplary embodiment 5 of the present invention; It is a block diagram which shows an example of the hardware constitutions of the control apparatus in each exemplary embodiment of this invention.

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

<Configuration of control system 1>
The configuration of a control system 1 according to this exemplary embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the control system 1. As shown in FIG.

As shown in FIG. 1, the control system 1 includes an acquisition unit 11, a range identification unit 12, an operation control unit 13, and a work machine 90. Lines connecting functional blocks in FIG. 1 indicate an example of the logical connection relationship between the functional blocks, and do not limit the connection relationship between them. The work machine 90 is an example of the "first work machine" described in the claims. For example, the acquisition unit 11, the range identification unit 12, and the operation control unit 13 are included in the control device 10 as shown in FIG. In this case, the control device 10 is a device that controls the work machine 90 . The control device 10 is connected to the work machine 90 so as to be able to control the operation of the work machine 90 . For example, control device 10 may be implemented as a controller mounted on work machine 90 . Moreover, the control device 10 may be realized by a computer mounted on the working machine 90 as a retrofit. In this case, the control device 10 is connected by wire so as to be communicable with the controller. Specific examples of wired connection include USB (Universal Serial Bus), serial communication, and the like. Further, control device 10 may be implemented as a computer that controls the operation of work machine 90 at a location different from work machine 90 . In this case, the control device 10 may be installed near the work machine 90 or may be installed remotely. Also, in this case, the control device 10 is connected to the controller of the work machine 90 via a network. Specific examples of networks 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.), Wifi (registered trademark), or a combination of these networks. However, the configuration for connecting the control device 10 and the work machine 90 is not limited to these. In addition, the acquisition unit 11, the range identification unit 12, and the operation control unit 13 are not limited to one device, and may be distributed in a plurality of devices. In other words, the control device 10 may be composed of a plurality of devices. Some or all of the multiple devices may be located on the cloud. In this case, each device communicates by being connected by wire, wireless, or a combination thereof. For example, when the range identification unit 12 and the operation control unit 13 are arranged in different devices, these functional blocks acquire information from each other through communication between the devices.

(Configuration of control device 10)
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. As shown in FIG. As shown in FIG. 2 , the control device 10 includes an acquisition section 11 , a range identification section 12 and an operation control section 13 . Note that the acquisition unit 11 is an example of a configuration that implements the “acquisition unit” recited in the claims. The range specifying unit 12 is an example of a configuration that implements the "range specifying means" described in the claims. The operation control unit 13 is an example of a configuration that implements the "operation control means" recited in the claims.

The acquisition unit 11 acquires work information of the work machine 90 and position information of the work machine 90 . The work information indicates the work content of the work machine 90 . The work content includes, for example, the type of work performed by the work machine 90, the state of each part constituting the work machine 90, and the like. The work content indicated by the work information includes, for example, the type of work performed by the work machine 90, the target position of the work, and the posture of the work machine 90 for performing the work. In other words, the work information includes work type information indicating the type of work, target position information indicating the target position of the work, and posture information including the posture of the work machine 90 .

The range identifying unit 12 identifies the first range according to the work content indicated by the acquired work information. The first range is a range including the range in which work machine 90 operates and the periphery of the range. Also, the first range is specified in order to operate the work machine 90 safely. Note that the first range may be a two-dimensional range or a three-dimensional range. In the case of a two-dimensional range, for example, the first range may be a range on a plane in which work machine 90 is viewed from above or may be a range on a plane when viewed from side. Also, for example, the first range may be a range in which the work machine may come into contact with an obstacle. Henceforth, "the 1st range" is also described as a "contact range."

The motion control unit 13 refers to the specified contact range and the position information of the work machine 90 to control the motion of the work machine 90 .

<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 control method S1 will be described with reference to FIG. FIG. 3 is a flowchart showing the flow of control method S1. As shown in FIG. 3, the control method S1 includes steps S11 to S13.

(Step S11: Acquisition step)
In step S<b>11 , the acquisition unit 11 acquires work information of the work machine 90 and position information of the work machine 90 . For example, the acquisition unit 11 may acquire the work information by referring to the detected value of a sensor mounted on the work machine 90, may acquire the work information by reading from a memory, or may acquire the work information by communicably connecting. may be obtained by receiving from another device. Further, for example, the acquisition unit 11 may acquire the position information of the work machine 90 by referring to the detected value of the positioning sensor mounted on the work machine 90 . Also, for example, the acquisition unit 11 may further acquire the position information of the obstacle.

(Step S12: range specifying step)
In step S12, the range identifying unit 12 identifies the contact range according to the work content indicated by the acquired work information. For example, the range specifying unit 12 may specify the contact range according to the type of work and the state of each part that configures the work machine 90 .

(Step S13: Operation control step)
In step S<b>13 , the motion control unit 13 controls the motion of the work machine 90 with reference to the specified contact range and the position information of the work machine 90 . For example, the motion control unit 13 determines whether an obstacle is positioned within the identified contact range. The determination process can be executed, for example, by referring to detection values of a positioning sensor mounted on work machine 90 . Further, when the motion control unit 13 determines that an obstacle is positioned within the identified contact range, the operation control unit 13 controls the working machine 90 to reduce the possibility of contact with the obstacle. Specific examples of control content include, but are not limited to, stopping, decelerating, and moving.

<Effects of this exemplary embodiment>
As described above, this exemplary embodiment controls the operation of work machine 90 by referring to the contact range specified according to the work content of work machine 90 and the position information of work machine 90 . As a result, the contact range that fully reflects the work content of the work machine 90 is referred to, so that the work machine 90 can be operated more safely.

[Exemplary embodiment 2]
A second exemplary embodiment of the invention will now be described in detail with reference to the drawings. Components having the same functions as the components described in the exemplary embodiment 1 are denoted by the same reference numerals, and descriptions thereof are omitted as appropriate.

<Configuration of control system 2>
The configuration of the control system 2 according to this exemplary embodiment will be described with reference to FIG. In this exemplary embodiment, the control system 2 that controls unmanned backhoes 90A and 90B will be described as an example. FIG. 4 is a block diagram showing the configuration of the control system 2. As shown in FIG. As shown in FIG. 4, the control system 2 includes a control system 2A and a control system 2B. The control system 2A is a system that includes a backhoe 90A and a control device 20A and controls the backhoe 90A. The control system 2B is a system that includes a backhoe 90B and a control device 20B and controls the backhoe 90B.

The control device 20A and the control device 20B are communicably connected via the network N1. Specific examples of the network N1 include wireless LAN, wired LAN, WAN, public line network, mobile data communication network (3G, LTE, 4G, 5G, local 5G, etc.), or a combination of these networks. . However, the configuration for connecting the control device 20A and the control device 20B is not limited to this.

In addition, the control device 20A is installed near or remotely from the backhoe 90A and is connected to the backhoe 90A so as to be able to control the operation of the backhoe 90A. For example, the control device 20A may be wirelessly connected to the controller 94A mounted on the backhoe 90A, or may be connected via the network N1 described above. However, the configuration for connecting the control device 20A and the backhoe 90A is not limited to these.

In addition, the control device 20B is installed near or remotely from the backhoe 90B, and is connected to the backhoe 90B so as to be able to control the operation of the backhoe 90B. The connection form of the control device 20B and the backhoe 90B will be described in the same manner by replacing the "A" at the end of the reference numerals with "B" in the above-described connection form of the control device 20A and the backhoe 90A.

(Backhoe 90A)
A detailed configuration of the backhoe 90A will be described. The backhoe 90A is an example of the "first working machine" described in the claims. Backhoe 90A operates autonomously according to control by control device 20A. Note that the autonomous operation means an operation without sequential operation by an operator. As shown in FIG. 4, the backhoe 90A includes a turning section 91A, an arm section 92A, a traveling section 93A, and a controller 94A.

The traveling part 93A is a traveling part that enables the backhoe 90A to move forward, backward, turn right, and turn left. The running section 93A runs using, for example, an endless track belt.

The turning portion 91A is attached to the traveling portion 93A. The turning portion 91A can turn around the turning axis P1A within a plane perpendicular to the plane of the drawing. Note that when the backhoe 90A is on the horizontal ground, the plane perpendicular to the paper surface of FIG. 4 is a horizontal plane, so this plane is hereinafter referred to as a "horizontal plane" for convenience.

The arm part 92A includes a boom 921A attached to the revolving part 91A, an arm 922A attached to the tip of the boom 921A, and a bucket 923A attached to the tip of the arm 922A. The boom 921A can reciprocate around the boom axis P2A within a plane substantially perpendicular to the horizontal plane. The arm 922A can reciprocate around the arm axis P3A on the same plane as the boom 921A. The bucket 923A can reciprocate around the bucket axis P4A on the same plane as that of the arm 922A.

The swivel part 91A and the arm part 92A are examples of the "operating part" described in the claims. That is, the backhoe 90A has a plurality of moving parts.

The controller 94A has a processor, memory and communication interface (none of which are shown). The controller 94A reads and executes a program stored in the memory to control each part of the backhoe 90A according to operation control signals received from the control device 20A via the communication interface.

For example, the controller 94A causes the backhoe 90A to perform work such as excavation or loading by rotating part or all of the rotating section 91A, the boom 921A, the arm 922A, and the bucket 923A according to the operation control signal. Let Further, for example, the controller 94A moves the backhoe 90A by causing the traveling section 93A to travel according to the operation control signal.

The backhoe 90A also includes various sensor groups (not shown) for detecting the posture and position of the backhoe 90A. For example, an example of a sensor for detecting a posture includes, but is not limited to, a tilt sensor, an acceleration sensor, a gyro sensor, an encoder, a pressure sensor, a flow sensor, a cylinder sensor, an oil pressure sensor, or a stroke sensor. . These sensors detect the turning angle of the turning section 91A, boom 921A, arm 922A, or bucket 923A. Also, for example, a positioning sensor is an example of a sensor that detects a position. Examples of positioning sensors include, but are not limited to, sensors using received signals from GPS (Global Positioning System) satellite or cellular network base stations. In addition, the backhoe 90A does not necessarily have to include a positioning sensor. In this case, the position of the backhoe 90A is detected using a three-dimensional sensor (not shown) installed in the space where the backhoe 90A exists. Three-dimensional sensors include three-dimensional laser scanners, cameras (e.g., depth cameras, stereo cameras, ToF (Time-of-Flight) cameras, etc.), laser sensors (e.g., 3DLiDAR, etc.), or radar sensors. , but not limited to these.

(Backhoe 90B)
The backhoe 90B is an example of the "second working machine" described in the claims. The backhoe 90B is configured similarly to the backhoe 90A. The configuration of the backhoe 90B will be similarly described by replacing the suffix "A" with "B" in the description of the configuration of the backhoe 90A. Hereinafter, the backhoes 90A and 90B will be simply referred to as the backhoe 90 when there is no need to distinguish between the backhoes 90A and 90B. Moreover, the backhoe 90B may be described as "another backhoe 90" for the backhoe 90A. Similarly, backhoe 90A may be referred to as the "other backhoe 90" for backhoe 90B.

(Configuration of control device 20A)
A detailed configuration of the control device 20A will be described. As shown in FIG. 4, the control device 20A includes an acquisition section 21A, a range identification section 22A, an action control section 23A, and an action identification section 24A.

