Patent Application
20230392345
The present invention relates to a technique for controlling a work machine having a movable part.
Utilization of robots is attracting attention as a measure for dealing with a decrease in the number of workers due to an aging population with a low birth rate and for dealing with an increase in workload due to a shortage of labor. Especially in the construction industry, it is an urgent task to raise productivity through labor saving in order to deal with urgent problems of shortage of labor and inheritance of skills due to aging of field workers and a decrease in young workers. In this respect, in recent years, there has been great expectation for automation of construction using construction machines.
WO2019/189260 (Patent Literature 1) discloses a technique for calculating an excavation track, based on an image of an excavation target before excavation which has been acquired from a sensor attached to an excavation machine, so that a target excavation volume is obtained.
For a load-carrying vehicle such as a dump truck for transporting excavated objects, an upper limit load such as a maximum load is usually set. Therefore, when loading an excavated object, a loading action needs to be carried out while taking into consideration the upper limit load. In the technique disclosed in Patent Literature 1, there is a problem that it is impossible to suitably realize loading while taking into consideration an upper limit load.
An example aspect of the present invention is accomplished in view of the problem, and its example object is to provide a technique capable of realizing a loading action carried out by a work machine while taking into consideration an upper limit load.
A control apparatus according to an example aspect of the present invention includes: an acquisition means of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
A control system according to an example aspect of the present invention includes: a sensor that acquires weight information on a weight of a target object which has been excavated by a work machine; an acquisition means of acquiring the weight information on the weight of the target object from the sensor; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
A control method according to an example aspect of the present invention includes: acquiring weight information on a weight of a target object which has been excavated by a work machine; and controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to an example aspect of the present invention, it is possible to realize a loading action which is carried out while taking into consideration an upper limit load.
The following description will discuss a first example embodiment of the present invention in detail with reference to the drawings. The present example embodiment is a basic form of example embodiments described later.
<Configuration of Control System>
The following description will discuss a configuration of a control system 1 according to the present example embodiment, with reference to
(Configuration of Control Apparatus)
The following description will discuss a detailed configuration of the control apparatus 10 according to the present example embodiment, with reference to
The acquisition section 11 acquires weight information on a weight of a target object which has been excavated by the work machine. Here, the weight information can include, for example, first weight information which is information on a weight of a target object which has not been loaded into a loading destination among the target object which has been excavated by the work machine, and second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine. Note, however, that these examples do not limit the present example embodiment. For example, in a case where the work machine is a backhoe, the first weight information may indicate a weight of a target object which has been excavated by the backhoe and loaded into a bucket. For example, in a case where the loading destination is a dump truck, the second weight information may indicate a total amount of earth and sand which has been excavated by the backhoe and unloaded into the dump truck.
The action control section 12 controls an action of the work machine such that a load of a target object to be loaded into a loading destination is adjusted based on weight information. For example, the action control section 12 adjusts the load by controlling an angle of the movable part based on the weight information. For example, the action control section 12 controls the work machine to terminate an action to load a target object by the work machine based on the weight information, and thus adjusts the load.
For example, the action control section 12 generates control information for controlling an action of the work machine such that a load of a target object to be loaded into a loading destination is adjusted based on the weight information, and provides the generated control information to the work machine. Then, the work machine controls its own action based on the provided control information.
Note that specific examples of control of the action of the work machine based on the weight information do not limit the present example embodiment and can be, for example, a process of comparing a weight indicated by the weight information with a predetermined threshold and generating control information in accordance with the comparison result.
The action control section 12 may control an action of the work machine without referring to weight information. For example, the action control section 12 controls the work machine such that the movable part is moved to a destination region without referring to weight information. For the control of the action of the work machine without referring to weight information, some publicly known techniques may be employed.
(Configuration of Sensor)
The sensor E acquires weight information on a weight of a target object which has been excavated by the work machine. The sensor E can be a sensor group including one or more sensors. The sensor E can include, for example, the following sensors:
These sensors may include a two-dimensional or three-dimensional sensor that scans a space including a target object, or may be a weight sensor that measures a weight of the target object more directly. These sensors may each be constituted by, for example, a 2D-LiDAR sensor, a 3D-LiDAR sensor, a depth camera, a stereo camera, a TOF camera, or a radar sensor.
<Flow of Control Method>
In the control system 1 configured as described above, the control apparatus 10 carries out a control method S1. The following description will discuss a flow of the control method S1 with reference to
(Step S11)
In step S11, the acquisition section 11 acquires weight information on a weight of a target object which has been excavated by the work machine.
(Step S12)
In step S12, the action control section 12 controls an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information acquired in step S11.
In the present example embodiment, as described above, weight information on a weight of a target object which has been excavated by the work machine is acquired, and an action of the work machine is controlled such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information. Therefore, it is possible to suitably realize a loading action which is carried out by the work machine while taking into consideration an upper limit load.
Note that it is possible to employ a configuration in which the acquisition section 11 and the action control section 12 according to the present example embodiment are mounted on separate apparatuses and communicate with each other so as to realize the above described functions.
