WO2024070519A1 - Système et procédé de commande pour machine de travail - Google Patents

Système et procédé de commande pour machine de travail Download PDF

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Publication number
WO2024070519A1
WO2024070519A1 PCT/JP2023/032266 JP2023032266W WO2024070519A1 WO 2024070519 A1 WO2024070519 A1 WO 2024070519A1 JP 2023032266 W JP2023032266 W JP 2023032266W WO 2024070519 A1 WO2024070519 A1 WO 2024070519A1
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WIPO (PCT)
Prior art keywords
work machine
cliff
downward
sensor
vehicle body
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PCT/JP2023/032266
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English (en)
Japanese (ja)
Inventor
将崇 尾崎
俊秀 峯後
匠真 佐藤
拓斗 本村
Original Assignee
株式会社小松製作所
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Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Publication of WO2024070519A1 publication Critical patent/WO2024070519A1/fr

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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices

Definitions

  • This disclosure relates to a work machine control system and a work machine control method.
  • a work vehicle such as that disclosed in Patent Document 1 is known.
  • a work machine equipped with an object detection device that detects obstacles such as that disclosed in Patent Document 2 is known.
  • cliffs may exist. There are upward and downward cliffs. If control of the work machine's travel and stopping is performed without taking into account the type of cliff, it may become difficult to properly stop the work machine.
  • the purpose of this disclosure is to properly stop a work machine from moving.
  • a control system for a work machine having a vehicle body, a traveling device that travels while supporting the vehicle body, and an excavation blade of an excavation work machine that is positioned forward of the vehicle body
  • the control system for a work machine including a detection data acquisition unit that acquires detection data from a sensor that detects the periphery of the work machine, a determination unit that determines whether or not a downward cliff exists in front of the work machine based on the detection data from the sensor, and a travel control unit that controls the traveling device based on the relative position of the downward cliff and a forward stop position set behind the excavation blade when it is determined that a downward cliff exists.
  • FIG. 1 is a diagram illustrating a work site management system according to an embodiment.
  • FIG. 2 is a side view that illustrates a schematic diagram of the work machine according to the embodiment.
  • FIG. 3 is a plan view illustrating a three-dimensional sensor and an obstacle sensor according to the embodiment.
  • FIG. 4 is a diagram illustrating an example of the operation of the work machine according to the embodiment.
  • FIG. 5 is a block diagram showing a detection system for a work machine according to an embodiment.
  • FIG. 6 is a diagram for explaining data stored in the current topographical data storage unit according to the embodiment.
  • FIG. 7 is a plan view that shows a schematic diagram of the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 8 is a side view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 9 is a plan view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 10 is a side view that shows a schematic diagram of the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 11 is a plan view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 12 is a side view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 13 is a plan view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 14 is a side view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 15 is a plan view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 16 is a side view that shows typically the warning range and the stop range that are set in the work machine according to the embodiment.
  • FIG. 17 is a flowchart showing a control method for a work machine according to the embodiment.
  • FIG. 18 is a block diagram illustrating a computer system according to an embodiment.
  • FIG. 1 is a diagram that illustrates a work site management system 1 according to an embodiment.
  • the work site is a mine.
  • a mine refers to a place or business where minerals are mined. Examples of mines include metal mines that mine metals, non-metal mines that mine limestone, and coal mines that mine coal.
  • a plurality of work machines 2 operate at the work site. In the embodiment, the work machines 2 are bulldozers. The work machines 2 perform predetermined work at the work site. Examples of work performed by the work machines 2 include excavation work, earth-pulling work, and ground leveling work.
  • the management system 1 comprises a management device 3 and a communication system 4.
  • the management device 3 includes a computer system.
  • the management device 3 is placed outside the work machine 2.
  • the management device 3 is installed in a control facility 5 at the work site.
  • the management device 3 manages the work site and the work machine 2.
  • An administrator is present in the control facility 5.
  • Examples of the communication system 4 include the Internet, a mobile phone communication network, a satellite communication network, or a local area network (LAN).
  • LAN local area network
  • An example of a local area network is Wi-Fi (registered trademark), which is one standard for wireless LAN.
  • the work machine 2 has a control device 6 and a wireless communication device 4A.
  • the control device 6 includes a computer system.
  • the wireless communication device 4A is connected to the control device 6.
  • the communication system 4 includes a wireless communication device 4A connected to the control device 6 and a wireless communication device 4B connected to the management device 3.
  • the management device 3 and the control device 6 of the work machine 2 communicate wirelessly via the communication system 4.
  • FIG. 2 is a side view that shows a schematic diagram of the work machine 2 according to the embodiment.
  • the work machine 2 includes a vehicle body 7, a traveling device 8, an excavator 9, a ripper 10, a position sensor 11, an inclination sensor 12, a three-dimensional sensor 13, and an obstacle sensor 14.
  • the vehicle body 7 has an engine compartment 15.
  • An engine 16 is housed in the engine compartment 15.
  • the engine 16 is a drive source for the work machine 2.