The acquisition unit 21A sequentially acquires work information A indicating the work content of the backhoe 90A and position information A of the backhoe 90A. Further, the acquisition unit 21A sequentially acquires the position information B of the backhoe 90B and the information indicating the contact range 80B. Details of the work information A, the position information A, the position information B, and the contact range 80B will be described later.

The range specifying unit 22A specifies the contact range 80A according to the work content indicated by the work information A and the operating range of the operating parts of the backhoe 90A. For example, the range specifying unit 22A specifies the contact range 80A having a shape corresponding to each of the plurality of operating parts of the backhoe 90A, according to the work content indicated by the work information A. Details of the contact range 80A will be described later. The work information A includes work details determined by the motion specifying unit 24A, which will be described later. Details of the work information A will be described later. Further, the range specifying unit 22A sequentially changes the contact range 80A according to the work information A that is sequentially acquired.

The motion specifying unit 24A determines the work content of the backhoe 90A. Note that the action specifying unit 24A may determine the work content of the backhoe 90A by referring to the position information B of the backhoe 90B and the contact range 80B. In addition, the operation specifying unit 24A may determine the work content of the backhoe 90A based on prior input by the operator, or may be determined according to a predetermined schedule. Further, the motion specifying unit 24A may autonomously determine the work content of the backhoe 90A. Autonomously determining the work content means, for example, determining according to the situation of the backhoe 90A. For example, the motion identifying unit 24A may autonomously determine the work content using a generative model that generates the work content of the backhoe 90A. In this case, the generative model may be a model that has been learned by machine learning so that output values from various sensor groups for detecting the posture and position of the backhoe 90A are input, and work content is output. . Further, the action specifying unit 24A may determine a type of work and information defining the type of work as the work content. As a specific example, for example, when the operation specifying unit 24A determines “excavation” as the type of work, the information specifying the “excavation” work includes the position to be excavated, the method of excavation (for example, the depth of excavation, direction, angle, working trajectory, etc.).

The motion control unit 23A generates motion control information for controlling the motion of the backhoe 90A according to the work content of the backhoe 90A. Further, the motion control unit 23A transmits the generated motion control information to the backhoe 90A via a communication interface (not shown). Thereby, backhoe 90A operates autonomously. For example, the backhoe 90A may operate autonomously according to the work content determined in advance, or may operate autonomously according to the work content determined according to the situation during operation.

The operation control unit 23A also refers to the contact range 80A, the position information A, the position information B, and the contact range 80B to determine whether or not at least a portion of the contact range 80A and the contact range 80B overlap. Moreover, the operation control part 23A controls the backhoe 90A, when it is judged that it overlaps. As an example, the content of control is control which reduces possibility that backhoe 90A will contact backhoe 90B. Henceforth, it demonstrates that the specific control content is control which stops the backhoe 90A. However, the content of control for reducing the possibility of contact is not limited to this. For example, the content of the control may be control for running the backhoe 90A until the contact range 80A does not overlap the contact range 80B. Further, for example, the control content may be control to change the work content of the backhoe 90A to a work content in which the contact range 80A does not overlap the contact range 80B.

(Configuration of control device 20B)
The control device 20B is configured similarly to the control device 20A. The configuration of the control device 20B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the description of the configuration of the control device 20A.

(Work information A)
Work information A is an example of "first work information" described in the claims. The work information A is information indicating the work content of the backhoe 90A.

The work content indicated by the work information A includes, for example, the type of work performed by the backhoe 90A, the target position of the work, and the posture of the backhoe 90A for performing the work. In other words, the work information A includes work type information indicating the type of work, target position information indicating the target position of the work, and posture information including the posture of the backhoe 90A.

Specific examples of work types include, but are not limited to, "loading", "excavation", "leveling", and "pushing". Specific examples of target positions include an excavation position and a loading position, but are not limited to these. Also, the attitude is represented by the turning angle of each part of the turning section 91A, the boom 921A, the arm 922A, and the bucket 923A, for example. That is, the work information A includes information about the direction (here, turning angle) of one or more operating parts (here, the turning section 91A, the boom 921A, the arm 922A, and the bucket 923A) of the backhoe 90A.

Note that the work information A includes information determined by the operation specifying unit 24A to operate the backhoe 90A autonomously. For example, work type information and target position information are examples of information determined by the motion identifying unit 24A. These pieces of information included in the work information A may be determined in advance or may be determined autonomously.

Also, the work information A includes information indicating the current state of the backhoe 90A. Information indicating the current state is detected by a group of sensors included in the backhoe 90A. For example, posture information is an example of information indicating the current state. The posture information includes the turning angles of each part of the turning section 91A, the boom 921A, the arm 922A, and the bucket 923A detected by the sensor group.

(Work information B)
The work information B will be explained in the same manner by replacing the "A" at the end of the reference numeral with "B" in the explanation of the work information A described above. Henceforth, when it is not necessary to distinguish between the work information A and B, they will simply be referred to as "work information".

(Location information A)
The position information A is information indicating the position of the backhoe 90A. Position information A is represented by the same three-dimensional coordinate system as position information B. FIG. For example, the position information A is detected by the positioning sensor or three-dimensional sensor described above.

(Location information B)
The position information B will be described in the same manner by replacing the suffix 'A' with 'B' and 'B' with 'A' in the description of the position information A described above. Henceforth, when it is not necessary to distinguish between the position information A and B, they will simply be referred to as "position information".

(Contact range 80A)
The contact range 80A is a range including the range in which the work machine 90 operates and the periphery of the range in order to safely operate the backhoe 90A. For example, the range in which the backhoe 90A may contact the backhoe 90B. be. The contact range 80A is an example of the "first range" described in the claims. The contact range 80A has a shape corresponding to the moving portion of the backhoe 90A. The moving parts in the backhoe 90A are the revolving part 91A and the arm part 92A here. That is, the backhoe 90A has a plurality of moving parts. In other words, the contact area 80A includes shapes corresponding to each of the plurality of moving parts. The shape corresponding to the moving portion is, for example, a circle, an ellipse, or a sector shape having a radius corresponding to the moving portion. For example, the contact range 80A has a shape obtained by synthesizing a fan-shaped region having a radius corresponding to the turning portion 91A and a fan-shaped region having a radius corresponding to the arm portion 92A.

(Contact range 80B)
The contact range 80B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the above description of the contact range 80A. The contact range 80B is an example of the "second range" described in the claims. Henceforth, when it is not necessary to specifically distinguish between the contact areas 80A and 80B, they will simply be referred to as the "contact area 80".

<Flow of control method S2>
In the control system 2 configured as described above, the control device 20A sequentially executes the control method S2. The sequential execution may be, for example, executing the control method S2 at predetermined intervals, or executing the control method S2 according to changes in the work information A. FIG. The control device 20B also sequentially executes the control method S2, like the control device 20A.

The flow of control method S2 will be described with reference to FIG. FIG. 5 is a flowchart showing the flow of control method S2. As shown in FIG. 5, the control method S2 includes steps S21 to S27. In addition, below, the case where 20 A of control apparatuses perform the control method S2 is demonstrated. The case where the control method S2 is executed by the control device 20B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description.

(Step S21)
21 A of acquisition parts acquire the work information A in step S21. The details of this step will be described later.

(Step S22)
In step S22, the acquisition unit 21A acquires the position information A of the backhoe 90A. Specifically, for example, the acquisition unit 21A acquires the position information A using a positioning sensor included in the backhoe 90A or a three-dimensional sensor installed in the space where the backhoe 90A exists. The details of this step will be described later.

(Step S23)
In step S23, the acquisition unit 21A acquires the position information B of the backhoe 90B (another backhoe 90). Specifically, the acquisition unit 21A receives the position information B by requesting it from the control device 20B.

(Step S24)
In step S24, the range specifying unit 22A specifies the contact range 80A of the backhoe 90A according to the work content indicated by the work information A. Specifically, the range specifying unit 22A specifies a contact range 80A obtained by synthesizing a contact range 82A having a shape corresponding to the arm part 92A and a contact range 81A having a shape corresponding to the turning part 91A. By sequentially executing the control method S2, the contact range 80A specified in this step can be sequentially changed. The details of this step will be described later.

(Step S25)
In step S25, the acquisition unit 21A acquires the contact range 80B of the backhoe 90B (another backhoe 90). Specifically, the acquisition unit 21A receives the contact range 80B from the control device 20B. Here, control device 20B specifies contact range 80B in step S24 by executing control method S2 in the same manner as control device 20A. Therefore, the acquisition unit 21A receives the contact range 80B by requesting the control device 20B.

(Step S26)
In step S26, the operation control unit 23A determines whether or not at least a portion of the contact range 80A and the contact range 80B overlap. A specific example of this step will be described later.

(Yes in step S26: step S27)
When it is determined Yes in step S26, the motion control unit 23A stops the backhoe 90A in step S27. Specifically, the operation control unit 23A transmits operation control information instructing a stop to the backhoe 90A. In this step, the backhoe 90A and the backhoe 90B are stopped by the control device 20A and the control device 20B executing the control method S2.

(No in step S26)
If the determination in step S26 is No, the control device 20A terminates the control method S2. In addition, if it is determined as Yes in step S26 in the control method S2 executed in the past and step S27 is executed, the backhoe 90A has already stopped. In such a state, the operation control section 23A may cause the backhoe 90A to restart the work when it is determined as No in step S26 in the current execution of the control method S2.

<Step S21: Detailed Flow of Processing for Acquiring Work Information>
Details of step S21 will be described with reference to FIG. FIG. 6 is a flowchart showing a detailed flow of processing for acquiring work information. As shown in FIG. 6, the process of acquiring work information includes steps S211 to S213. In addition, below, the case where 20 A of control apparatuses perform step S21 is demonstrated. The case where the control device 20B executes step S21 will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description.

(Step S211)
In step S211, the acquisition unit 21A acquires work type information. The work type information is, for example, information indicating "excavation" or "loading", but is not limited to this. The work type information is information determined by the motion specifying unit 24A to control the motion of the backhoe 90A. The work type information is stored, for example, in a memory (not shown) of the control device 20A. Such work type information may change according to changes in the work content of the backhoe 90A. The acquiring unit 21A acquires the most recently determined work type information by reading it from the memory. The most recently determined work type information may be determined in advance or may be determined autonomously.

(Step S212)
In step S212, the acquisition unit 21A acquires target position information. The target position information is represented by the same three-dimensional coordinate system as the position information A and B. FIG. For example, the target position information includes one or both of digging position information and loading position information. The excavation position information indicates the position where the object to be excavated exists. The loading position information is coordinates indicating the position where the object is loaded. For example, the loading position information indicates the coordinates of the platform of the vehicle that loads and transports the object. When the work type information indicates "excavation", the target position information includes excavation position information. Further, when the work type information indicates "loading", the target position information includes excavation position information, which is the position at which turning for loading is started, and loading position information where the object is to be loaded. You can

Also, for example, when the work type information indicates "smoothing" or "push", the target position information includes one or both of the object position information and the destination position information. The object position information indicates the position where the deposited object exists. The destination position information indicates the destination position of the object.