The following description will discuss a second example embodiment of the present invention in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the first example embodiment, and descriptions as to such constituent elements are omitted as appropriate.
<Configuration of Control System>
The following description will discuss a configuration of a control system 1A according to the present example embodiment, with reference to
The control system 1A is a system that controls a backhoe 8. More specifically, the control system 1A is a system that controls the backhoe 8 such that earth and sand which has been shoveled up is transported and loaded onto a dump truck 9.
The control apparatus 10A is communicably connected to the weight sensor E7 and a controller 830 of the backhoe 8 via a network N1. The network N1 is, for example, a wireless local area network (LAN), a wired LAN, a wide area network (WAN), a public network, a mobile data communication network, or a combination of these networks. Note, however, that a configuration of the network N1 is not limited to these examples.
Here, the backhoe 8 configures an example of the “work machine having a movable part” recited in claims. The earth and sand configures an example of the “target object” recited in claims. A bucket 824 of the backhoe 8 configures an example of the tool included in the “movable part” recited in claims. A loading target area 910 of the dump truck 9 configures an example of the “destination” recited in claims.
(Configuration of Backhoe)
The following description will discuss a configuration of the backhoe 8 which is to be controlled by the control system 1A. The backhoe 8 is not operated by a person in a normal state, and carries out work autonomously according to a predetermined program. As illustrated in
The traveling section 810 is a traveling section that allows the backhoe 8 to move forward and backward, and to turn right and left. The traveling section 810 travels, for example, with use of an endless track belt. The movable part 820 includes a rotary section 821, a boom 822 that is attached to the rotary section 821, an arm 823 that is attached to an end portion of the boom 822, and a bucket 824 that is attached to an end portion of the arm 823.
The rotary section 821 can turn on the traveling section 810 in a plane perpendicular to the paper surface of the drawing. Note that, in a case where the backhoe 8 is on a level ground, the plane perpendicular to the paper surface of
The sensors E1 through E5 are a sensor group that is mounted on the backhoe 8. The sensors E1 through E5 each detect a state of the backhoe 8. Examples of the state of the backhoe 8 include, but not limited to, a state of a space in a traveling direction of the backhoe 8, a turning angle of each portion of the movable part 820, and the like. In this example, each of the sensors E1 through E4 is a sensor that detects a turning angle of the rotary section 821, the boom 822, the arm 823, or the bucket 824. The sensor E5 is a sensor that images a space in a traveling direction of the backhoe 8.
Specifically, the sensor E1 is, for example, a gyro sensor that detects a turning angle of the rotary section 821. Alternatively, the sensor E1 can be an encoder that detects the number of rotations of a motor that causes the rotary section 821 to turn. The sensor E2 is an inclination sensor or a gyro sensor that detects an angle of the boom 822 from the horizontal plane. Alternatively, the sensor E2 can be an encoder that detects a movement distance of a rod of a hydraulic cylinder that causes the boom 822 to turn. The sensor E3 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects an angle of the arm 823 with respect to the boom 822. The sensor E4 is, for example, an inclination sensor, a gyro sensor, or an encoder that detects an angle of the bucket 824 with respect to the arm 823. The sensor E5 is, for example, a camera that captures an image of a range in an angle of view in an imaging direction. Note, however, that the sensors E1 through E5 are not limited to these types. Moreover, the mounting positions of the sensors E1 through E5 are not limited to those illustrated in the drawings.
(Sensor E6)
Meanwhile, the sensor E6 is a three-dimensional sensor that three-dimensionally detects a target object in the bucket 824. The sensor E6 may be referred to as a three-dimensional sensor E6.
For example, the sensor E6 is constituted by a three-dimensional laser scanner. In this case, the sensor E6 measures a three-dimensional shape of a target object by irradiating a space including the bucket 824 with a laser beam. Measurement data is represented by, for example, point group data in a three-dimensional space. Each piece of point group data includes three-dimensional coordinates, color information, reflectance, and the like. Note, however, that the sensor E6 is not limited to a three-dimensional laser scanner. For example, the sensor E6 may be constituted by a stereo camera.
(Configuration of Dump Truck)
The following description will discuss a configuration of the dump truck 9 which is a loading destination of the earth and sand transported by the backhoe 8. As illustrated in
(Configuration of Weight Sensor)
The weight sensor E7 detects, for example, a total weight which is a sum of an empty weight of the dump truck 9 and a weight of the target object loaded in the dump truck 9. The detected total weight may be expressed in kilograms, or may be expressed in other units.
The weight sensor E7 may be configured to output the total weight. Alternatively, the weight sensor E7 may be configured to output the weight of the target object loaded in the dump truck 9 by subtracting the empty weight of the dump truck 9 which is preset from the total weight. The following description mainly exemplifies a configuration in which the weight sensor E7 outputs a weight of a target object loaded in the dump truck 9. Note, however, that the following description can be easily applied to a configuration in which the weight sensor E7 outputs a total weight.
