Patent Application
20230392354
The present invention relates to a technique for controlling a work machine having a movable part.
A technique for controlling a work machine having a movable part is known. For example, Patent Literature 1 discloses a technique for carrying out control to move a movable part of a grader.
In the technique disclosed in Patent Literature 1, there is a problem that, due to various errors in control, a position of the movable part of the grader may deviate from an intended region.
An example aspect of the present invention is accomplished in view of the above problem, and its example object is to provide a technique for accurately moving a movable part of a work machine to an intended region.
A control apparatus according to an example aspect of the present invention is a control apparatus for controlling a work machine having a movable part, the control apparatus including: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
A control system according to an example aspect of the present invention is a control system including a sensor and a control apparatus that controls a work machine having a movable part, the control apparatus including: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of the sensor to control the work machine to correct a position of the movable part.
A control method according to an example aspect of the present invention is a control method for controlling, by a control apparatus, a work machine having a movable part, the control method including: controlling the work machine to move the movable part to a region which is a destination; and detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
According to an example aspect of the present invention, it is possible to move a movable part of a work machine to an intended region with higher accuracy.
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 movement control section 11 controls the work machine to move the movable part to a destination region. Specifically, the movement control section 11 transmits, to a controller mounted on the work machine, an operation control signal for moving the movable part to a destination region. For such a generation process and a transmission process of the operation control signal, known techniques can be employed in accordance with a work machine that is to be dealt with.
The correction control section 12 detects a positional relation between the destination region and the movable part with reference to a detection value of the sensor E to control the work machine to correct a position of the movable part. Specifically, in a case where the positional relation between the destination region and the movable part does not satisfy a predetermined condition, the correction control section 12 carries out control to correct the position of the movable part such that the positional relation satisfies the predetermined condition. As the predetermined condition, various conditions for determining a positional relation between two regions in a space can be employed.
For example, the correction control section 12 calculates a difference between a target position in the destination region and an actual position of the movable part as the positional relation between the destination region and the movable part. Moreover, in a case where the difference falls outside a predetermined range, the correction control section 12 determines to correct the position of the movable part. In this case, the correction control section 12 corrects the position of the movable part such that the difference falls within the predetermined range. Note, however, that a condition for determining the positional relation between the destination region and the movable part and a process of correcting the position of the movable part are not limited to these examples.
(Configuration of Sensor)
The sensor E is a sensor for detecting a positional relation between a destination region and the movable part. Specifically, the sensor E can include a two-dimensional or three-dimensional sensor that scans a space including a destination region. Specific examples of the sensor E include, but not limited to, cameras (e.g., a depth camera, a stereo camera, a time-of-flight (ToF) camera, and the like), laser sensors (e.g., 2D LiDAR, 3D LiDAR, and the like), a radar sensor, and the like.
<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 movement control section 11 controls the work machine to move the movable part to a destination region.
(Step S12)
In step S12, the correction control section 12 detects a positional relation between the destination region and the movable part with reference to a detection value of the sensor E to control the work machine to correct the position of the movable part.
<Effect of the Present Example Embodiment>
In the present example embodiment, the movement control section 11 moves the movable part to a destination region, and the correction control section 12 detects a positional relation between the destination region and the movable part to correct the position of the movable part. As a result, the present example embodiment makes it possible to move the movable part to a destination region with higher accuracy.
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 not repeated.
<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
Here, the backhoe 8 configures an example of the “work machine having a movable part” recited in claims. The earth and sand OBJ configures an example of the movement target object recited in claims. Transporting of the earth and sand OBJ is an example of “moving of the movement target object” recited in claims. A bucket 824 of the backhoe 8 configures an example of the “tool for moving a movement target object to the region” which is included in the “movable part” recited in claims. A loading target area 910 of the dump truck 9 configures an example of the “region which is a destination” recited in claims. Moving the bucket 824 to the loading target area 910 is an example of “moving the movable part to a region which is a 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 operates in accordance with control by the control apparatus 10A. 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 E4 are a sensor group that is mounted on the backhoe 8. The sensors E1 through E4 each detect the posture of the backhoe 8. The sensors E1 through E4 are examples of the second sensor recited in claims. The posture of the backhoe 8 is changed, for example, according to a turning angle of each portion of the movable part 820. 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.
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 sensors E2 through E4 may each be disposed outside or inside the backhoe 8. In a case of being disposed outside, each of the sensors E2 through E4 is an inclination sensor, an acceleration sensor, a gyro sensor, a stroke sensor, an encoder, or the like. In a case of being disposed inside, each of the sensors E2 through E4 is a pressure sensor, a flow sensor, a cylinder sensor, a hydraulic sensor, a stroke sensor, or the like. Note, however, that the sensors E1 through E4 are not limited to these types. Moreover, mounting positions of the sensors E1 through E4 are not limited to those illustrated in the drawings.