The target position information is information determined by the motion specifying unit 24A to control the motion of the backhoe 90A. The target position information is stored, for example, in the memory of the control device 20A. Also, the target position information may change according to changes in the work content of the backhoe 90A. The acquisition unit 21A acquires the recently determined target position information by reading it from the memory. The most recently determined target position information may be determined in advance or may be determined autonomously.

(Step S213)
In step S213, the acquisition unit 21A acquires posture information. As described above, the posture information includes information indicating the turning angle of each part of the turning section 91A, boom 921A, arm 922A, and bucket 923A. The turning angle of each part is detected by a sensor group mounted on the backhoe 90A. The acquisition unit 21A acquires the posture information by referring to the detected values of the sensor group.

<Step S24: Detailed Flow of Processing for Identifying Contact Range 80>
Details of step S24 will be described with reference to FIG. FIG. 7 is a flow diagram showing a detailed flow of processing for specifying the contact area 80. As shown in FIG. As shown in FIG. 7, the process of specifying the contact area 80 includes steps S241 to S246. In addition, below, the case where 20 A of control apparatuses perform step S24 is demonstrated. The case where the control device 20B executes step S24 will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description.

(Step S241)
In step S241, the range identifying section 22A refers to the posture information included in the work information A to determine the working radius R2A of the arm section 92A. The working radius R2A of the arm portion 92A is the radius of the fan-shaped region in which the arm portion 92A is expected to move due to the work of the backhoe 90A. Normally, the working radius R2 is larger than the working radius R1A of the revolving portion 91A, which will be described later.

(Specific example of step S241)
A specific example of step S241 will be described with reference to FIG. FIG. 8 is a schematic diagram showing a specific example of processing for determining the working radius R2A. For the sake of explanation, in FIG. 8, the horizontal direction of the drawing is defined as the X-axis direction, the vertical direction of the drawing is defined as the Z-axis direction, and the Y-axis direction is defined to be orthogonal to the X-axis direction and the Z-axis direction. In FIG. 8, α1 indicates the turning angle of the boom 921A. α2 indicates the turning angle of the arm 922A. α3 indicates the turning angle of the bucket 923A. These turning angles are included in the posture information included in the work information A. FIG. The attitude information also includes the turning angle α0 (not shown) of the turning section 91A.

As shown in FIG. 8, the range specifying unit 22A calculates R2 by the following equation (1) based on the posture information including α0 to α4, and sets the calculated R2 as the working radius R2A.

Here, r3 is the distance from the boom axis P2A to the arm axis P3A on the swing plane (xz plane) of the boom 921A, arm 922A, and bucket 923A. r4 is the distance from the boom axis P2A to the bucket axis P4A on the turning plane. r5 is the distance from the boom axis P2A to the tip P5A of the bucket 923A on the turning plane. Also, r6 is the distance from the boom axis P2A to the bottom P6A of the bucket 923A on the turning plane. Also, Δx and Δy will be described with reference to FIG. FIG. 9 is a view of the backhoe 90A shown in FIG. 8 as seen from the Z-axis positive direction. As shown in FIG. 9, Δx is the distance in the x-axis direction from the pivot axis P1A to the boom axis P2A on the pivot plane (xy plane) of the pivot section 91A. Δy is the distance in the y-axis direction from the pivot axis P1A to the boom axis P2A on the pivot plane. Range specifying unit 22A refers to information indicating the size of each part of backhoe 90A in addition to posture information when calculating r3 to r6. Information indicating the size of each part is stored in advance in the memory of the control device 20A.

(Step S242)
In step S242, the range identification unit 22A refers to the work type information included in the work information A to determine the work angle of the arm part 92A. Here, the work angle indicates the maximum angle at which the corresponding moving portion (here, the arm portion 92A) can rotate in the corresponding type of work. The work angle may be determined in advance according to the work type information, for example. In addition to responding to the work type information, the work angle may be determined in consideration of the turning angle from when the operation control information instructing to stop turning is transmitted until turning is actually stopped. good.

(Specific example of step S242)
A specific example of step S242 will be described with reference to FIG. FIG. 10 is a schematic diagram showing a specific example of the contact range 80A of the backhoe 90A. In this specific example, the work type information included in the work information A indicates "excavation". For example, the range identification unit 22A determines the work angle Δθ1A according to the work type information “excavation”. For example, the working angle Δθ1A is determined in advance according to a range in which the arm portion 92A may move left and right with respect to the direction d1A as the revolving portion 91A revolves when the backhoe 90A excavates. . Further, the working angle Δθ1A may be determined in consideration of the time from when the motion control information for stopping the motion of the arm portion 92A is transmitted until when the arm portion 92A actually stops. Thus, the contact range 80A indicates a range in which the backhoe 90A may move in the front-rear direction (that is, the direction d1A) and in the left-right direction according to the work content indicated by the work information A.

(Step S243)
In step S243, the range specifying unit 22A calculates the contact range 82A having a shape corresponding to the arm section 92A based on the determined work radius R2A and work angle and the target position information included in the work information A.

(Specific example of step S243)
A specific example of step S243 will be described with reference to FIG. In this specific example, the target position information included in the work information A includes information indicating the excavation position D1A. For the sake of explanation, the direction from the turning axis P1A to the excavation position D1A is defined as d1A. In other words, the direction d1A is the direction in which the arm portion 92A faces when the bucket 932A is placed at the excavation position D1A. The range identifying unit 22A calculates a contact range 82A as a fan-shaped region having a working radius R2A centered on the pivot axis P1A and including the arm portion 92A. Further, the range specifying unit 22A defines a line segment extending in the directions of ±Δθ1A from the turning axis P1A with respect to the direction d1A as the boundary of the contact range 82A. In addition, in FIG. 10, for convenience of explanation, the clockwise direction in the drawing is defined as the + direction.

(Step S244)
In step S244, the range specifying unit 22A determines the working radius R1A of the turning unit 91A. The working radius R1A of the revolving part 91A is the radius of the fan-shaped region in which the revolving part 91A is expected to revolve due to the work of the backhoe 90A. Also, the working radius R1A is a constant determined by the size of the turning portion 91A. Normally, the working radius R1A is smaller than the working radius R2A of the arm portion 92A described above.

(Specific example of step S244)
A specific example of step S244 will be described with reference to FIG. As shown in FIG. 10, the range specifying unit 22A uses the distance from the pivot axis P1A to the rear-side corner P7A of the swivel unit 91A on the swivel surface of the swivel unit 91A as the working radius R1A of the swivel unit 91A. Such a working radius R1A is stored in advance in the memory of the control device 20A, for example.

(Step S245)
In step S245, the range specifying unit 22A calculates a contact range 81A having a shape corresponding to the swivel part 91A based on the determined working radius R1A.

(Specific example of step S245)
A specific example of step S245 will be described with reference to FIG. As shown in FIG. 10, the range identifying unit 22A calculates a sector-shaped area having a working radius R1A centered on the turning axis P1A and including the turning part 91A as a contact range 81A. The contact range 81A is desirably configured by a region of a circle having a working radius R1A centered on the pivot axis P1A and not included in the contact range 82A.

(Step S246)
In step S246, the range specifying unit 22A specifies the contact range 80A of the backhoe 90A based on the contact ranges 82A and 81A having shapes corresponding to the respective moving parts (arm section 92A and turning section 91A).

(Specific example of step S246)
A specific example of step S246 will be described with reference to FIG. As shown in FIG. 10, the range specifying unit 22A specifies, as a contact range 80A, a combined area of the contact range 82A of the arm section 92A and the contact range 81A of the turning section 91A.

(Specific example of step S24 executed by control device 20B)
Similarly, control device 20B identifies contact range 80B of backhoe 90B by executing step S24. A specific example of the contact range 80B of the backhoe 90B will be described with reference to FIG. FIG. 11 is a schematic diagram showing a specific example of the contact range 80B of the backhoe 90B. In this specific example, work type information included in work information B indicates "loading". The target position information included in the work information B includes information indicating the excavation position D1B and information indicating the loading position D2B. In other words, the work content of the backhoe 90B is the work of "turning from the excavation position D1B to the loading position D2B, loading the object to the loading position D2B, and turning to the excavation position D1B".

As shown in FIG. 11, the working radius R2B of the arm portion 92B is calculated by the formula (1) with reference to the posture information included in the work information B. The working radius R1B of the turning portion 91B is the distance from the turning axis P1B to the rear side corner P7B of the turning portion 91B, and is stored as a constant in the memory of the control device 20B. The work angles Δθ2B and Δθ3B are calculated by the operation specifying unit 24A according to the target position information (the excavation position D1B and the loading position D2B) included in the work information B, and stored in the memory of the control device 20B. Here, the working angle Δθ2B indicates an angle at which the arm portion 92B may move to the right with respect to the direction d1B. A working angle Δθ3B indicates an angle at which the arm portion 92B may move leftward with respect to the direction d1B. These working angles are set so that Δθ2B<Δθ3B. Δθ3B may be, for example, a value obtained by adding Δθ2B to the angle from the excavation position D1B to the loading position D2B about the pivot axis P1B.

In this case, the contact range 80B is a combined area of the contact range 82B having a shape corresponding to the arm portion 92B and the contact range 82B having a shape corresponding to the turning portion 91B.

Specifically, the contact range 82B is a fan-shaped area with a working radius R2B centered on the pivot axis P1B and including the arm portion 92B. Further, the contact range 82B is bounded by a line segment extending from the turning axis P1B in the +Δθ2B direction with respect to the direction d1B and a line segment extending in the −Δθ2B direction with respect to the direction d2B. The direction d1B is the direction from the pivot P1B to the excavation position D1B. A direction d2B is a direction from the pivot P1B toward the loading position D2B.

Also, the contact range 81B has a shape corresponding to the swivel portion 91B. Specifically, the contact range 81B is a fan-shaped region having a working radius R1B centered on the pivot axis P1B and including the pivot portion 91B. The contact range 81B desirably includes a region of the circle with the working radius R1B centered on the pivot axis P1B, which is not included in the contact range 82B.

(Step S26: Concrete example of processing for determining overlap of contact areas)
A specific example of step S26 will be described with reference to FIG. FIG. 12 is a diagram schematically showing a specific example of the contact range 80 of the two backhoes 90. As shown in FIG. The motion control unit 23A refers to the position information A and B, and arranges the contact ranges 80A and 80B in the virtual space. Specifically, the motion control unit 23A arranges the contact range 80A specified by the working angle θ1A, the working radii R2A and R1A, and the direction d1A at the position corresponding to the positional information A in the virtual space. Further, the motion control unit 23A arranges a contact range 80B specified by the working angle θ2B, the working radii R2B and R1B, and the directions d1B and d2B at the position corresponding to the position information B in the virtual space. Further, the operation control unit 23A determines whether or not at least a portion of the contact ranges 80A and 80B arranged in the virtual space overlap. In the specific example of FIG. 12, the contact range 80A of the backhoe 90A and the contact range 80B of the backhoe 90B partially overlap. Therefore, in this specific example, the operation control unit 23A determines Yes in step S26. Therefore, the operation control unit 23A of the control device 20A controls to stop the backhoe 90A. Similarly, the operation control section 23B of the control device 20B controls the backhoe 90B to stop.