  • the traveling device 8 supports the vehicle body 7 and travels.
  • the traveling device 8 has a pair of tracks 17.
  • the work machine 2 travels as the tracks 17 rotate.
  • the excavation machine 9 performs excavation work, pushing soil, or leveling work on the work target.
  • the excavation machine 9 is attached to the vehicle body 7. At least a portion of the excavation machine 9 is positioned in front of the vehicle body 7.
  • the excavation machine 9 has an excavation blade 18, a lift frame 19, a tilt cylinder 20, and a lift cylinder 21.
  • the excavation blade 18 is positioned forward of the vehicle body 7.
  • the excavation blade 18 has a cutting edge 18A.
  • the lift frame 19 supports the excavation blade 18.
  • One end of the lift frame 19 is connected to the back of the excavation blade 18 via a pivoting mechanism.
  • the other end of the lift frame 19 is connected to the vehicle body 7 via a pivoting mechanism.
  • the other end of the lift frame 19 may be connected to the traveling device 8 via a pivoting mechanism.
  • the tilt cylinder 20 and the lift cylinder 21 each operate the excavation blade 18.
  • the tilt cylinder 20 drives the excavation blade 18 to tilt.
  • the lift cylinder 21 drives the excavation blade 18 to move up and down.
  • One end of the tilt cylinder 20 is connected to the back of the excavation blade 18 via a pivot mechanism.
  • the other end of the tilt cylinder 20 is connected to the upper surface of the lift frame 19.
  • the tilt angle of the excavation blade 18 changes as the tilt cylinder 20 extends and retracts.
  • One end of the lift cylinder 21 is connected to the lift frame 19 via a pivot mechanism.
  • the other end of the lift cylinder 21 is connected to the vehicle body 7 via a pivot mechanism.
  • the excavation blade 18 moves up and down as the lift cylinder 21 extends and retracts.
  • the ripper work machine 10 performs ripping work including cutting or crushing the work object.
  • the ripper work machine 10 is attached to the vehicle body 7. At least a portion of the ripper work machine 10 is arranged rearward of the vehicle body 7.
  • the ripper work machine 10 has a shank 22, a ripper arm 23, a tilt cylinder 24, a lift cylinder 25, and a beam 26.
  • the shank 22 is arranged rearward of the vehicle body 7.
  • the shank 22 has a ripper point 22A.
  • the ripper point 22A is provided at the tip of the shank 22.
  • the ripper arm 23 supports the shank 22.
  • the ripper arm 23 connects the vehicle body 7 and the shank 22.
  • One end of the ripper arm 23 is connected to the rear of the vehicle body 7 via a pivot mechanism.
  • the other end of the ripper arm 23 is connected to the beam 26.
  • the beam 26 is rotatably connected to the ripper arm 23.
  • the shank 22 is connected to the ripper arm 23 via the beam 26.
  • the tilt cylinder 24 and the lift cylinder 25 each move the shank 22.
  • the tilt cylinder 24 and the lift cylinder 25 are each connected to the vehicle body 7.
  • the tilt cylinder 24 drives the shank 22 to tilt.
  • the lift cylinder 25 drives the shank 22 to move up and down.
  • One end of the tilt cylinder 24 is connected to the beam 26 via a rotating mechanism.
  • the other end of the tilt cylinder 24 is connected to the rear of the vehicle body 7.
  • the tilt cylinder 24 expands and contracts, changing the tilt angle of the shank 22.
  • the tilt cylinder 24 moves the shank 22 in the forward and backward directions.
  • One end of the lift cylinder 25 is connected to the beam 26 via a rotating mechanism.
  • the other end of the lift cylinder 25 is connected to the rear of the vehicle body 7.
  • the lift cylinder 25 expands and contracts, moving the shank 22 in the vertical direction.
  • the lift cylinder 25 moves the shank 22 in the vertical direction.
  • the ripper work machine 10 pierces the work target with the ripper point 22A. With the ripper point 22A pierced into the work target, the traveling device 8 travels, cutting or crushing the work target. While the traveling device 8 is traveling, the shank 22 may be moved in the up-down and back-and-forth directions.
  • the position sensor 11 detects the position of the work machine 2.
  • the position of the work machine 2 is detected using a Global Navigation Satellite System (GNSS).
  • the Global Navigation Satellite System includes a Global Positioning System (GPS).
  • GPS Global Positioning System
  • the Global Navigation Satellite System detects the position of a global coordinate system defined by coordinate data of latitude, longitude, and altitude.
  • the global coordinate system is a coordinate system fixed to the Earth.
  • the position sensor 11 includes a GNSS receiver.
  • the position sensor 11 detects the position of the work machine 2 in the global coordinate system.
  • the position sensor 11 is arranged on the vehicle body 7.
  • the tilt sensor 12 detects the inclination of the vehicle body 7.
  • the tilt sensor 12 detects the inclination angle of the vehicle body 7 with respect to a horizontal plane.
  • the tilt sensor 12 includes an inertial measurement unit (IMU).