(Configuration of Control Apparatus)
The control apparatus 10A includes a control section (control means) 110A, a storage section (storage means) 120A, and a communication section (communication means) 130A. The control section 110A includes a sensor information acquisition section (sensor information acquisition means) 11A, a weight information acquisition section (weight information acquisition means) 12A, a remaining load identification section (remaining load identification means) 13A, and an action control section (action control means) 14A. Details of those sections will be described later.
The storage section 120A stores various kinds of data which are referred to by the control section 110A and programs. Further, the storage section 120A may store:
The communication section 130A communicates with the controller 830 of the backhoe 8 and the weight sensor E7 under control of the control section 110A. Hereinafter, an operation in which the control section 110A controls the communication section 130A to transmit and receive data may be simply referred to also as an operation in which the control section 110A transmits and receives data.
(Sensor Information Acquisition Section)
The sensor information acquisition section 11A acquires sensor information from at least any of the sensors E1 through E7 included in the sensors E. Here, the sensor information acquired by the sensor information acquisition section 11A in the present example embodiment includes at least one of a detection result by the three-dimensional sensor E6 and a detection result by the weight sensor E7.
(Weight Information Acquisition Section)
The weight information acquisition section 12A acquires weight information on a weight of a target object which has been excavated by the backhoe 8. More specifically, the weight information acquisition section 12A acquires weight information on a weight of a target object which has been excavated by the backhoe 8, with reference to sensor information which has been acquired by the sensor information acquisition section 11A.
Here, a specific process by the weight information acquisition section 12A does not limit the present example embodiment and includes, for example, the following process.
The weight information acquisition section 12A refers to a detection result by the three-dimensional sensor E6 and calculates a volume of a target object in the bucket 824 from a three-dimensional shape of the target object in the bucket 824 indicated by the detection result. The weight information acquisition section 12A then calculates a weight of the target object from the volume of the target object using data on specific gravity of the target object stored in the storage section 120A.
It is possible to employ a configuration in which a property (density, type, hardness, or the like) of a target object is identified from a detection result by the three-dimensional sensor E6, and a weight of the target object is calculated with further reference to the identified property of the target object. A configuration of identifying a weight of a target object is not limited to this. For example, it is possible that, before starting excavation, an operator or the like inputs information indicating a property of a target object into the control apparatus 10A using a user terminal or the like, and the weight information acquisition section 12A identifies a weight of the target object based on the input information. For example, the weight information acquisition section 12A may acquire information indicating a property of a target object from a predetermined server in which information on an excavation site is stored.
It is possible to employ a configuration in which a weight sensor that directly measures a weight of a target object in the bucket 824 is provided instead of the three-dimensional sensor E6 or together with the three-dimensional sensor E6, and the weight of the target object in the bucket 824 is identified with reference to a detection value of that important sensor.
The information indicating the weight of the target object in the bucket 824 is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the backhoe 8, and is herein also referred to as first weight information.
The weight information acquisition section 12A may acquire a weight of a target object loaded in the dump truck 9 with reference to a detection result by the weight sensor E7.
Here, the information indicating the weight of the target object loaded in the dump truck 9 is information on a weight of a target object which has been loaded into the dump truck 9 among the target object which has been excavated by the backhoe 8, and is herein also referred to as second weight information.
(Remaining Load Identification Section)
The remaining load identification section 13A identifies a remaining load which is a difference between an upper limit load in a loading destination and a loaded amount. Here, the upper limit load in the loading destination refers to, for example, a maximum load of the dump truck 9.
For example, the remaining load identification section 13A subtracts the weight of the target object loaded in the dump truck 9, which is indicated by the detection result by the weight sensor E7, from the maximum load of the dump truck 9 stored in the storage section 120A, and thus calculates a remaining load.
(Action Control Section)
The action control section 14A controls an action of the backhoe 8 such that a load of a target object to be loaded into the dump truck 9 is adjusted based on weight information acquired by the weight information acquisition section 12D.
For example, the action control section 14A controls an angle of the movable part 820 included in the backhoe 8 based on the weight information acquired by the weight information acquisition section 12A. Here, the angle of the movable part 820 which is controlled by the action control section 14A includes, for example, an angle of the bucket 824.
The action control section 14A according to the present example embodiment sets an angle of the movable part 820 in accordance with, for example, a remaining load identified by the remaining load identification section 13A and weight information acquired by the weight information acquisition section 12A, and controls the movable part 820 in accordance with the angle which has been set. Here, the angle of the movable part 820 which is set by the action control section 14A includes, for example, an angle of the bucket 824.
<Flow of Control Method>
In the control system 1A configured as described above, the control apparatus 10A carries out a control method S1A. The following description will discuss a flow of the control method S1A with reference to
(Step S101)
In step S101, the sensor information acquisition section 11A acquires sensor information from at least any of the sensors E1 through E7 included in the sensors E. Here, the sensor information acquired by the sensor information acquisition section 11A in the present example embodiment includes at least one of a detection result by the three-dimensional sensor E6 and a detection result by the weight sensor E7.