In this exemplary embodiment, the contact ranges 80A and 80B are two-dimensional ranges, and the virtual space in which the contact ranges 80A and 80B are arranged is a two-dimensional plane as shown in FIG. Explaining. However, without being limited to this, the range specifying unit 22A may specify three-dimensional ranges as the contact ranges 80A and 80B. In this case, the motion control unit 23A arranges the contact ranges 80A and 80B in a virtual three-dimensional space.

For example, the three-dimensional contact ranges 80A and 80B include a contact range arranged on a horizontal plane and a contact range arranged on a vertical plane in a virtual three-dimensional space. The contact areas arranged on the horizontal plane are explained in the same manner as the two- dimensional contact areas 80A and 80B described above. The contact range located in the vertical plane includes the range over which arm portion 92A may move vertically. Specifically, the contact range arranged on the vertical plane includes a range in which the boom 921A may rotate in the vertical direction with the boom axis P2A as a starting point. Also, the contact range arranged on the vertical plane includes a range in which the arm 922A may pivot in the vertical direction with the arm axis P3A as the starting point. Also, the contact range arranged on the vertical plane includes a range in which the bucket 923A may turn in the vertical direction with the bucket axis P4A as the starting point. The motion control unit 23A determines whether or not at least a portion of the contact ranges of the backhoes 90A and 90B arranged on the horizontal plane overlap. Further, the motion control unit 23A determines whether or not at least a part of the contact ranges of the backhoes 90A and 90B arranged on the vertical plane overlap. Thus, the contact ranges 80A and 80B, which are infinite in the vertical direction when arranged in a two-dimensional space, can be made finite in the vertical direction by arranging them in a three-dimensional space. As a result, the contact ranges in the vertical direction of the contact ranges 80A and 80B are narrowed, and the possibility of contact between the backhoes 90A and 90B can be determined more accurately, thereby improving work efficiency.

<Effects of this exemplary embodiment>
As described above, this exemplary embodiment identifies the contact ranges 80A and 80B of the backhoes 90A and 90B by referring to the work contents of each backhoe 90A and 90B, and if at least a portion of these overlaps, the backhoe Control to stop 90A and 90B. This allows the exemplary embodiment to flexibly set the contact range 80 for determining the possibility of contact, reflecting the work content. As a result, contact between the backhoes 90A and 90B can be more sufficiently avoided.

In addition, this exemplary embodiment sequentially changes the contact ranges 80A and 80B according to the work information A and B that are sequentially obtained. Thereby, this exemplary embodiment can reflect changes in the work content of the backhoes 90A and 90B and specify the contact range 80 more accurately. As a result, contact between the backhoes 90A and 90B can be more sufficiently avoided.

Also, the contact areas 80A and 80B specified in this exemplary embodiment have shapes corresponding to each of the plurality of moving parts. As a result, the contact areas 80A and 80B become areas that more reflect the operating characteristics of the moving parts. As a result, the contact areas 80A and 80B are less likely to actually come into contact with each other, and the work areas of the backhoes 90A and 90B (that is, areas other than the contact area 80) are widened. Work efficiency is improved.

[Modification 1]
In the embodiment described above, the contact range 82A corresponding to the arm portion 92A and the contact range 81A corresponding to the swivel portion 91A are combined to specify the contact range 80A of the backhoe 90A. By modifying this, at least one of a plurality of moving parts (the arm part 92A and the turning part 91A) is selected according to the work content indicated by the work information A, and the contact is made according to the operation range of the selected moving part. A range 80A may be identified. Specifically, in this modification, either one of the contact range 82A corresponding to the arm portion 92A and the contact range 81A corresponding to the turning portion 91A may be specified as the contact range 80A of the backhoe 90A. In other words, in this modified example, the contact range 80A includes one of the shapes corresponding to each of the plurality of moving parts (swivel part 91A and arm part 92A).

<Flow of Modified Example of Control Method S2>
In this modification, the control device 20A executes step S24a instead of step S24 in the control method S2 described with reference to FIG.

Details of step S24a will be described with reference to FIG. FIG. 13 is a flow chart showing the flow of processing for specifying the contact range 80 in this modified example. As shown in FIG. 13, the process of specifying the contact range 80 in this modification includes steps S241a to S246a. In addition, below, the case where 20 A of control apparatuses perform step S24a is demonstrated. The case where the control device 20B executes step S24a will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description.

(Step S241a)
In step S241a, the range identification unit 22A determines whether or not the backhoe 90B (another backhoe 90) exists around the target position. Specifically, the range specifying unit 22A makes the determination by referring to the target position information included in the work information A and the position information B of the backhoe 90B.

(Yes in step S241a: steps S242a to S244a)
When it is determined as Yes in step S241a, the range identifying section 22A calculates the contact range 82A of the arm section 92A by executing steps S242a to S244a. The processing of steps S242a to S244a is the same as the processing of steps S241 to S243 described with reference to FIG. In this case, the range identifying unit 22A identifies the calculated contact range 82A as the contact range 80A of the backhoe 90A.

(No in step S241a: steps S245a to S246a)
When it is determined No in step S241a, the range identifying section 22A calculates the contact range 81A of the turning section 91A by executing steps S245a to S246a. The processing of steps S245a to S246a is the same as the processing of steps S244 to S245 described with reference to FIG. In this case, the range identifying unit 22A identifies the calculated contact range 81A as the contact range 80A of the backhoe 90A.

<Specific example of modification 1>
A specific example of Modification 1 will be described. In this example, backhoe 90A and backhoe 90B excavate in parallel. The control devices 20A and 20B each execute the process S24a in the control method S2.

(Specific example of step S241a)
A specific example of step S241a will be described with reference to FIG. FIG. 14 is a schematic diagram illustrating a specific example of the process of determining whether or not another backhoe 90 exists in the area around the target position of the backhoe 90A. As shown in FIG. 14, in step S241a, the range specifying unit 22A of the control device 20A refers to the excavation position D1A and the position information B, and determines whether or not the backhoe 90B is included in the area surrounding the excavation position D1A. do. In the specific example shown in FIG. 14, the peripheral area is an area surrounded by straight lines extending ±Δθ1A with respect to the direction d1A from the turning axis P1A toward the excavation position D1A. Note that the range specifying unit 22A determines the surrounding area according to the work type information “excavation” included in the work information A. FIG. In this example, the angle Δθ1A for specifying the peripheral area may be the same as the working angle for specifying the contact range 82A, but is not limited to this.

Further, as shown in FIG. 14, the range specifying unit 22B of the control device 20B refers to the excavation position D1B and the position information A in step S241a to determine whether the backhoe 90A is included in the peripheral area of the excavation position D1B. to judge. In the specific example shown in FIG. 14, the peripheral area is an area surrounded by straight lines extending ±Δθ2B with reference to the direction d1B from the turning axis P1B toward the excavation position D1B. Further, the range specifying unit 22B determines the surrounding area according to the work type information “excavation” included in the work information B. FIG. In this example, the angle Δθ2B for specifying the peripheral area may be the same as the working angle for specifying the contact range 82B, but is not limited to this.

(Specific example of steps S242a to S244a)
A specific example of steps S242a to S244a will be described with reference to FIG. FIG. 15 is a schematic diagram showing a specific example of the contact range 80A specified for the backhoe 90A. In this specific example, the range identification unit 22A determines Yes in step S241a, and therefore executes steps S242a to S244a. Thereby, the range specifying unit 22A specifies the fan-shaped region (contact range 82A) calculated with reference to the working radius R2A and the working angle Δθ1A as the contact range 80A. The details of the process of calculating the contact range 82A are as described in the specific example of step S243.

(Specific example of steps S245a to S246a)
A specific example of steps S245a to S246a will be described with reference to FIG. FIG. 16 is a schematic diagram showing a specific example of the contact range 80B specified for the backhoe 90B. In this specific example, since the range identification unit 22B determines No in step S241a, it executes steps S245a to S246a. Thereby, the range specifying unit 22B specifies the fan-shaped region (contact range 81B) calculated with reference to the working radius R1B as the contact range 80B. The details of the process of calculating the contact range 81B are as described in the specific example of step S245.

(Step S26: Concrete example of processing for determining overlap of contact areas)
A specific example of step S26 in this modification will be described with reference to FIG. FIG. 17 is a diagram schematically showing a specific example of the contact range 80 of the two backhoes 90. As shown in FIG. The motion control unit 23A refers to the position information A, B and arranges the contact ranges 80A, 80B in the virtual three-dimensional space. As shown in FIG. 17, the contact range 80A of the backhoe 90A and the contact range 80B of the backhoe 90B partially overlap. Therefore, in this specific example, the operation control unit 23A determines Yes in step S26. Therefore, the operation control unit 23A of the control device 20A controls to stop the backhoe 90A. Similarly, the operation control section 23B of the control device 20B controls the backhoe 90B to stop.

<Effects of this modified example>
This modification changes the contact range depending on whether or not there is another backhoe 90 around the target position of the backhoe 90 to be controlled. Specifically, when there is another backhoe 90 around the target position (for example, in front), the contact range 80 widely includes the peripheral area of the target position. Including the opposite (eg, posterior) region. As a result, in the contact range 80, the present modification can reduce excessive portions that are unlikely to contribute to contact determination. As a result, working efficiency can be improved while avoiding contact between the backhoes 90A and 90B.

[Modification 2]
In the embodiment described above, the control device 20A has been described as acquiring the contact range 80B from the control device 20B. By modifying this, the control device 20A may acquire work information B from the control device 20B and specify the contact range 80B based on the work information B. FIG. In this modified example, the control device 20B does not need to have the range specifying section 22B.

<Flow of control method S2b>
In this modification, the control device 20A executes a control method S2b that is a modification of the control method S2 described with reference to FIG. The flow of control method S2b will be described with reference to FIG. FIG. 18 is a flowchart for explaining the flow of control method S2b. As shown in FIG. 18, the control method S2b is configured almost similarly to the control method S2, but differs in that steps S25b-1 and S25b-2 are executed instead of step S25. The control device 20B transmits the work information B acquired by the acquisition unit 21B to the control device 20A. The points of the control method S2b executed by the control device 20A that are different from the control method S2 will be described below.

(Step S25b-1)
In step S25b-1, the acquisition unit 21A acquires the work information B of the backhoe 90B. For example, the acquisition unit 21A receives work information B by requesting it from the control device 20B.

(Step S25b-2)
In step S25b-2, the range specifying unit 22A refers to the work information B and specifies the contact range 80B of the backhoe 90B. Specifically, the range specifying unit 22A specifies a contact range 80B obtained by synthesizing a contact range 82B having a shape corresponding to the arm part 92B and a contact range 81B having a shape corresponding to the turning part 91B. In order to specify the contact range 80B of the backhoe 90B, the range specifying unit 22A refers to the information indicating the size of each part of the backhoe 90B in addition to referring to the work information B. Information indicating the size of each part of the backhoe 90B may be stored in the memory of the control device 20A, or may be received together with the work information B in step S25b-1. The detailed flow of this step is as described with reference to the flowchart of FIG.

<Effects of this modified example>
In this modification, the control device 20A identifies the contact range 80B of the backhoe 90B with reference to the work information B received from the control device 20B. Thereby, this modification controls to stop at least backhoe 90A, when at least one copy of contact ranges 80A and 80B overlaps. Therefore, even if the control device 20B does not have the function of specifying the contact range 80B, the collision of the backhoes 90A and 90B can be avoided more sufficiently.