  • IMU inertial measurement unit
  • the tilt sensor 12 is disposed on the vehicle body 7.
  • the three-dimensional sensor 13 detects the three-dimensional shape of the detection target.
  • the three-dimensional sensor 13 detects the three-dimensional shape of the detection target without contacting the detection target.
  • the detection target of the three-dimensional sensor 13 includes the work site.
  • the three-dimensional sensor 13 detects the three-dimensional shape of the work site.
  • the three-dimensional shape of the work site includes the topography of the work site.
  • the three-dimensional sensor 13 detects the distance to the surface of the detection target.
  • the three-dimensional sensor 13 detects the three-dimensional shape of the surface of the detection target by detecting the relative distance to each of the multiple detection points on the surface of the detection target.
  • the three-dimensional data indicating the three-dimensional shape of the detection target includes point cloud data consisting of multiple detection points.
  • the three-dimensional data includes the relative distance and relative position between the three-dimensional sensor 13 and each of the multiple detection points defined on the detection target.
  • the three-dimensional data includes height data of each of the multiple detection points.
  • An example of the three-dimensional sensor 13 is a laser sensor (LIDAR: Light Detection and Ranging) that detects the detection target by emitting laser light.
  • the three-dimensional sensor 13 may be a three-dimensional camera such as a stereo camera.
  • the three-dimensional sensor 13 is disposed on the vehicle body 7.
  • the obstacle sensor 14 detects objects present around the work machine 2.
  • the obstacle sensor 14 detects obstacles to the work machine 2 present at the work site.
  • the obstacle sensor 14 detects obstacles without contacting the obstacles.
  • An example of the obstacle sensor 14 is a radar sensor (RADAR: Radio Detection and Ranging) that detects obstacles by emitting radio waves.
  • the obstacle sensor 14 may also be an infrared sensor that detects obstacles by emitting infrared light.
  • the obstacle sensor 14 is disposed on the vehicle body 7.
  • the three-dimensional sensor 13 has a detection range 130.
  • the three-dimensional sensor 13 detects three-dimensional data of a detection target arranged in the detection range 130.
  • the three-dimensional sensor 13 includes a three-dimensional sensor 13F that detects three-dimensional data in front of the vehicle body 7, and a three-dimensional sensor 13B that detects three-dimensional data in the rear of the vehicle body 7.
  • the detection range 130 of the three-dimensional sensor 13 includes a detection range 130F of the three-dimensional sensor 13F and a detection range 130B of the three-dimensional sensor 13B. At least a portion of the detection range 130F is defined forward of the excavation work machine 9. At least a portion of the detection range 130B is defined rearward of the ripper work machine 10.
  • the obstacle sensor 14 has a detection range 140.
  • the obstacle sensor 14 detects obstacles located within the detection range 140.
  • the obstacle sensor 14 detects obstacles behind the vehicle body 7.
  • the obstacle sensor 14 includes an obstacle sensor 14L located to the left of the center of the vehicle body 7 in the left-right direction, and an obstacle sensor 14R located to the right.
  • the detection range 140 of the obstacle sensor 14 includes a detection range 140L of the obstacle sensor 14L and a detection range 140R of the obstacle sensor 14R. At least a portion of the detection range 140L and at least a portion of the detection range 140R are defined behind the vehicle body 7. At least a portion of the detection range 140L is defined to the left of the vehicle body 7. At least a portion of the detection range 140R is defined to the right of the vehicle body 7.
  • FIG. 4 is a diagram showing a schematic example of the operation of the work machine 2 according to the embodiment.
  • the work machine 2 can perform slot dozing.
  • Slot dozing refers to a construction method in which the work machine 2 excavates the work object while repeatedly moving forward and backward along a slot-shaped excavation lane formed in the work object.
  • the work machine 2 performs slot dozing by automatic control. As shown in FIG. 4, the work machine 2 performs slot dozing so that the current topography has a shape along the final design surface 27Z. In the example shown in FIG.
  • the work machine 2 excavates the work object with the excavation machine 9 while moving forward from the excavation start point 27S so that the current topography has a shape along the first intermediate design surface 27A. After the first excavation is completed, the work machine 2 moves backward to return to the excavation start point 27S. In the second excavation, the work machine 2 excavates the work object with the excavation machine 9 while moving forward from the excavation start point 27S so that the current topography has a shape along the second intermediate design surface 27B. The work machine 2 repeatedly moves forward and backward until the current terrain is shaped along the final design surface 27Z.
  • the automatic control of the work machine 2 may be semi-automatic control performed in conjunction with manual operation by an operator, or may be fully automatic control performed without manual operation.
  • an operating device for manual operation may be mounted on the work machine 2 and operated by an operator on board the work machine 2.
  • An operating device for manual operation may be located outside the work machine 2 and remotely operated by an operator located outside the work machine 2.
  • FIG. 5 is a block diagram showing a control system 100 for the work machine 2 according to the embodiment.
  • the management system 1 includes the control system 100.