(Step S102)
In step S102, the weight information acquisition section 12A acquires weight information on a weight of a target object which has been excavated by the backhoe 8. Here, the weight information includes the above described first weight information and second weight information. The specific process by the weight information acquisition section 12A is described above, and is therefore not repeatedly described here.
(Step S103)
In step S103, the remaining load identification section 13A identifies a remaining load which is a difference between an upper limit load in a loading destination and a loaded amount. The specific process by the remaining load identification section 13A is described above, and is therefore not repeatedly described here.
(Step S104)
In step S104, the action control section 14A determines whether or not the remaining load identified in step S103 is not more than a first threshold. In a case where the remaining load is not more than the first threshold (YES in step S104), the process proceeds to step S105, and otherwise (NO in step S104), the process proceeds to step S106.
Here, a specific value of the first threshold does not limit the present example embodiment, and can be set to, for example, approximately 3.0% to 5.0% of the maximum load of the dump truck 9. For example, in a case where the maximum load of the dump truck 9 is 10 tons, the first threshold may be set to 0.3 tons, may be set to 0.5 tons, or may be set to other values.
(Step S105)
In step S105, the action control section 14A controls the backhoe 8 to terminate the action of loading the target object.
(Step S106)
In step S106, the action control section 14A controls the backhoe 8 to carry out a loading action. For example, in this step, the action control section 14A sets an angle of the movable part 820 in accordance with the first weight information acquired in step S102 and the remaining load identified in step S103, and controls the backhoe 8 based on the angle which has been set.
In the present example embodiment, the action control section 14A carries out the actions of steps S104 through S106 as described above, and whereby controls the backhoe 8 to adjust the load of the target object to be loaded into the loading destination based on the weight information.
The processes in steps S104 and S105 can also be expressed as follows. That is, in a case where the weight indicated by the second weight information acquired in step S102 is not less than a predetermined threshold, the action control section 14A controls the backhoe 8 to terminate the action to load the target object by the backhoe 8.
Here, a specific value of the predetermined threshold does not limit the present example embodiment, and can be set to, for example, approximately 95.0% to 97.0% of the maximum load of the dump truck 9. For example, in a case where the maximum load of the dump truck 9 is 10 tons, the predetermined threshold may be set to 9.70 tons, may be set to 9.50 tons, or may be set to other values.
As described above, in the present example embodiment, the action control section 14A controls an angle of the movable part 820 included in the backhoe 8 based on weight information on a weight of a target object which has been excavated by the backhoe 8. More specifically, the action control section 14A controls an angle of the bucket 824 as an angle of the movable part 820 based on the weight information on the weight of the target object which has been excavated by the backhoe 8. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
Further, as described above, in the present example embodiment, the action control section 14A sets an angle of the movable part 820 in accordance with the remaining load and the weight information, and controls the movable part 820 in accordance with the angle which has been set. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
Further, as described above, in the present example embodiment, the action control section 14A sets an angle of the movable part 820 in accordance with the first weight information and the remaining load. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
As described above, in the present example embodiment, the action control section 14A controls the backhoe 8 to terminate an action to load a target object by the backhoe 8 in a case where the weight indicated by the second weight information is not less than a predetermined threshold. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
The following description will discuss a third example embodiment of the present invention in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the first and second example embodiments, and descriptions as to such constituent elements are omitted as appropriate.
<Configuration of Control System>
A configuration of a control system according to the present example embodiment includes a configuration similar to the constituent elements described in the second example embodiment, and therefore descriptions thereof are not repeatedly described here.
<Flow of Control Method>
Hereinafter, a flow of a control method S1B by the control system according to the present example embodiment will be described with reference to
(Steps S101 Through S103)
Steps S101 through S103 are similar to steps S101 through S103 described in the second example embodiment, and therefore descriptions thereof will not be repeated here.
(Step S201)
In step S201, the action control section 14A determines whether or not a remaining load identified in step S103 is larger than a second threshold. In a case where the remaining load is larger than the second threshold (YES in step S201), the process proceeds to step S202, and otherwise (NO in step S201), the process proceeds to step S203.
Here, a specific value of the second threshold does not limit the present example embodiment, and can be set, for example, by multiplying a maximum weight of a target object, which can be shoveled up by the bucket 824, by a coefficient for considering an error. For example, assuming that the maximum weight of the target object which can be shoveled up by the bucket 824 is 2.5 tons and the coefficient for considering an error is 1.1, the second threshold can be set to 2.75 tons.
(Step S202)
In step S202, the action control section 14A carries out a loading action in a first mode. The first mode is a mode in which a target object in the bucket 824 is entirely unloaded into the dump truck 9. For example, the action control section 14A controls the backhoe 8 to open (tilt) the bucket 824 at a predetermined position.