[Modification 3]
In the exemplary embodiment 2 and modified examples 1 and 2 described above, the control device 20A receives the position information B and the contact range 80B or the work information B by requesting the control device 20B. Without being limited to this, the control device 20B may be configured to sequentially transmit the position information B and the contact range 80B or the work information B without being requested by the control device 20A. In this case, for example, the control device 20B may transmit the position information B and the contact range 80B or the work information B to the control device 20A at predetermined intervals. Further, for example, the control device 20B may transmit the position information B and the contact range 80B or the work information B to the control device 20A at the timing when each of them changes.

Similarly, in the exemplary embodiment 2 and modification 1 described above, the control device 20B receives the position information A and the contact range 80A by requesting the control device 20A. Not limited to this, the control device 20A may be configured to sequentially transmit the position information A and the contact range 80A without being requested by the control device 20B. In this case, for example, the control device 20A may transmit the position information A and the contact range 80A to the control device 20B at predetermined intervals. Further, for example, the control device 20A may transmit the position information A and the contact range 80A to the control device 20B at the timing when each of them changes.

<Effects of this modified example>
In this modification, the control devices 20A and 20B obtain information about the other backhoes 90 without requesting each other, so that the load on the system can be reduced.

[Exemplary embodiment 3]
A third exemplary embodiment of the invention will now be described in detail with reference to the drawings. Components having the same functions as the components described in exemplary embodiments 1 and 2 are denoted by the same reference numerals, and description thereof will not be repeated.

<Overview of control system 3>
An overview of the control system 3 according to this exemplary embodiment will be described with reference to FIG. FIG. 19 is a schematic diagram for explaining the outline of the control system 3. As shown in FIG. In FIG. 19, the physical space RS indicates the actual three-dimensional space in which the backhoes 90A and 90B exist. A virtual space VS indicates a virtual three-dimensional space obtained by projecting the real space RS. Note that FIG. 19 shows the virtual space VS two-dimensionally, but this is a schematic projection of a virtual space that can be three-dimensional into a two-dimensional virtual space. However, the virtual space VS is not limited to being two-dimensional.

The virtual space VS includes areas corresponding to objects (backhoes 90A, 90B, other vehicles, equipment, buildings, workers, etc.) that exist in the real space RS. The virtual space VS is generated by referring to detection values of a three-dimensional sensor installed in the real space RS, a positioning sensor mounted on each object, and the like.

As shown in FIG. 19, the control system 3 according to this exemplary embodiment calculates future contact ranges 80A and 80B of the backhoes 90A and 90B in the virtual space VS based on the information acquired from the real space RS. Identify by simulating. The control system 3 also controls the operation of the backhoes 90A and 90B in the physical space RS using the identified future contact ranges 80A and 80B.

Here, the future information X may be information X at a certain time after the current time (when the control system 3 operates) or may be information X during a certain period after the current time. Note that "information X" refers to work information, position information, or contact range, for example. In other words, the information X predicted at a certain point in time or in a certain period after the present time may also be expressed as future information X as an example. Hereinafter, future information X is assumed to be information X predicted for a certain period after the present time.

<Configuration of control system 3>
The configuration of the control system 3 according to this exemplary embodiment will be described with reference to FIG. FIG. 20 is a block diagram showing the configuration of the control system 3. As shown in FIG. As shown in FIG. 20, the control system 3 includes a control system 3A and a control system 3B. The control system 3A is a system that includes a backhoe 90A and a control device 30A and controls the backhoe 90A. The control system 3B is a system that includes a backhoe 90B and a control device 30B and controls the backhoe 90B. The connection mode of the control device 30A and the control device 30B, the connection mode of the control device 30A and the backhoe 90A, and the connection mode of the control device 30B and the backhoe 90B are as described in the second exemplary embodiment. The configurations of the backhoe 90A and the backhoe 90B are also the same as those described in the second exemplary embodiment.

(Configuration of control device 30A)
A detailed configuration of the control device 30A will be described. As shown in FIG. 20, the control device 30A includes an acquisition unit 31A, a range identification unit 32A, an operation control unit 33A, and an operation identification unit 34A.

The acquisition unit 31A acquires future work information A, future position information A, future position information B, and future contact range 80B. The future work information A indicates the future work content of the backhoe 90A. Future position information A indicates the future position of backhoe 90A. Future position information B indicates the future position of backhoe 90B. Future contact area 80B shows the future contact area 80B of backhoe 90B. The future work information A includes future contents determined by the motion specifying unit 24A, which will be described later.

The range specifying unit 32A refers to the information acquired by the acquiring unit 31A to specify the future contact range 80A. In other words, range identifying unit 32A identifies future contact range 80A in virtual space VS.

The operation control unit 33A controls the operation of the backhoe 90A by referring to the future contact range 80A and the information acquired by the acquisition unit 31A. More specifically, the operation control unit 33A controls the backhoe 90A to stop when at least a portion of the future contact range 80A and the future contact range 80B overlap.

The motion specifying unit 34A determines the future work content of the backhoe 90A. Note that the motion specifying unit 34A may determine the future work content of the backhoe 90A by referring to the future position information B of the backhoe 90B and the contact range 80B. Further, the operation specifying unit 34A may determine the future work content of the backhoe 90A based on the operator's input in advance or according to a predetermined schedule.

(Configuration of control device 30B)
The control device 30B is configured similarly to the control device 30A. The configuration of the control device 30B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the description of the configuration of the control device 30A.

<Flow of control method S3>
In the control system 3 configured as described above, the control device 30A executes the control method S3. For example, the control device 30A may execute the control method S3 at the timing when the work type information included in the future work information A changes. The control device 30B also executes the control method S3, like the control device 30A. For example, the control device 30B may execute the control method S3 at the timing when the work type information included in the future work information B changes.

The flow of control method S3 will be described with reference to FIG. FIG. 21 is a flowchart showing the flow of control method S3. As shown in FIG. 2, the control method S3 includes steps S31 to S37. In addition, below, the case where 30 A of control apparatuses perform the control method S3 is demonstrated. The case where the control method S3 is executed by the control device 30B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description. .

(Step S31)
In step S31, the acquisition unit 21A acquires future work information A. FIG. For example, future work information A is a time series of work information A from time points t1 to tn in the future. Hereinafter, work information A at time tx will be referred to as work information Ai (i=1, 2, . . . , n). Details of the work information Ai are the same as the work information A described in the second exemplary embodiment, and include work type information, target position information, and posture information.

For example, the work type information and target position information from time t1 to tn are determined by the operation specifying unit 34A and stored in the memory of the control device 30A in order to operate the backhoe 90A autonomously. Also, the posture information from time t1 to tn can change according to the operation of the backhoe 90A. The acquisition unit 31A may acquire the posture information from time t1 to tn by predicting it based on the work information A up to the current time.

(Step S32)
In step S32, the acquisition unit 31A acquires future position information A of the backhoe 90A. The future location information A is a time series of the location information A from time t1 to tn. Hereinafter, position information A at time ti will be referred to as position information Ai. The position information A1-An can change according to the operation of the backhoe 90A. The acquisition unit 31A acquires the position information A1 to An by predicting based on the work information A and the position information A up to the present time.

(Step S33)
In step S33, the acquisition unit 31A acquires future position information B of the backhoe 90B. The future position information B is a time series of the position information B from time t1 to tn. Hereinafter, position information B at time ti will be referred to as position information Bi. The position information B1-Bn may change according to the operation of the backhoe 90B. Here, the control device 30B specifies the position information B1 to Bn in step S32 by executing the control method S3 in the same manner as the control device 30A. Therefore, the acquisition unit 31A acquires the position information B1 to Bn by receiving them from the control device 30B.

(Step S34)
In step S34, the range identification unit 32A identifies the future contact range 80A of the backhoe 90A. Future contact area 80A is a time series of contact area 80A from time t1 to tn. Hereinafter, the contact range 80A at time ti will be referred to as a contact range 80Ai. Specifically, the range specifying unit 22A specifies the contact range 80Ai by executing the range specifying process shown in FIG. 7 for each time ti from time t1 to time tn.

(Step S35)
In step S35, the acquisition unit 31A acquires the future contact range 80B of the backhoe 90B. Future contact area 80B is a time series of contact area 80B from time t1 to tn. Hereinafter, the contact range 80B at time ti will be referred to as a contact range 80Bi. Here, the control device 30B specifies the contact ranges 80B1 to 80Bn in step S34 by executing the control method S3 in the same manner as the control device 30A. Therefore, the acquisition unit 31A receives the contact ranges 80B1 to 80Bn by requesting the control device 30B.

(Step S36)
In step S36, the operation control unit 33A determines whether or not at least a portion of the contact range 80Ai and the contact range 80Bi overlap at least one of the time points ti from time points t1 to tn.

(Yes in step S36: step S37)
When it is determined as Yes in step S36, the motion control unit 33A stops the backhoe 90A in step S37. Specifically, the operation control unit 33A transmits operation control information instructing a stop to the backhoe 90A.

(No in step S36)
If the determination in step S36 is No, the control device 30A terminates the control method S3. In addition, if it is determined as Yes in step S36 in the control method S3 executed in the past and step S37 is executed, the backhoe 90A has already stopped. In such a state, the operation control section 33A may cause the backhoe 90A to restart the work when it is determined as No in step S36 in the current execution of the control method S3.

In this exemplary embodiment, the work type information and the target position information included in the future work information Ai and Bi are determined by the operation specifying section 34A in order to operate the backhoe 90A autonomously. explained as. However, the acquisition unit 31A may acquire these pieces of information by predicting them based on the work information A and B up to the present time. Also, the posture information included in the future work information Ai and Bi has been described as being predicted based on the work information A and B up to the present time. Further, the future position information Ai, Bi has been described as being predicted based on the work information A, B and the position information A, B up to the present time. However, the acquisition unit 31A may acquire information determined by the motion identification unit 34A as the posture information and the future position information Ai and Bi included in the future work information Ai and Bi.

<Effects of this exemplary embodiment>
This exemplary embodiment simulates the future contact ranges 80A, 80B on the virtual space VS based on the future work information A, B and the future position information A, B of the backhoes 90A, 90B. . Further, this exemplary embodiment controls the backhoes 90A and 90B to stop when at least a portion of the contact ranges 80A and 80B overlap in the simulation on the virtual space VS. This allows the exemplary embodiment to anticipate and better avoid the likelihood of backhoe 90A, 90B contact in response to future changes in the work of backhoes 90A, 90B.

[Exemplary embodiment 4]
A fourth exemplary embodiment of the invention will now be described in detail with reference to the drawings. Components having the same functions as those described in exemplary embodiments 1 to 3 are denoted by the same reference numerals, and description thereof will not be repeated.

<Configuration of control system 4>
The configuration of the control system 4 according to this exemplary embodiment will be described with reference to FIG. 22 . FIG. 22 is a block diagram showing the configuration of the control system 4. As shown in FIG. As shown in FIG. 22, the control system 4 includes a control system 4A, a control system 4B, and a central control device 60. The control system 4A is a system that includes a backhoe 90A and a control device 40A and controls the backhoe 90A. The control system 4B is a system that includes a backhoe 90B and a control device 40B and controls the backhoe 90B. The general control device 60 is a device that supervises the control devices 40A and 40B.