  • the control system 100 performs travel stop control of the work machine 2.
  • the control system 100 has a control device 6, a position sensor 11, an inclination sensor 12, a three-dimensional sensor 13, an obstacle sensor 14, an alarm device 30, and a traveling device 8.
  • the control device 6 has a position data acquisition unit 61, a three-dimensional data acquisition unit 62, an obstacle data acquisition unit 63, a determination unit 64, a position setting unit 65, an alarm control unit 66, a traveling control unit 67, a current terrain data creation unit 68, and a current terrain data storage unit 69.
  • the position data acquisition unit 61 acquires position data indicating the current position of the work machine 2.
  • the current position of the work machine 2 includes detection data from the position sensor 11.
  • the position data acquisition unit 61 acquires the detection data from the position sensor 11 as position data.
  • the position data acquisition unit 61 acquires posture data indicating the posture of the work machine 2.
  • the posture of the work machine 2 includes detection data from the tilt sensor 12.
  • the position data acquisition unit 61 acquires the detection data from the tilt sensor 12 as posture data.
  • the three-dimensional data acquisition unit 62 acquires three-dimensional data indicating the three-dimensional shape of the work site where the work machine 2 is operating.
  • the three-dimensional data of the work site includes detection data from the three-dimensional sensor 13.
  • the three-dimensional data acquisition unit 62 acquires the detection data from the three-dimensional sensor 13 as three-dimensional data.
  • the three-dimensional sensor 13 also detects objects that exist in the traveling direction of the work machine 2.
  • the three-dimensional data acquisition unit 62 acquires the detection data from the three-dimensional sensor 13 that detects objects that exist in the traveling direction of the work machine 2.
  • the three-dimensional sensor 13 also detects the periphery of the work machine 2.
  • the three-dimensional data acquisition unit 62 acquires the detection data from the three-dimensional sensor 13 that detects the periphery of the work machine 2.
  • the obstacle data acquisition unit 63 acquires obstacle data indicating obstacles present in the vicinity of the work machine 2.
  • the obstacle data includes detection data from the obstacle sensor 14.
  • the obstacle data acquisition unit 63 acquires the detection data from the obstacle sensor 14 as the obstacle data.
  • the obstacle data may include three-dimensional data indicating the three-dimensional shape of the object detected by the three-dimensional sensor 13.
  • the obstacle data acquisition unit 63 may acquire, as the obstacle data, a position determined by integrating a representative point of a parked object detected from point cloud data included in the three-dimensional data and the detection data from the obstacle sensor 14.
  • the determination unit 64 determines the type of cliff that exists in the traveling direction of the work machine 2 based on the detection data of the three-dimensional sensor 13.
  • the three-dimensional sensor 13 detects the three-dimensional shape of the area around the work machine 2.
  • the determination unit 64 determines the type of cliff based on the three-dimensional data that indicates the three-dimensional shape of the area around the work machine 2 detected by the three-dimensional sensor 13.
  • the types of cliff include upward cliffs and downward cliffs.
  • the determination unit 64 determines whether or not an upward cliff exists in the traveling direction of the work machine 2 based on the detection data of the three-dimensional sensor 13.
  • the determination unit 64 determines whether or not a downward cliff exists in the traveling direction of the work machine 2 based on the detection data of the three-dimensional sensor 13.
  • the position setting unit 65 changes the warning range of the work machine 2 based on the type of cliff determined by the determination unit 64.
  • the position setting unit 65 also changes the stopping position of the work machine 2 based on the type of cliff determined by the determination unit 64.
  • the alarm control unit 66 controls the alarm device 30 based on the alarm range set by the position setting unit 65.
  • the alarm device 30 is disposed, for example, in the driver's cab of the work machine 2.
  • the alarm device 30 may be an audio output device that outputs an alarm sound, or a display device that displays alarm display data.
  • the travel control unit 67 controls the travel control unit 67 based on the stop position set by the position setting unit 65.
  • the travel control unit 67 stops the travel of the work machine 2 based on the stop position set by the position setting unit 65.
  • the current terrain data creation unit 68 creates current terrain data of the work site based on the three-dimensional data acquired by the three-dimensional data acquisition unit 62, the position data indicating the current position of the work machine 2 acquired by the position data acquisition unit 61, and the attitude data indicating the attitude of the work machine 2 acquired by the position data acquisition unit 61.
  • the current terrain data creation unit 68 creates current terrain data of the work site based on the detection data of the three-dimensional sensor 13, the detection data of the position sensor 11, and the detection data of the tilt sensor 12.
  • the current terrain data storage unit 69 stores the current terrain data of the work site created by the current terrain data creation unit 68.
  • the current terrain data storage unit 69 stores the current terrain data, time, and attribute data assigned to the current terrain data in association with each other.
  • the current terrain data storage unit 69 stores the current terrain data, the time when the current terrain data was acquired, and the current position of the work machine 2 when the current terrain data was acquired in association with each other, based on the position data indicating the current position of the work machine 2 acquired by the position data acquisition unit 61.