Here, the action control section 14A may control the backhoe 8 to fully open the bucket 824 at a single certain positon. Alternatively, the action control section 14A may control the backhoe 8 such that the bucket 824 is moved while the bucket 824 is opened to load a target object.
(Step S203)
In step S203, the action control section 14A determines whether or not the remaining load identified in step S103 is not more than a third threshold. In a case where the remaining load is not more than the third threshold (YES in step S203), the process proceeds to step S204, and otherwise (NO in step S203), the process proceeds to step S205.
Here, a specific value of the third threshold does not limit the present example embodiment, and can be set to, for example, approximately 3.0% to 5.0% of the maximum load of the dump truck 9. For example, in a case where the maximum load of the dump truck 9 is 10 tons, the third threshold may be set to 0.3 tons, may be set to 0.5 tons, or may be set to other values.
Note that it is possible to employ a configuration in which, in step S203, the action control section 14A further refers to a weight of a target object in the bucket 824 instead of or together with the remaining load, and thus determines whether to proceed to step S204 or S205. For example, the action control section 14A may be configured to accumulate weights of target objects loaded in the target dump truck 9, and proceed to step S204 in a case where the accumulated weight is not more than the third threshold, or to step S205 otherwise.
(Step S204)
In step S204, the action control section 14A controls the backhoe 8 to terminate the action of loading the target object. For example, the action control section 14A carries out control to stop the action of the backhoe 8. The action control section 14A may control the backhoe 8 and cause the backhoe 8 to carry out an action of leveling a target object loaded on the dump truck 9. The action control section 14A may control the backhoe 8 and cause the backhoe 8 to carry out an action of leveling a target object remaining in the excavation site. For example, the control apparatus 10A may control the backhoe 8 to wait after a dump truck 9 on which a target object has been loaded moves to another location and until a next dump truck 9 arrives at the excavation site. When the next dump truck 9 has arrived at the excavation site, the control apparatus carries out the control method S1B of
(Step S205)
In step S205, the action control section 14A carries out a loading action in a second mode. The second mode is a mode in which a target object in the bucket 824 is unloaded into the dump truck 9 little by little. For example, the action control section 14A controls the backhoe 8 to tilt the bucket 824 by a predetermined angle at a predetermined position.
Here, the action control section 14A may control the backhoe 8 such that the bucket 824 is tilted by a predetermined angle or the angle of the bucket 824 is increased by a predetermined angle every time a predetermined unit time has elapsed (every two seconds, every three seconds, or the like). For example, it is possible to employ a configuration in which, under control of the action control section 14A, an action of the backhoe 8 tilting the bucket 824 or increasing the inclination at predetermined time intervals and an action of the backhoe 8 returning the angle of the bucket 824 are alternately carried out, and thus the bucket 824 opens while shaking, and the target object in the bucket 824 is unloaded into the dump truck 9 little by little.
The action control section 14A may adjust an angle or an increase in an angle of the bucket 824 based on the remaining load. For example, the action control section 14A may control the backhoe 8 such that, as the remaining load increases, the angle or increase in angle becomes larger. More specifically, the action control section 14 may control the backhoe 8 such that, for example, the remaining load and an angle or an increase in angle are positively correlated with each other.
The action control section 14A may adjust an angle of the bucket 824 based on the weight of the target object in the bucket 824. For example, the action control section 14A may control the backhoe 8 such that, as the weight of the target object in the bucket 824 increases, the angle or increase in angle becomes smaller. More specifically, the action control section 14A may control the backhoe 8 such that, for example, the remaining load and an angle or an increase in angle are negatively correlated with each other.
The action control section 14A may carry out control of changing an angle of the bucket 824 while providing a standby time such that a time is secured until a detection value of the weight sensor E7 is stabilized. In other words, the action control section 14A may repeatedly carry out control of waiting after changing the angle of the bucket 824 and until a predetermined unit time elapses.
Further, it is possible to employ a configuration in which the action control section 14A provides an upper limit of an opening angle of the bucket 824, and thus carries out control so that a target object in the bucket 824 is not dropped too much.
The action control section 14A may identify a property of a target object from a detection result by the three-dimensional sensor E6, and control the bucket 824 differently in accordance with the identified property. For example, the control may be carried out such that an opening angle or an increase in opening angle of the bucket 824 becomes smaller as a water content in the target object is smaller.
As described above, in the present example embodiment, whether or not to terminate the loading action and whether to carry out the loading action in the first mode or the second mode are determined in accordance with the remaining load and the like. Therefore, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load. Further, as described above, in the second mode, control is carried out while finely adjusting a method of loading a target object. Therefore, it is possible to more suitably realize a loading action which is carried out while taking into consideration an upper limit load.
The following description will discuss a fourth example embodiment of the present invention in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the first through third example embodiments, and descriptions as to such constituent elements are omitted as appropriate.