The control device 40A, the control device 40B, and the general control device 60 are communicably connected via the network N1. The manner of connection between the control device 40A and the backhoe 90A and the manner of connection between the control device 40B and the backhoe 90B are as described in the second exemplary embodiment. The configurations of the backhoe 90A and the backhoe 90B are also the same as those described in the second exemplary embodiment.

(Configuration of integrated control device 60)
A detailed configuration of the overall control device 60 will be described. As shown in FIG. 22 , the central control device 60 includes a range collection section 61 and a delivery destination identification section 62 .

The range collection unit 61 receives the contact range 80A from the control device 40A and the contact range 80B from the control device 40B. In addition, the range collection unit 61 transmits the contact range 80B to the control device 40A and also transmits the contact range 80A to the control device 40B. In other words, range collection unit 61 collects contact ranges 80A and 80B from control devices 40A and 40B, and distributes the collected contact ranges 80A and 80B to control devices 40A and 40B.

The distribution destination specifying unit 62 determines the distribution destinations of the collected contact ranges 80A and 80B. Specifically, the distribution destination specifying unit 62 determines the control device 40B that controls the backhoe 90B that exists in the vicinity of the contact range 80A as the distribution destination of the collected contact range 80A. Also, for example, the distribution destination specifying unit 62 determines the control device 40A that controls the backhoe 90A that exists in the vicinity of the contact range 80B as the distribution destination of the collected contact range 80B.

For example, the delivery destination specifying unit 62 may receive the position information of the backhoes 90A and 90B from the control devices 40A and 40B, refer to the received position information, and determine the delivery destination. Specifically, when the backhoes 90A and 90B exist within a predetermined distance, the distribution destination specifying unit 62 determines the control device 40B as the distribution destination of the contact range 80A, and determines the control device 40A as the distribution destination of the contact range 80B. may be determined. Note that the delivery destination specifying unit 62 does not need to determine the delivery destinations of the contact ranges 80A and 80B when the backhoes 90A and 90B are separated by a predetermined distance or more. In this case, contact areas 80A and 80B are not distributed.

Also, for example, the general control device 60 may supervise three or more control devices including the control devices 40A and 40B. Each of the three or more control devices is a device that controls different backhoes. In this case, the central control device 60 determines some or all of the control devices other than the transmission source of the contact range as distribution destinations of each collected contact range. For example, the delivery destination specifying unit 62 selects, as a delivery destination of the contact range 80A, a control device that controls a backhoe existing in the vicinity of the contact range 80A among the control devices other than the control device 40A. Decide not to deliver to the device.

(Configuration of control device 40A)
A detailed configuration of the control device 40A will be described. As shown in FIG. 22, the control device 40A includes an acquisition unit 41A, a range identification unit 42A, an operation control unit 43A, and an operation identification unit 44A.

The acquisition unit 41A is configured in substantially the same manner as the acquisition unit 21A in the second exemplary embodiment. However, the difference is that the contact range 80B of the backhoe 90B is received from the overall control device 60 instead of being received from the control device 40B.

The range specifying unit 42A is configured almost similarly to the range specifying unit 22A in the second exemplary embodiment. However, it differs in that the identified contact range 80A of the backhoe 90A is transmitted to the central control device 60. FIG.

The motion control unit 43A and the motion specifying unit 44A are configured in the same manner as the motion control unit 23A and the motion specifying unit 24A in the second exemplary embodiment.

(Configuration of control device 40B)
The control device 40B is configured similarly to the control device 40A. The configuration of the control device 40B will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the description of the configuration of the control device 40A.

<Flow of control method S4>
The control system 4 configured as described above sequentially executes the control method S4. The sequential execution may be, for example, executing the control method S4 at predetermined intervals, or executing the control method S4 according to changes in the work information A. FIG. The control device 40B also sequentially executes the control method S4, like the control device 40A.

The flow of control method S4 will be described with reference to FIG. FIG. 23 is a flowchart showing the flow of control method S4. As shown in FIG. 23, the control method S4 includes steps S41 to S47 and steps S61 to S62. A case where the control device 40A executes steps S41 to S47 will be described below. The case where the control device 40B executes steps S41 to S47 will be described in the same manner by replacing the suffix "A" with "B" and "B" with "A" in the following description. be.

(Steps S41 to S43)
Steps S41-S43 are similar to steps S21-S23 described with reference to FIG. 5 in the second exemplary embodiment. Thereby, the acquisition unit 41A acquires the work information A and the position information A of the backhoe 90A and the position information B of the backhoe 90B.

(Step S44)
In step S44, the range specifying unit 42A specifies the contact range 80A of the backhoe 90A according to the work content indicated by the work information A. The details of this process are substantially the same as step S24 described with reference to FIG. 5 in the second exemplary embodiment. However, the range specifying unit 42A transmits the specified contact range 80A to the central control device 60. FIG.

(Step S61)
In step S61, the range collection unit 61 of the overall control device 60 collects the contact ranges 80A and 80B from the control devices 40A and 40B.

(Step S62)
In step S62, the distribution destination specifying unit 62 determines the control device 40B as the distribution destination of the collected contact range 80A, and determines the control device 40A as the distribution destination of the contact range 80B. Further, the range collection unit 61 distributes the contact range 80B to the control device 40A. In addition, range collection unit 61 distributes contact range 80A to control device 40B.

(Steps S45-S47)
Steps S45-S47 are substantially similar to steps S25-S27 described with reference to FIG. 5 in the second exemplary embodiment. However, in step S45, the operation control unit 43A receives the contact range 80B from the integrated control device 60. FIG. Thereby, the operation control unit 43A controls to stop the backhoe 90A when at least a part of the contact ranges 80A and 80B overlap.

<Effects of this exemplary embodiment>
In this exemplary embodiment, the contact ranges 80A, 80B are collected and distributed by the general controller 60 for use in determining the likelihood of backhoe 90A, 90B contact. Accordingly, the control devices 40A and 40B do not need to be able to communicate with each other, and only need to be able to communicate with the central control device 60 . Thus, the exemplary embodiment can be easily extended to control more than two backhoes 90 .

[Exemplary embodiment 5]
A fifth exemplary embodiment of the present invention will now be described in detail with reference to the drawings. Components having the same functions as the components described in exemplary embodiments 1 to 4 are denoted by the same reference numerals, and description thereof will not be repeated.

<Configuration of control system 5>
The configuration of the control system 5 according to this exemplary embodiment will be described with reference to FIG. 24 . FIG. 24 is a block diagram showing the configuration of the control system 5. As shown in FIG. As shown in FIG. 24, the control system 5 includes a control system 5A, a control system 5B, and a central control device 70. The control system 5A is a system that includes a backhoe 90A and a control device 50A and controls the backhoe 90A. The control system 5B is a system that includes a backhoe 90B and a control device 50B and controls the backhoe 90B. The general control device 70 is a device that supervises the control devices 50A and 50B.

The connection mode of the control device 50A, the control device 50B, and the integrated control device 70, the connection mode of the control device 50A and the backhoe 90A, and the connection mode of the control device 50B and the backhoe 90B are as described in the fourth exemplary embodiment. be. Also, the configurations of the backhoe 90A and the backhoe 90B are as described in the second exemplary embodiment.

(Configuration of integrated control device 70)
A detailed configuration of the overall control device 70 will be described. As shown in FIG. 24 , the central control device 70 includes a range collection section 71 and a danger determination section 72 .

The range collection unit 71 receives the contact range 80A and the position information A from the control device 50A, and receives the contact range 80B and the position information B from the control device 50B. In other words, the range collection unit 71 collects the contact range 80 and position information from each of the control devices 50A and 50B.

The danger determination unit 72 refers to the collected contact range 80 and position information to determine whether there is a possibility that multiple backhoes 90 will come into contact. In addition, the danger determination unit 72 transmits information regarding control of the operation of the backhoes 90A and 90B to the control devices 50A and 50B according to the determination result.

(Configuration of control device 50A)
A detailed configuration of the control device 50A will be described. As shown in FIG. 24, the control device 50A includes an acquisition unit 51A, a range identification unit 52A, an operation control unit 53A, and an operation identification unit 54A.

The acquisition unit 51A is configured in substantially the same manner as the acquisition unit 21A in the second exemplary embodiment. However, the difference is that the contact range 80B of the backhoe 90B is received from the general control device 70 instead of being received from the control device 50B. Another difference is that the acquired position information A is transmitted to the central control device 70 .

The range specifying unit 52A is configured almost similarly to the range specifying unit 22A in the second exemplary embodiment. However, it differs in that the specified contact range 80A of the backhoe 90A is transmitted to the central control device 70. FIG.

When the operation control unit 53A receives information instructing to stop the backhoe 90A from the integrated control device 70, it controls to stop the backhoe 90A.

The motion specifying unit 54A is configured in the same manner as the motion specifying unit 24A in the second exemplary embodiment.

(Configuration of control device 50B)
The control device 50B is configured similarly to the control device 50A. The configuration of the control device 50B will be described in the same way by replacing the suffix "A" with "B" and "B" with "A" in the description of the configuration of the control device 50A.

<Flow of control method S5>
The control system 5 configured as described above sequentially executes the control method S5. The sequential execution may be, for example, executing the control method S5 at predetermined intervals, or executing the control method S5 according to changes in the work information A. FIG. The control device 50B also sequentially executes the control method S5, like the control device 50A.

The flow of control method S5 will be described with reference to FIG. FIG. 25 is a flowchart showing the flow of control method S5. As shown in FIG. 25, the control method S5 includes steps S51 to S55 and steps S71 to S73. A case where the control device 50A executes steps S51 to S55 will be described below. The case where the control device 50B executes steps S51 to S55 will be described in the same manner by replacing "A" with "B" and "B" with "A" in the following description. be.

(Step S51)
Step S51 is similar to step S21 described with reference to FIG. 5 in the second exemplary embodiment. Thereby, the acquisition unit 51A acquires the work information A of the backhoe 90A.

(Step S52)
Step S52 is substantially similar to step S22 described with reference to FIG. 5 in the second exemplary embodiment. Thereby, the acquisition unit 51A acquires the position information A of the backhoe 90A. However, the acquisition unit 51A transmits the acquired position information A to the central control device 70 .

(Step S53)
In step S53, the range specifying unit 52A specifies the contact range 80A of the backhoe 90A according to the work content indicated by the work information A. The details of this process are substantially the same as step S24 described with reference to FIG. 5 in the second exemplary embodiment. However, the range specifying unit 52A transmits the specified contact range 80A to the central control device 70. FIG.

(Step S71)
In step S71, the range collection unit 71 of the overall control device 70 collects the contact ranges 80A and 80B and the position information A and B from the control devices 50A and 50B.

(Step S72)
In step S72, the danger determination unit 72 refers to the position information A and B to determine whether or not at least a portion of the contact ranges 80A and 80B overlap.

(Yes in step S72: step S73)
When it is determined as Yes in step S72, the danger determination unit 72 transmits information instructing the backhoes 90A and 90B to stop.