  • the management device 3 has a current terrain data creation unit 3A and a current terrain data storage unit 3B. As described above, there are multiple work machines 2 at the work site. Each of the multiple work machines 2 transmits the current terrain data stored in the current terrain data storage unit 69 to the management device 3 via the communication system 4.
  • the current terrain data creation unit 3A integrates the current terrain data transmitted from each of the multiple work machines 2 to create current terrain data for the work site.
  • the current terrain data storage unit 3B stores the current terrain data created by the current terrain data creation unit 3A.
  • Each of the multiple work machines 2 transmits the current terrain data to the management device 3 at a predetermined time interval. Each of the multiple work machines 2 transmits the current terrain data to the management device 3, for example, every second.
  • the current terrain data creation unit 3A creates current terrain data each time it receives current terrain data. Each time the current terrain data creation unit 3A creates current terrain data, the current terrain data stored in the current terrain data storage unit 3B is updated.
  • FIG. 6 is a diagram for explaining the stored data stored in the current topography data storage unit 69 according to the embodiment.
  • the three-dimensional data of the work site includes height data of each of the multiple detection points 28 defined on the surface of the topography of the work site.
  • the positions of each of the multiple detection points 28 in the global coordinate system are determined based on the current position of the work machine 2 at the time the three-dimensional data is acquired, the attitude of the work machine 2, and the three-dimensional data.
  • the positions of the detection points 28 may be defined in the global coordinate system, or may be defined in a predetermined coordinate system such as a local coordinate system set in the work machine 2. Time data indicating a time is assigned to each of the multiple detection points 28.
  • the time indicated by the time data refers to the time when the three-dimensional data acquisition unit 62 acquires the detection point 28, or the time when the position data acquisition unit 61 acquires position data corresponding to the detection point 28.
  • the time of the time data may be considered to be the time when the three-dimensional sensor 13 detects the detection point 28.
  • the time data is stored in association with each of the multiple detection points 28.
  • attribute data indicating an attribute is assigned to each of the multiple detection points 28.
  • the attributes indicated by the attribute data refer to the attributes of the detection points 28.
  • the attributes of the detection points 28 include attributes related to the topography of the work site and attributes related to obstacles present at the work site.
  • the attribute data is stored in association with each of the multiple detection points 28.
  • Fig. 7 is a plan view showing a schematic diagram of the warning range 31 and the stop range 32 set in the work machine 2 according to the embodiment.
  • Fig. 8 is a side view showing a schematic diagram of the warning range 31 and the stop range 32 set in the work machine 2 according to the embodiment.
  • Figs. 7 and 8 each show the warning range 31A and the stop range 32A when an ascending cliff is present ahead of the advancing work machine 2.
  • the warning control unit 66 activates the warning device 30.
  • the stop range 32A includes a forward stop position indicating a target stop position of the advancing work machine 2.
  • the stop range 32A including the forward stop position is set ahead of the excavation blade 18 of the excavation work machine 9.
  • the forward stop position may be defined at the front end of the stop range 32A, may be defined at the rear end of the stop range 32A, or may be defined between the front end and the rear end of the stop range 32A.
  • the determination unit 64 determines whether or not an upward cliff exists ahead of the work machine 2 based on the detection data of the three-dimensional sensor 13. As shown in FIG. 7 and FIG. 8, when the determination unit 64 determines that the type of cliff existing ahead of the work machine 2 in the traveling direction is an upward cliff, the position setting unit 65 sets the stop range 32A ahead of the work machine 2. When it is determined that an upward cliff exists ahead of the work machine 2, the travel control unit 67 controls the traveling device 8 based on the relative position between the forward stop position set ahead of the excavation blade 18 and the upward cliff.
  • the travel control unit 67 stops the traveling (forward movement) of the traveling device 8 based on the relative position between the forward stop position set ahead of the excavation blade 18 and the upward cliff.
  • the travel control unit 67 stops the traveling (forward movement) of the traveling device 8 before the forward stop position enters the upward cliff or so that the forward stop position coincides with the start position 33 of the upward cliff.
  • FIG. 9 is a plan view showing a schematic diagram of the warning range 31 and the stop range 32 set in the work machine 2 according to the embodiment.
  • FIG. 10 is a side view showing a schematic diagram of the warning range 31 and the stop range 32 set in the work machine 2 according to the embodiment.
  • FIG. 9 and FIG. 10 shows the warning range 31B and the stop range 32B when a downward cliff is present in front of the advancing work machine 2.
  • the warning control unit 66 activates the warning device 30.
  • the stop range 32B includes a forward stop position indicating a target stop position of the advancing work machine 2.
  • the stop range 32B including the forward stop position is set rearward of the excavation blade 18 of the excavation work machine 9.
  • the stop range 32B including the forward stop position is set forward of the rear end of the vehicle body 7.
  • the forward stop position may be defined at the front end of the stop range 32B, may be defined at the rear end of the stop range 32B, or may be defined between the front end and the rear end of the stop range 32B.