<Configuration of Control System>
The following description will discuss a configuration of a control system 1C according to the present example embodiment, with reference to
(Configuration of Three-Dimensional Sensor)
The three-dimensional sensor E8 is a sensor that three-dimensionally detects an object in a space which includes a loading target area 910. Hereinafter, the three-dimensional sensor E8 may be simply referred to as a sensor E8. For example, the three-dimensional sensor E8 is constituted by a three-dimensional laser scanner. In this case, the three-dimensional sensor E8 measures a three-dimensional shape of an object in a space by irradiating the space including the loading target area 910 with a laser beam. Measurement data is represented by, for example, point group data in a three-dimensional space. Each piece of point group data includes three-dimensional coordinates, color information, reflectance, and the like. Note, however, that the three-dimensional sensor E8 is not limited to a three-dimensional laser scanner. For example, the three-dimensional sensor E8 may be constituted by a stereo camera.
(Configuration of Control Apparatus)
The following description will discuss a detailed configuration of the control apparatus 10C according to the present example embodiment. As illustrated in
The sensor information acquisition section 11C acquires a detection result by the three-dimensional sensor E8 in addition to detection values of the sensors E1 through E7. It is possible to employ a configuration in which the acquired detection result by the three-dimensional sensor E8 is referred to by the weight information acquisition section 12A and the remaining load identification section 13A.
The action control section 14C can further refer to a detection result by the three-dimensional sensor E8 when carrying out the process described in the second example embodiment or the third example embodiment. For example, the action control section 14C may be configured to control, with reference to a detection result by the three-dimensional sensor E8, a horizontal position and a vertical position of the bucket 824 at which the bucket 824 unloads the target object.
More specifically, it is possible to employ a configuration in which the action control section 14C refers to a detection result by the three-dimensional sensor E8 and controls a height of the bucket 824 in the first mode and a height of the bucket 824 in the second mode, which are described in the third example embodiment.
As described above, in the present example embodiment, in the second mode, the bucket 824 is controlled with use of the height information indicating the height H2 from the upper surface of the target object loaded in the vessel of the dump truck 9. Therefore, the target object can be unloaded while the bucket 824 does not touch the target object which has been loaded in the dump truck 9. This makes it possible to suitably carry out loading in the second mode without adversely affecting measurement of a weight of the target object which has been loaded in the dump truck 9.
In the above descriptions, the configuration has been exemplified in which the height of the bucket 824 in the first mode and the height of the bucket 824 in the second mode are controlled with reference to a detection result by the three-dimensional sensor E8. Note, however, that the present example embodiment is not limited thereto.
The action control section 14C may be configured to, in the first mode, set the height of the bucket 824 on the vessel of the dump truck 9 to a predetermined first height, and in the second mode, set the height of the bucket 824 on the vessel of the dump truck 9 to a predetermined second height which is higher than the first height. According to this configuration also, it is possible to suitably carry out loading in the second mode while inhibiting an adverse effect on weight measurement of a target object which has been loaded in the dump truck 9.
The following description will discuss a fifth example embodiment of the present invention in detail with reference to the drawings. The same reference numerals are given to constituent elements which have functions identical with those described in the first through fourth example embodiments, and descriptions as to such constituent elements are omitted as appropriate.
The following description will discuss a configuration of a control system 1D according to the present example embodiment, with reference to
(Configuration of Three-Dimensional Sensor)
The three-dimensional sensor E9 is a sensor that three-dimensionally detects an object in a space including the stacked target object LO, the backhoe 8, and a loading target area 910. Hereinafter, the three-dimensional sensor E9 may be simply referred to as a sensor E9. For example, the three-dimensional sensor E9 is constituted by a three-dimensional laser scanner. In this case, the three-dimensional sensor E9 measures a three-dimensional shape of an object in a space including the stacked target object LO, the backhoe 8, and the loading target area 910 by irradiating the space with a laser beam. Measurement data is represented by, for example, point group data in a three-dimensional space. Each piece of point group data includes three-dimensional coordinates, color information, reflectance, and the like. Note, however, that the three-dimensional sensor E9 is not limited to a three-dimensional laser scanner. For example, the three-dimensional sensor E9 may be constituted by a stereo camera.
(Configuration of Control Apparatus)
The following description will discuss a detailed configuration of the control apparatus 10D according to the present example embodiment. As illustrated in
The sensor information acquisition section 11D acquires a detection result by the three-dimensional sensor E9 in addition to detection values of the sensors E1 through E5. The acquired detection result by the three-dimensional sensor E9 is supplied to the weight information acquisition section 12D and the remaining load identification section 13D.
The weight information acquisition section 12D acquires first weight information and second weight information (which have been described in the foregoing embodiments) with reference to the detection result by the three-dimensional sensor E9. For example, the weight information acquisition section 12D calculates first weight information with reference to a three-dimensional shape of a target object in the bucket 824 that is included in the detection result by the three-dimensional sensor E9. The weight information acquisition section 12D calculates second weight information with reference to a three-dimensional shape of a target object in the loading target area 910 that is included in the detection result by the three-dimensional sensor E9.