(Step S54)
In step S54, the operation control unit 53A determines whether information instructing to stop has been received from the integrated control device 70 or not.

(Yes in step S54: step S55)
When it is determined Yes in step S54, in step S55, the operation control unit 53A controls the backhoe 90A to stop. Specifically, the operation control unit 53A transmits the operation control information instructing the stop to the backhoe 90A.

(No in step S73, No in step S54)
If it is judged No in step S73, it is judged No in step S55, and the control method S5 ends.

<Effects of this exemplary embodiment>
In this exemplary embodiment, the contact areas 80A, 80B used for determining the possibility of contact of the backhoes 90A, 90B are collected by the general control device 70, and information instructing to stop when there is a possibility of contact is provided. To deliver. Thereby, contact can be avoided more sufficiently regardless of the communication state between the control devices 50A and 50B.

[Modification 4]
In the exemplary embodiment 5 described above, the overall control device 70 can be modified to further include a range identifying section, and the control devices 50A and 50B can be modified not to include the range identifying sections 52A and 52B. In this case, the control system 5A transmits the work information A acquired by the acquisition unit 51A to the central control device 70. FIG. Similarly, the control system 5B also transmits the work information B to the general control device 70 . Further, the range specifying unit of the integrated control device 70 specifies the contact ranges 80A and 80B according to the work contents indicated by the work information A and B. The danger determination unit 72 transmits information instructing to stop the backhoes 90A and 90B when at least a part of the contact ranges 80A and 80B identified by the range identification unit of its own device overlaps. Thereby, the contact of the backhoes 90A and 90B can be avoided more sufficiently based on the comprehensively specified contact ranges 80A and 80B.

[Modification 5]
Further, in Modification 4 described above, the overall control device 70 can be modified to include the motion specifying unit, and the control devices 50A and 50B can be modified to not include the motion specifying units 54A and 54B. In this case, the acquisition unit 51A of the control system 5A acquires the position information and attitude information of the backhoe 90A and transmits them to the central control device . Similarly, the control system 5B acquires the position information and attitude information of the backhoe 90B and transmits them to the general control device 70 . Further, the operation specifying unit of the integrated control device 70 determines the work content of the backhoes 90A and 90B, and transmits information indicating the determined work content to the control devices 50A and 50B. In addition, the range specifying unit of the central control device 70 specifies the contact ranges 80A and 80B according to the received position information and attitude information about the backhoes 90A and 90B and the determined work content. The danger determination unit 72 transmits information instructing to stop the backhoes 90A and 90B when at least a part of the contact ranges 80A and 80B identified by the range identification unit of its own device overlaps. Thereby, while controlling operation|movement of backhoe 90A, 90B centralizedly, based on contact range 80A, 80B specified centralizedly, contact of backhoe 90A, 90B can be avoided more fully.

[Other Modifications]
In the exemplary embodiments 3 to 5 described above, similarly to the modified example 1 of the exemplary embodiment 2, the contact range 80 to be calculated differs depending on whether or not another backhoe 90 exists in the peripheral area of the target position. It can be transformed to fit. Exemplary Embodiments 3-5 described above, like Variation 2 of Exemplary Embodiment 2, can be modified to obtain work information from other backhoes 90 to identify the work ranges of other backhoes 90 . Also, Exemplary Embodiments 3-5 described above, like Variation 3 of Exemplary Embodiment 2, can be modified to sequentially transmit position information, contact range 80, or work information to other backhoes. .

(Modified example in which one backhoe operates by remote control)
Also, in the exemplary embodiments 2-5 described above, one of the backhoes 90A, 90B may be a work machine operated remotely by an operator. For example, a case will be described in which the backhoe 90A operates under the control of a control device (any one of 20A, 30A, 40A, and 50A) and the backhoe 90B operates by remote control. In this case, each exemplary embodiment may control backhoes 90A and 90B to stop when at least a portion of contact areas 80A and 80B overlap, regardless of operator action. Also, each exemplary embodiment may output information instructing the operator to move the backhoe 90B to a position where the contact areas 80A and 80B no longer overlap when at least a portion of the contact areas 80A and 80B overlap. good. Each exemplary embodiment may also control backhoe 90A to move to a position where contact areas 80A and 80B do not overlap when at least a portion of contact areas 80A and 80B overlap. Thereby, each exemplary embodiment can more sufficiently avoid contact of a plurality of backhoes 90 even when the object to be controlled includes the backhoe 90 operated by remote control of an operator.

(Modified example in which a working machine other than a backhoe is controlled)
Also, the exemplary embodiments 2-5 described above can be modified to control other work machines instead of the backhoes 90A, 90B. Also, in such variations, the work machines controlled by each exemplary embodiment need not necessarily operate similarly.

As an example, the controlled object of each exemplary embodiment may be a robot that operates autonomously. For example, a plurality of robots may perform component mounting operations in parallel. At that time, the control device that controls the first robot is based on the contact range of the first robot and the contact range of the second robot existing in the same work area as or adjacent to the first robot. , may control the first robot.

Also, for example, at a site where a forklift loads and unloads packages, a transport robot may transport the package, or a cleaning robot may clean the site. At that time, the control device that controls the transport robot may specify the contact range from the motion of the transport robot and acquire or specify the contact range of the cleaning robot. In this case, the control device that controls the transport robot may compare the contact ranges of the transport robot and the cleaning robot to control the transport robot.

Also, for example, while the storage robot organizes the contents of the shelf, the cleaning robot may clean the surrounding floor. At this time, the control device that controls the cleaning robot may specify the contact range from the work information of the storage robot, or acquire the contact range of the storage robot from the control device that controls the storage robot. In this case, the control device that controls the cleaning robot may control the cleaning robot by comparing the contact range of the storage robot and the contact range of the cleaning robot.

In addition, each of the multiple robots installed side by side may communicate with each other while performing tasks such as waving their arms and moving. At that time, the controller of the first robot may control the first robot based on the contact range of the second robot.

As described above, each exemplary embodiment can more sufficiently avoid contact between robots by making each robot a control target.

As another example, the controlled objects of each exemplary embodiment may include a robot that operates autonomously and a robot that operates remotely by an operator. In this case, each exemplary embodiment may cause both robots to stop when at least a portion of the contact areas 80A and 80B overlap, regardless of action by the operator. Further, each exemplary embodiment includes information for instructing the operator to move the remotely operated robot to a position where the contact areas 80A and 80B do not overlap when at least a portion of the contact areas 80A and 80B overlap. may be output. Also, each exemplary embodiment may control the autonomously operating robot to move to a position where the contact areas 80A and 80B no longer overlap when at least a portion of the contact areas 80A and 80B overlap. . This makes it possible to more sufficiently avoid contact between the autonomously operating robot and the remotely operated robot.

[Example of realization by software]
Some or all of the functions of the control devices 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, 50B and the overall control devices 60, 70 are implemented by hardware such as integrated circuits (IC chips). Alternatively, it may be implemented by software.

In the latter case, some or all of the control devices 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, 50B and the overall control devices 60, 70 are software that implements each function, for example. It is implemented by a computer that executes the instructions of a program. An example of such a computer (hereinafter referred to as computer C) is shown in FIG. Computer C comprises at least one processor C1 and at least one memory C2. The memory C2 stores a program P for causing the computer C to operate as one of the control devices 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, 50B and the general control devices 60, 70. It is In the computer C, the processor C1 reads the program P from the memory C2 and executes it, so that the corresponding one of the control devices 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, 50B and the general control devices 60, 70 Each function of the device to be performed is realized.

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

Note that the computer C may further include a RAM (Random Access Memory) for expanding the program P during execution and temporarily storing various data. Computer C may further include a communication interface for sending and receiving data to and from other devices. Computer C may further include an input/output interface for connecting input/output devices such as a keyboard, mouse, display, and printer.

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

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

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

(Appendix 1)
an acquisition step of acquiring first work information indicating work content of the first work machine and position information of the first work machine;
a range identifying step of identifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
an operation control step of controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
Control method including.

According to the above configuration, it is possible to flexibly set the first range, which includes the range in which the first work machine operates and the periphery of the range, according to the work content of the first work machine. As a result, the first working machine can be operated more safely.

(Appendix 2)
In the range specifying step, the first range is specified according to the work content indicated by the first work information and the operating range of the operating parts of the first working machine.
The control method according to appendix 1.

According to the above configuration, the first range for operating the first working machine more safely is flexibly set according to the work content of the first working machine and the operation range of the moving parts of the first working machine. can do.

(Appendix 3)
said first work machine comprising a plurality of said moving parts;
In the range identifying step, at least one of the plurality of operating parts is selected according to the work content indicated by the first work information, and the first range is selected according to the operating range of the selected operating part. Identify,
The control method according to appendix 2.

According to the above configuration, the first range for operating the first work machine more safely can be flexibly set according to the operating range of the selected operating portion.

(Appendix 4)
4. The control method according to any one of Appendices 1 to 3, wherein the first work information includes information regarding orientation of a moving part of the first work machine.

According to the above configuration, it is possible to flexibly set the first range for operating the first working machine more safely according to each operating part.

(Appendix 5)
In the obtaining step, the first work information is obtained sequentially,
In the range specifying step, the first range is sequentially changed according to the first work information,
5. The control method according to any one of appendices 1 to 4.

According to the above configuration, the first range is sequentially changed according to the sequentially acquired work information. As a result, the first range can be set more accurately by reflecting changes in work information.

(Appendix 6)
In the acquisition step, further acquiring at least one of future first work information indicating future work content of the first work machine and future position information of the first work machine;
In the range specifying step, specifying the future first range by referring to the information acquired in the acquiring step,
In the operation control step, the operation of the first work machine is controlled by referring to the future first range and the information acquired in the acquisition step;
6. The control method according to any one of appendices 1 to 5.

According to the above configuration, it is possible to simulate the first range including the range in which the first work machine will operate in the future and the surroundings of the range. As a result, the first work machine can be operated more safely according to future changes in the work information of the first work machine.

(Appendix 7)
The obtaining step further obtains information indicating a second range including a range in which a second work machine different from the first work machine operates and a periphery of the range,
In the operation control step, the operation of the first work machine is controlled by further referring to the second range.
7. The control method according to any one of appendices 1 to 6.

According to the above configuration, the first range and the second range for determining the possibility of contact between the first work machine and the second work machine are adapted to the work contents of each of the first work machine and the second work machine. can be flexibly set according to As a result, contact between the first working machine and the second working machine can be more sufficiently avoided.

(Appendix 8)
8. The control method according to appendix 7, wherein in the operation control step, the operation of the first work machine is controlled when at least a part of the first range and the second range overlap.

According to the above configuration, since the operation of the first work machine is controlled when there is a possibility of contact between the first work machine and the second work machine, contact between the first work machine and the second work machine is prevented. can be avoided more fully.

(Appendix 9)
Acquisition means for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
range specifying means for specifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
an operation control means for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
Control system including.

According to the above configuration, the same effect as Appendix 1 can be obtained.

(Appendix 10)
The range specifying means specifies the first range according to the work content indicated by the first work information and the operating range of the operating portion of the first working machine.
9. The control system of clause 9.

According to the above configuration, the same effects as in Supplementary Note 2 are obtained.