  • the determination unit 64 determines whether or not a downward cliff exists ahead of the work machine 2 based on the detection data of the three-dimensional sensor 13. As shown in Figures 9 and 10, when the determination unit 64 determines that the type of cliff existing ahead in the traveling direction of the work machine 2 is a downward cliff, the position setting unit 65 sets the stop range 32B rearward of the front end of the work machine 2. The position setting unit 65 also sets the stop range 32B forward of the rear end of the work machine 2.
  • the front end of the work machine 2 includes the front end of the excavation work machine 9.
  • the rear end of the work machine 2 includes the rear end of the ripper work machine 10. As described above, in the embodiment, the stop range 32B is set rearward of the excavation blade 18 and forward of the rear end of the vehicle body 7.
  • the travel control unit 67 determines that a downward cliff exists ahead of the work machine 2, it controls the travel device 8 based on the relative position between the forward stop position set rearward of the excavation blade 18 and the downward cliff.
  • the travel control unit 67 stops the travel (forward movement) of the traveling device 8 based on the relative position of the downward cliff and a forward movement stop position set behind the excavation blade 18.
  • the travel control unit 67 stops the travel (forward movement) of the traveling device 8 before the forward movement stop position enters the downward cliff or so that the forward movement stop position coincides with the start position 34 of the downward cliff.
  • FIG. 11 is a plan view showing a schematic of the warning range 31 and the stop range 32 set on the work machine 2 according to the embodiment.
  • FIG. 12 is a side view showing a schematic of the warning range 31 and the stop range 32 set on the work machine 2 according to the embodiment.
  • Each of FIG. 11 and FIG. 12 shows the warning range 31C and the stop range 32C when an upward cliff is present behind the work machine 2 moving backwards.
  • the warning control unit 66 activates the warning device 30.
  • the stop range 32C includes a reverse stop position indicating a target stop position of the work machine 2 moving backwards.
  • the stop range 32C including the reverse stop position is set rearward of the shank 22 of the ripper work machine 10.
  • the reverse stop position may be defined at the front end of the stop range 32C, may be defined at the rear end of the stop range 32C, or may be defined between the front end and the rear end of the stop range 32C.
  • the determination unit 64 determines whether or not an upward cliff exists behind the work machine 2 based on the detection data of the three-dimensional sensor 13. As shown in FIG. 11 and FIG. 12, when the determination unit 64 determines that the type of cliff existing behind the work machine 2 in the traveling direction is an upward cliff, the position setting unit 65 sets the stop range 32C behind the work machine 2. When it is determined that an upward cliff exists behind the work machine 2, the travel control unit 67 controls the traveling device 8 based on the relative position between the upward cliff and the reverse stop position set behind the shank 22. When it is determined that an upward cliff exists behind the work machine 2, the travel control unit 67 stops the traveling (reverse) of the traveling device 8 based on the relative position between the upward cliff and the reverse stop position set behind the shank 22. The travel control unit 67 stops the traveling (reverse) of the traveling device 8 before the reverse stop position enters the upward cliff or so that the reverse stop position coincides with the start position 33 of the upward cliff.
  • FIG. 13 is a plan view showing a schematic of the warning range 31 and the stopping range 32 set on the work machine 2 according to the embodiment.
  • FIG. 14 is a side view showing a schematic of the warning range 31 and the stopping range 32 set on the work machine 2 according to the embodiment.
  • Each of FIG. 13 and FIG. 14 shows the warning range 31D and the stopping range 32D when a downward cliff is present behind the work machine 2 reversing.
  • the warning control unit 66 activates the warning device 30.
  • the stopping range 32D includes a reverse stop position indicating a target stop position for the work machine 2 reversing.
  • the stopping range 32D including the reverse stop position is set forward of the shank 22 of the ripper work machine 10.
  • the stopping range 32D including the reverse stop position is set rearward of the front end of the vehicle body 7.
  • the reverse stop position may be defined at the front end of the stop range 32D, at the rear end of the stop range 32D, or between the front and rear ends of the stop range 32D.
  • the determination unit 64 determines whether or not a downward cliff exists behind the work machine 2 based on the detection data of the three-dimensional sensor 13. As shown in Figures 13 and 14, when the determination unit 64 determines that the type of cliff existing behind the work machine 2 in the direction of travel is a downward cliff, the position setting unit 65 sets the stop range 32D forward of the rear end of the work machine 2. The position setting unit 65 also sets the stop range 32D rearward of the front end of the work machine 2. The rear end of the work machine 2 includes the rear end of the ripper work machine 10. The front end of the work machine 2 includes the front end of the excavation work machine 9. As described above, in the embodiment, the stop range 32D is set forward of the shank 22 and rearward of the front end of the vehicle body 7.
  • the travel control unit 67 determines that a downward cliff exists behind the work machine 2, it controls the travel device 8 based on the relative position of the downward cliff and the reverse stop position set rearward of the shank 22.