The remaining load identification section 13D identifies a remaining load (which has been described in the foregoing embodiments) with reference to the second weight information acquired by the weight information acquisition section 12D.
Other configurations and processes of the control system 1D according to the present example embodiment are similar to those of the control systems according to the foregoing example embodiments. Therefore, descriptions thereof are omitted here.
As described above, in the present example embodiment, the first weight information and the second weight information are identified with reference to the detection result by the three-dimensional sensor E9. According to this configuration also, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
The functions of part of or all of the control apparatuses 10, 10A, 10C, and 10D can be realized by hardware such as an integrated circuit (IC chip) or can be alternatively realized by software.
In the latter case, each of the control apparatuses 10, 10A, 10C, and 10D is realized by, for example, a computer that executes instructions of a program that is software realizing the foregoing functions.
As the processor C1, for example, it is possible to use a central processing unit (CPU), a graphic processing unit (GPU), a digital signal processor (DSP), a micro processing unit (MPU), a floating point number processing unit (FPU), a physics processing unit (PPU), a microcontroller, or a combination of these. The memory C2 can be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination of these.
Note that the computer C can further include a random access memory (RAM) in which the program P is loaded when the program P is executed and in which various kinds of data are temporarily stored. The computer C can further include a communication interface for carrying out transmission and reception of data with other apparatuses. The computer C can further include an input-output interface for connecting input-output apparatuses such as a keyboard, a mouse, a display and a printer.
The program P can be stored in a non-transitory tangible storage medium M which is readable by the computer C. The storage medium M can be, for example, a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like. The computer C can obtain the program P via the storage medium M. The program P can be transmitted via a transmission medium. The transmission medium can be, for example, a communications network, a broadcast wave, or the like. The computer C can obtain the program P also via such a transmission medium.
[Additional Remark 1]
In each of the foregoing example embodiments, in a case where the control apparatuses 10, 10A, 10C, and 10D (hereinafter, referred to as “control apparatus 10 or the like”) each control a plurality of backhoes 8, the plurality of backhoes 8 may be controlled in the same mode, or alternatively the plurality of backhoes 8 may be controlled in different modes. For example, the control apparatus 10 or the like may refers to a position of a stacked target object LO, positions of the respective plurality of backhoes 8, a position of the dump truck 9, a weight of a target object which has been loaded in the dump truck 9, and the like, and control a first backhoe among the plurality of backhoes 8 in the above described first mode and control a second backhoe in the above described second mode.
[Additional Remark 2]
In each of the foregoing example embodiments, the control apparatus 10 or the like may control, for example, an action of a work machine when a target object is loaded into a loading destination and control an action of the work machine when a target object is shoveled up. In this case, for example, the control apparatus 10 or the like may control the backhoe 8 such that an amount of a target object which is shoveled up by the backhoe 8 in the second mode is less than that in the first mode.
[Additional Remark 3]
In each of the foregoing example embodiments, a work machine such as the backhoe 8 may include the control apparatus 10 or the like. In other words, the work machine such as the backhoe 8 and the control apparatus or the like may be configured as an integrated apparatus.
[Additional Remark 4]
The present invention is not limited to the foregoing example embodiments, but may be altered in various ways by a skilled person within the scope of the claims. For example, the present invention also encompasses, in its technical scope, any example embodiment derived by appropriately combining technical means disclosed in the foregoing example embodiments.
[Additional Remark 5]
In the example embodiments described above, the constituent members included in the control apparatus 10 or the like may be separately mounted on a plurality of apparatuses, and the functions of the control apparatus 10 or the like according to the example embodiments described above may be realized by communication of the plurality of apparatuses. In this case, part of or all of the plurality of apparatuses may be provided on a cloud.
[Additional Remark 6]
Some of or all of the foregoing example embodiments can also be described as below. Note, however, that the present invention is not limited to the following supplementary notes.
(Supplementary Note 1)
A control apparatus, including: an acquisition means of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to the configuration, the control apparatus acquires weight information on a weight of a target object which has been excavated by the work machine, and controls an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information. Therefore, according to the configuration, it is possible to suitably realize a loading action which is carried out by the work machine while taking into consideration an upper limit load.
(Supplementary Note 2)
The control apparatus according to supplementary note 1, in which: the action control means controls an angle of a movable part based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.
According to the configuration, the control apparatus controls, based on weight information on a weight of a target object which has been excavated by the work machine, an angle of the movable part for loading the target object into the loading destination. Therefore, according to the configuration, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
(Supplementary Note 3)
The control apparatus according to supplementary note 2, in which: the movable part includes an arm and a bucket which is attached to an end portion of the arm; and the action control means controls an angle of the bucket based on the weight information.
According to the configuration, the control apparatus controls, based on weight information on a weight of a target object which has been excavated by the work machine, an angle of the bucket which is attached to the end portion of the arm. Therefore, according to the configuration, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
(Supplementary Note 4)
The control apparatus according to supplementary note 2 or 3, further including: a remaining load identification means of identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination, the action control means setting an angle of the movable part in accordance with the remaining load and the weight information, and controlling the movable part in accordance with the angle which has been set.