(Appendix 11)
said first work machine comprising a plurality of said moving parts;
The range identifying means selects at least one of the plurality of operating parts according to the work content indicated by the first work information, and determines the first range according to the operating range of the selected operating part. Identify,
11. The control system of clause 10.

According to the above configuration, the same effects as in Supplementary Note 3 are obtained.

(Appendix 12)
12. The control system according to any one of Appendices 9 to 11, wherein the first work information includes information regarding orientation of moving parts of the first work machine.

According to the above configuration, the same effects as in Supplementary Note 4 are obtained.

(Appendix 13)
The acquisition means sequentially acquires the first work information,
wherein the range identifying means sequentially changes the first range according to the first work information;
13. A control system according to any one of clauses 9-12.

According to the above configuration, the same effects as in Supplementary Note 5 are obtained.

(Appendix 14)
The acquisition means further acquires at least one of future first work information indicating future work content of the first work machine and future position information of the first work machine,
The range specifying means specifies the future first range by referring to the information acquired in the acquiring step,
The operation control means controls the operation of the first work machine by referring to the future first range and the information acquired in the acquisition step.
14. A control system according to any one of clauses 9-13.

According to the above configuration, the same effects as in Supplementary Note 6 are obtained.

(Appendix 15)
The acquisition means further acquires information indicating a second range including a range in which a second work machine different from the first work machine operates and a circumference of the range,
The motion control means further refers to the second range to control the motion of the first work machine.
15. A control system according to any one of clauses 9-14.

According to the above configuration, the same effects as in Supplementary Note 7 are obtained.

(Appendix 16)
16. The control system according to appendix 15, wherein the motion control means controls the motion of the first work machine when at least a portion of the first range and the second range overlap.

According to the above configuration, the same effects as in Supplementary Note 8 are obtained.

(Appendix 17)
Acquisition means for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
range specifying means for specifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
an operation control means for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
Control device including.

According to the above configuration, the same effect as Appendix 1 can be obtained.

(Appendix 18)
The range specifying means specifies the first range according to the work content indicated by the first work information and the operating range of the operating portion of the first working machine.
17. The control device according to appendix 17.

According to the above configuration, the same effects as in Supplementary Note 2 are obtained.

(Appendix 19)
said first work machine comprising a plurality of said moving parts;
The range identifying means selects at least one of the plurality of operating parts according to the work content indicated by the first work information, and determines the first range according to the operating range of the selected operating part. Identify,
19. The control device according to appendix 18.

According to the above configuration, the same effects as in Supplementary Note 3 are obtained.

(Appendix 20)
20. The control device according to any one of Appendices 17 to 19, wherein the first work information includes information about orientation of moving parts provided in the first work machine.

According to the above configuration, the same effects as in Supplementary Note 4 are obtained.

(Appendix 21)
The acquisition means sequentially acquires the first work information,
wherein the range identifying means sequentially changes the first range according to the first work information;
21. Control device according to any one of appendices 17-20.

According to the above configuration, the same effects as in Supplementary Note 5 are obtained.

(Appendix 22)
The acquisition means further acquires at least one of future first work information indicating future work content of the first work machine and future position information of the first work machine,
The range specifying means specifies the future first range by referring to the information acquired in the acquiring step,
The operation control means controls the operation of the first work machine by referring to the future first range and the information acquired in the acquisition step.
22. A control device according to any one of appendices 17 to 21.

According to the above configuration, the same effects as in Supplementary Note 6 are obtained.

(Appendix 23)
The acquisition means further acquires information indicating a second range including a range in which a second work machine different from the first work machine operates and a circumference of the range,
The motion control means further refers to the second range to control the motion of the first work machine.
23. A control device according to any one of appendices 17 to 22.

According to the above configuration, the same effects as in Supplementary Note 7 are obtained.

(Appendix 24)
24. The control device according to appendix 23, wherein the operation control means controls the operation of the first work machine when at least a part of the first range and the second range overlap.

According to the above configuration, the same effects as in Supplementary Note 8 are obtained.

(Appendix 25)
A program that causes a computer to function as a control device that controls a working machine,
said computer,
Acquisition means for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
range specifying means for specifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
an operation control means for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
A program that acts as a

According to the above configuration, the same effect as Appendix 1 can be obtained.

(Appendix 26)
The range specifying means specifies the first range according to the work content indicated by the first work information and the operating range of the operating portion of the first working machine.
25. The program according to Appendix 25.

According to the above configuration, the same effects as in Supplementary Note 2 are obtained.

(Appendix 27)
said first work machine comprising a plurality of said moving parts;
The range identifying means selects at least one of the plurality of operating parts according to the work content indicated by the first work information, and determines the first range according to the operating range of the selected operating part. Identify,
27. The program according to Appendix 26.

According to the above configuration, the same effects as in Supplementary Note 3 are obtained.

(Appendix 28)
28. The program according to any one of Appendices 25 to 27, wherein the first work information includes information about orientations of moving parts of the first work machine.

According to the above configuration, the same effects as in Supplementary Note 4 are obtained.

(Appendix 29)
The acquisition means sequentially acquires the first work information,
wherein the range identifying means sequentially changes the first range according to the first work information;
29. A program according to any one of appendices 25-28.

According to the above configuration, the same effects as in Supplementary Note 5 are obtained.

(Appendix 30)
The acquisition means further acquires at least one of future first work information indicating future work content of the first work machine and future position information of the first work machine,
The range specifying means specifies the future first range by referring to the information acquired in the acquiring step,
The operation control means controls the operation of the first work machine by referring to the future first range and the information acquired in the acquisition step.
30. A program according to any one of appendices 25-29.

According to the above configuration, the same effects as in Supplementary Note 6 are obtained.

(Appendix 31)
The acquisition means further acquires information indicating a second range including a range in which a second work machine different from the first work machine operates and a circumference of the range,
The motion control means further refers to the second range to control the motion of the first work machine.
31. A program according to any one of appendices 25-30.

According to the above configuration, the same effects as in Supplementary Note 7 are obtained.

(Appendix 32)
32. The program according to appendix 31, wherein the motion control means controls the motion of the first work machine when at least part of the first range and the second range overlap.

According to the above configuration, the same effects as in Supplementary Note 8 are obtained.

(Appendix 33)
at least one processor, said processor comprising:
Acquisition processing for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
a range identification process for identifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
an operation control process for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
A control device that carries out

The control device may further include a memory, and the memory stores a program for causing the processor to execute the acquisition process, the range identification process, and the operation control process. may Also, this program may be recorded in a computer-readable non-temporary tangible recording medium.

1, 2, 2A, 2B, 3, 3A, 3B, 4, 4A, 4B, 5, 5A, 5B control system 10, 20, 20A, 20B, 24A, 30A, 30B, 40A, 40B, 50A, 50B control device 11, 21A, 21B, 31A, 31B, 41A, 41B, 51A, 51B Acquisition unit 12, 22A, 22B, 32A, 32B, 42A, 42B, 52A, 52B Range identification unit 13, 23A, 23B, 33A, 33B, 43A , 43B, 53A, 53B motion control units 24A, 24B, 34A, 34B, 54A, 54B motion specifying units 60, 70 integrated control devices 61, 71 range collecting unit 62 distribution destination specifying unit 72 danger determining units 90, 90A, 90B backhoe 91A, 91B swivel parts 92A, 92B arm parts 93A, 93B travel parts 94A, 94B controller 921A boom 922A arm 923A bucket C1 processor C2 memory N1 network P1A, P1B swivel axis P2A boom axis P3A arm axis P4A bucket axis P5A tip part P6A bottom part

Claims (21)

1. an acquisition step of acquiring first work information indicating work content of the first work machine and position information of the first work machine;
   a range identifying step of identifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
   an operation control step of controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
   Control method including.
2. In the range specifying step, the first range is specified according to the work content indicated by the first work information and the operating range of the operating parts of the first working machine.
   The control method according to claim 1.
3. said first work machine comprising a plurality of said moving parts;
   In the range identifying step, at least one of the plurality of operating parts is selected according to the work content indicated by the first work information, and the first range is selected according to the operating range of the selected operating part. Identify,
   The control method according to claim 2.
4. The control method according to any one of claims 1 to 3, wherein the first work information includes information regarding the orientation of moving parts provided in the first work machine.
5. In the obtaining step, the first work information is obtained sequentially,
   In the range specifying step, the first range is sequentially changed according to the first work information,
   The control method according to any one of claims 1 to 4.
6. The obtaining step further obtains information indicating a second range including a range in which a second work machine different from the first work machine operates and a periphery of the range,
   In the operation control step, the operation of the first work machine is controlled by further referring to the second range.
   The control method according to any one of claims 1 to 5.
7. The control method according to claim 6, wherein in the operation control step, the operation of the first working machine is controlled when at least a part of the first range and the second range overlap.
8. Acquisition means for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
   range specifying means for specifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
   an operation control means for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
   Control system including.
9. The range specifying means specifies the first range according to the work content indicated by the first work information and the operating range of the operating portion of the first working machine.
   A control system according to claim 8 .
10. said first work machine comprising a plurality of said moving parts;
    The range identifying means selects at least one of the plurality of operating parts according to the work content indicated by the first work information, and determines the first range according to the operating range of the selected operating part. Identify,
    A control system according to claim 9 .
11. The control system according to any one of claims 8 to 10, wherein the first work information includes information regarding the orientation of moving parts provided in the first work machine.
12. The acquisition means sequentially acquires the first work information,
    wherein the range identifying means sequentially changes the first range according to the first work information;
    Control system according to any one of claims 8 to 11.
13. The acquisition means further acquires information indicating a second range including a range in which a second work machine different from the first work machine operates and a circumference of the range,
    The motion control means further refers to the second range to control the motion of the first work machine.
    Control system according to any one of claims 8 to 12.
14. 14. The control system according to claim 13, wherein said motion control means controls the motion of said first working machine when at least part of said first range and said second range overlap.
15. Acquisition means for acquiring first work information indicating work content of the first work machine and position information of the first work machine;
    range specifying means for specifying a first range including a range in which the first work machine operates and a periphery of the range, according to the work content indicated by the first work information;
    an operation control means for controlling the operation of the first work machine by referring to the first range and the position information of the first work machine;
    Control device including.
16. The range specifying means specifies the first range according to the work content indicated by the first work information and the operating range of the operating portion of the first working machine.
    16. Control device according to claim 15.
17. said first work machine comprising a plurality of said moving parts;
    The range identifying means selects at least one of the plurality of operating parts according to the work content indicated by the first work information, and determines the first range according to the operating range of the selected operating part. Identify,
    17. Control device according to claim 16.
18. The control device according to any one of claims 15 to 17, wherein said first work information includes information regarding orientation of a moving part provided in said first work machine.
19. The acquisition means sequentially acquires the first work information,
    wherein the range identifying means sequentially changes the first range according to the first work information;
    19. A control device as claimed in any one of claims 15 to 18.
20. The acquisition means further acquires information indicating a second range including a range in which a second work machine different from the first work machine operates and a circumference of the range,
    The motion control means further refers to the second range to control the motion of the first work machine.
    20. A control device as claimed in any one of claims 15 to 19.
21. The control device according to claim 20, wherein said motion control means controls the motion of said first working machine when at least a part of said first range and said second range overlap.

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