  • the travel control unit 67 stops the travel (reverse) of the traveling device 8 based on the relative position of the downward cliff and a reverse stop position set behind the shank 22.
  • the travel control unit 67 stops the travel (reverse) of the traveling device 8 before the reverse stop position enters the downward cliff or so that the reverse stop position coincides with the start position 34 of the downward cliff.
  • FIG. 15 is a plan view showing a schematic diagram of the warning range 31 and the stop range 32 set on the work machine 2 according to the embodiment.
  • FIG. 16 is a side view showing a schematic diagram of the warning range 31 and the stop range 32 set on the work machine 2 according to the embodiment.
  • FIG. 15 and FIG. 16 shows the warning range 31E and the stop range 32E when an object (obstacle) is present behind the work machine 2 moving in reverse.
  • the object is another work machine 2B.
  • the warning control unit 66 activates the warning device 30.
  • the stop range 32E includes a reverse stop position indicating a target stop position of the work machine 2 moving in reverse.
  • the stop range 32E including the reverse stop position is set behind the shank 22 of the ripper work machine 10.
  • the reverse stop position may be defined at the front end of the stop range 32E, at the rear end of the stop range 32E, or between the front and rear ends of the stop range 32E.
  • the obstacle sensor 14 detects an object (obstacle) present in the vicinity of the work machine 2.
  • the determination unit 64 determines whether or not an object (obstacle) exists in the vicinity of the work machine 2 based on the detection data of the obstacle sensor 14.
  • the determination unit 64 may determine whether or not an object (obstacle) exists in the vicinity of the work machine 2 based on the detection data of the obstacle sensor 14 and three-dimensional data indicating the three-dimensional shape of the detection target of the three-dimensional sensor 13.
  • the determination unit 64 may determine that an object (obstacle) exists in a position obtained by integrating the representative point of the stationary object detected from the point cloud data included in the three-dimensional data and the detection data of the obstacle sensor 14.
  • the determination unit 64 determines whether or not another work machine 2B exists behind the work machine 2 based on the detection data of the obstacle sensor 14. As shown in Figures 15 and 16, when the determination unit 64 determines that another work machine 2B exists behind the work machine 2, which is the traveling direction of the work machine 2, the position setting unit 65 sets the stop range 32E behind the work machine 2. When it is determined that another work machine 2B is present behind the work machine 2, the travel control unit 67 controls the travel device 8 based on the relative position between the other work machine 2B and the reverse stop position set behind the shank 22.
  • the travel control unit 67 stops the travel (reverse) of the travel device 8 based on the relative position between the other work machine 2B and the reverse stop position set behind the shank 22.
  • the travel control unit 67 stops the travel (reverse) of the travel device 8 before the reverse stop position enters the other work machine 2B.
  • Fig. 17 is a flowchart showing a method of controlling the work machine 2 according to the embodiment.
  • the determination unit 64 determines whether or not the work machine 2 is moving forward (step S1). When it is determined in step S1 that the work machine 2 is moving forward (step S1: Yes), the determination unit 64 determines whether or not an upward cliff exists ahead of the work machine 2 based on the detection data of the three-dimensional sensor 13F (step S2). When it is determined in step S2 that an upward cliff exists (step S2: Yes), the traveling control unit 67 stops the forward movement of the work machine 2 based on the first forward movement stop position included in the stop range 32A described with reference to Figs. 7 and 8.
  • step S2 When it is determined in step S2 that a downward cliff exists (step S2: No), the traveling control unit 67 stops the forward movement of the work machine 2 based on the second forward movement stop position included in the stop range 32B described with reference to Figs. 9 and 10.
  • step S5 determines whether or not an upward cliff exists behind the work machine 2 based on the detection data of the three-dimensional sensor 13B (step S5). If it is determined in step S5 that an upward cliff exists (step S5: Yes), the travel control unit 67 stops the reverse movement of the work machine 2 based on the first reverse stop position included in the stop range 32C described with reference to Figures 11 and 12. If it is determined in step S5 that a downward cliff exists (step S5: No), the travel control unit 67 stops the reverse movement of the work machine 2 based on the second reverse stop position included in the stop range 32D described with reference to Figures 13 and 14.
  • FIG. 18 is a block diagram showing a computer system 1000 according to an embodiment.
  • the computer system 1000 has a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input/output circuit.
  • the functions of the above-mentioned management device 3 and control device 6 are stored in the storage 1003 as computer programs.
  • the processor 1001 reads the computer program from the storage 1003, expands it in the main memory 1002, and executes the above-mentioned processing according to the program.
  • the computer program may be distributed to the computer system 1000 via a network.
  • the computer system 1000 or computer program can acquire detection data from a three-dimensional sensor 13 that detects the periphery of the work machine 2, determine whether or not a downward cliff exists ahead of the work machine 2 based on the detection data from the three-dimensional sensor 13, and, if it is determined that a downward cliff exists, stop the forward movement of the traveling device 8 based on the relative position of the downward cliff and a forward stop position set behind the excavation blade 18.