According to the configuration, the control apparatus sets an angle of the movable part in accordance with the remaining load and the weight information, and controls the movable part in accordance with the angle which has been set. Therefore, according to the configuration, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
(Supplementary Note 5)
The control apparatus according to supplementary note 4, in which: the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and the action control means sets an angle of the movable part in accordance with the first weight information and the remaining load.
According to the configuration, the control apparatus sets an angle of the movable part in accordance with the first weight information and the remaining load. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
(Supplementary Note 6)
The control apparatus according to any one of supplementary notes 1 through 5, in which: the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the action control means controls the work machine to terminate an action to load the target object by the work machine.
According to the configuration, in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the control apparatus controls the work machine to terminate an action to load a target object by the work machine. Therefore, according to the configuration of the present example embodiment, it is possible to suitably realize a loading action which is carried out while taking into consideration an upper limit load.
(Supplementary Note 7)
A control system, including: a sensor that acquires weight information on a weight of a target object which has been excavated by a work machine; an acquisition means of acquiring the weight information on the weight of the target object from the sensor; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 8)
The control system according to supplementary note 7, in which: the action control means controls an angle of a movable part based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 9)
The control system according to supplementary note 8, in which: the movable part includes an arm and a bucket which is attached to an end portion of the arm; and the action control means controls an angle of the bucket based on the weight information.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 10)
The control system according to supplementary note 8 or 9, further including: an identification means of identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination, the action control means setting an angle of the movable part in accordance with the remaining load and the weight information, and controlling the movable part in accordance with the angle which has been set.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 11)
The control system according to supplementary note in which: the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and the action control means sets an angle of the movable part in accordance with the first weight information and the remaining load.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary Note 12)
The control system according to any one of supplementary notes 7 through 11, in which: the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the action control means controls the work machine to terminate an action to load the target object by the work machine.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 13)
A control method, including: acquiring weight information on a weight of a target object which has been excavated by a work machine; and controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 14)
The control method according to supplementary note 13, in which: in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of a movable part is controlled based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 15)
The control method according to supplementary note 14, in which: the movable part includes an arm and a bucket which is attached to an end portion of the arm; and in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the bucket is controlled based on the weight information.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 16)
The control method according to supplementary note 14 or 15, further including: identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination, in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the movable part being set in accordance with the remaining load and the weight information, and the movable part being controlled in accordance with the angle which has been set.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 17)
The control method according to supplementary note 16, in which: the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and in order to control the action of the work machine such that the load is adjusted based on the weight information, an angle of the movable part is set in accordance with the first weight information and the remaining load.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary Note 18)
The control method according to any one of supplementary notes 13 through 17, in which: the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and in order to control the action of the work machine such that the load is adjusted based on the weight information, in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the work machine is controlled to terminate an action to load the target object by the work machine.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 19)
A program for causing a computer to function as a control apparatus for controlling a work machine having a movable part, the program causing the computer to function as: an acquisition means of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 20)
The program according to supplementary note 19, in which: the action control means controls an angle of a movable part based on the weight information, the movable part being included in the work machine and being used to load the target object into the loading destination.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 21)
The program according to supplementary note 20, in which: the movable part includes an arm and a bucket which is attached to an end portion of the arm; and the action control means controls an angle of the bucket based on the weight information.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 22)
The program according to supplementary note 19 or further including: a remaining load identification means of identifying a remaining load which is a difference between an upper limit load and a loaded amount in the loading destination, the action control means setting an angle of the movable part in accordance with the remaining load and the weight information, and controlling the movable part in accordance with the angle which has been set.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 23)
The program according to supplementary note 22, in which: the weight information includes first weight information which is information on a weight of a target object which has not been loaded into the loading destination among the target object which has been excavated by the work machine; and the action control means sets an angle of the movable part in accordance with the first weight information and the remaining load.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary note 24)
The program according to any one of supplementary notes 19 through 23, in which: the weight information includes second weight information which is information on a weight of a target object which has been loaded into the loading destination among the target object which has been excavated by the work machine; and in a case where the weight indicated by the second weight information is not less than a predetermined threshold, the action control means controls the work machine to terminate an action to load the target object by the work machine.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 25)
A storage medium storing a program for causing a computer to function as a control apparatus for controlling a work machine having a movable part, the program causing the computer to function as: an acquisition means of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control means of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 26)
A control apparatus, including at least one processor, the at least one processor carrying out: an acquisition process of acquiring weight information on a weight of a target object which has been excavated by a work machine; and an action control process of controlling an action of the work machine such that a load of the target object to be loaded into a loading destination is adjusted based on the weight information.
Note that the control apparatus can further include a memory. The memory can store a program for causing the processor to carry out the acquisition process and the action control process. The program can be stored in a computer-readable non-transitory tangible storage medium.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-188133 | Nov 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/037119 | 10/7/2021 | WO |