  • the control system 100 for the work machine 2 includes a three-dimensional data acquisition unit 62 that acquires detection data from the three-dimensional sensor 13 that detects the periphery of the work machine 2, a determination unit 64 that determines whether or not a downward cliff exists ahead of the work machine 2 based on the detection data from the three-dimensional sensor 13, and a travel control unit 67 that, when it is determined that a downward cliff exists, stops the forward movement of the traveling device 8 based on the relative position of the downward cliff and a forward movement stop position set behind the excavation blade 18. This allows the travel of the work machine 2 to be stopped appropriately at a work site where a downward cliff exists.
  • the travel distance of the work machine 2 will be shortened, and this may result in a decrease in the operability of the work machine 2. If the work machine 2 stops at a position far beyond the start position 34 of the downward cliff, there is a possibility that the work machine 2 will fall off the downward cliff.
  • the work machine 2 can be stopped at an appropriate position while suppressing a decrease in the operability of the work machine 2.
  • the current terrain data creation unit 68 may create current terrain data of the work site based on at least the three-dimensional data acquired by the three-dimensional data acquisition unit 62.
  • the current terrain data creation unit 68 may also create current terrain data of the work site based on at least position data indicating the current position of the work machine 2 acquired by the position data acquisition unit 61.
  • the determination unit 64 may determine the type of cliff that exists in the traveling direction of the work machine 2 based on the current terrain data of the work site created by the current terrain data creation unit 68.
  • the determination unit 64 may determine whether or not an uphill cliff exists in the traveling direction of the work machine 2 based on the current terrain data of the work site created by the current terrain data creation unit 68.
  • the determination unit 64 may determine whether or not a downhill cliff exists in the traveling direction of the work machine 2 based on the current terrain data of the work site created by the current terrain data creation unit 68.
  • At least some of the functions of the control device 6 may be provided in the management device 3. At least some of the functions of the management device 3 may be provided in the control device 6.
  • each of the position data acquisition unit 61, the three-dimensional data acquisition unit 62, the obstacle data acquisition unit 63, the determination unit 64, the position setting unit 65, the warning control unit 66, the driving control unit 67, the current terrain data creation unit 68, and the current terrain data storage unit 69 may be configured as separate hardware.
  • the work machine 2 is a bulldozer.
  • the work machine 2 may be another work machine such as a hydraulic excavator, a wheel loader, or a motor grader.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un système de commande pour une machine de travail comprenant une carrosserie de véhicule, un dispositif de déplacement qui supporte la carrosserie de véhicule pour le déplacement, et une lame d'excavation d'une machine de travail d'excavation disposée vers l'avant de la carrosserie de véhicule, qui comprend : une unité d'acquisition de données de détection qui acquiert des données de détection d'un capteur qui détecte l'environnement de la machine de travail; une unité de détermination qui détermine s'il existe un précipice vers le bas présent dans la direction avant de la machine de travail sur la base des données de détection du capteur; et une unité de commande de déplacement qui, s'il est déterminé qu'il existe un précipice vers le bas, commande le dispositif de déplacement sur la base des positions relatives du précipice vers le bas et d'une position d'arrêt d'avancement établie dans la direction arrière de la lame d'excavation.
PCT/JP2023/032266 2022-09-30 2023-09-04 Système et procédé de commande pour machine de travail WO2024070519A1 (fr)

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JP2022158691A JP2024052161A (ja) 2022-09-30 2022-09-30 作業機械の制御システム及び作業機械の制御方法

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4894501U (fr) * 1972-02-15 1973-11-12
JPH04277229A (ja) * 1991-02-28 1992-10-02 Komatsu Ltd 衝撃リッパの故障診断方法
JPH11222882A (ja) * 1998-02-05 1999-08-17 Komatsu Ltd 危険領域監視装置
JP2014006577A (ja) * 2012-06-21 2014-01-16 Hitachi Constr Mach Co Ltd 運搬機械の停止位置判定装置およびこの装置を備えた積込機械
JP2018043599A (ja) * 2016-09-13 2018-03-22 日立建機株式会社 鉱山用作業機械及びその後方監視方法
JP2021054307A (ja) * 2019-09-30 2021-04-08 株式会社小松製作所 作業機械および作業機械の制御方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4894501U (fr) * 1972-02-15 1973-11-12
JPH04277229A (ja) * 1991-02-28 1992-10-02 Komatsu Ltd 衝撃リッパの故障診断方法
JPH11222882A (ja) * 1998-02-05 1999-08-17 Komatsu Ltd 危険領域監視装置
JP2014006577A (ja) * 2012-06-21 2014-01-16 Hitachi Constr Mach Co Ltd 運搬機械の停止位置判定装置およびこの装置を備えた積込機械
JP2018043599A (ja) * 2016-09-13 2018-03-22 日立建機株式会社 鉱山用作業機械及びその後方監視方法
JP2021054307A (ja) * 2019-09-30 2021-04-08 株式会社小松製作所 作業機械および作業機械の制御方法

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