The controller 830 includes a processor, a memory, and a communication interface (which are not illustrated). The controller 830 reads and executes a program stored in the memory to acquire detection values of the sensors E1 through E5, and transmits the acquired detection values to the control apparatus 10A via the communication interface. The detection values of the sensors E1 through E5 may be directly acquired by the control apparatus 10A, instead of being acquired by the controller 830 and transmitted to the control apparatus 10A. The controller 830 reads and executes a program stored in the memory to control each portion of the backhoe 8 in accordance with an operation control signal received from the control apparatus 10A via the communication interface.
For example, the controller 830 causes one or more of or all of the rotary section 821, the boom 822, the arm 823, and the bucket 824 to turn in accordance with an operation control signal. For example, in a case where one or more of or all of the rotary section 821, the boom 822, and the arm 823 are caused to turn, the position of the bucket 824 changes and the bucket 824 moves. For example, in a case where the bucket 824 is caused to turn, the bucket 824 carries out an operation of shoveling up earth and sand OBJ, a loading operation, or an operation of releasing earth and sand (i.e., an operation of unloading the shoveled earth and sand OBJ from the bucket 824).
(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 OBJ transported by the backhoe 8. As illustrated in
(Configuration of Three-Dimensional Sensor)
The three-dimensional sensor E5 is a sensor that detects a surrounding environment of the backhoe 8. Specifically, the three-dimensional sensor E5 is a sensor that three-dimensionally detects a target object in a space SP2 which includes an excavation area. Hereinafter, the three-dimensional sensor E5 may be simply referred to as a sensor E5. The space SP2 includes, for example, earth and sand OBJ as a target object. When excavating the earth and sand OBJ, the space SP2 further includes the bucket 824 as a target object.
The three-dimensional sensor E6 is a sensor that three-dimensionally detects a target object in a space SP1 which includes the loading target area 910. The three-dimensional sensor E6 is an example of the first sensor recited in claims. Hereinafter, the three-dimensional sensor E6 may be simply referred to as a sensor E6. The space SP1 includes, for example, a vessel that constitutes the loading target area 910 as a target object. In a case where there is earth and sand OBJ that has already been loaded in the loading target area 910, the space SP1 further includes the earth and sand OBJ as a target object. In a case where movement control of the bucket 824 has been completed, the space SP1 further includes the bucket 824 as a target object.
For example, the three-dimensional sensors E5 and E6 are each constituted by a three-dimensional laser scanner. In this case, the three-dimensional sensors E5 and E6 measure a three-dimensional shape of each of target objects in the spaces SP2 and SP1 by irradiating that target object 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 E6 is not limited to a three-dimensional laser scanner. Specific examples of the three-dimensional sensors E5 and E6 include, but not limited to, cameras (e.g., a depth camera, a stereo camera, a time-of-flight (ToF) camera, and the like), laser sensors (e.g., 3D LiDAR, and the like), a radar sensor, and the like.
(Configuration of Control Apparatus)
The following description will discuss a detailed configuration of the control apparatus 10A according to the present example embodiment. As illustrated in
(Determination Rule R1)
The determination rule R1 is a rule that is referred to for determining whether or not to correct a position of the bucket 824. Specifically, the determination rule R1 is a rule that the position of the bucket 824 is corrected if a difference between a target position in the loading target area 910 and an actual position of the bucket 824 falls outside a predetermined range.
(Movement Control Section)
The movement control section 11A controls the backhoe 8 with reference to one or more of or all of detection values of the sensors E1 through E6 such that the bucket 824 is moved to the loading target area 910. Here, the sensors E1 through E4 are examples of the second sensor recited in claims as described above, and are sensors that detect a posture of the backhoe 8. That is, the movement control section 11A controls the backhoe 8 with reference to at least detection values of the sensors E1 through E4, which detect the posture of the backhoe 8, such that the bucket 824 is moved to the loading target area 910. Note that the movement control section 11A is configured to realize a movement control means in the present example embodiment.
(Correction Control Section)
The correction control section 12A detects a positional relation between the loading target area 910 and the bucket 824 with reference to a detection value of the three-dimensional sensor E6. The correction control section 12A controls the backhoe 8 such that the position of the bucket 824 is corrected based on the detected positional relation. Here, the three-dimensional sensor E6 is an example of the first sensor recited in claims, as described above. The correction control section 12A is configured to realize a correction control means in the present example embodiment.
Specifically, the correction control section 12A determines, in accordance with the determination rule R1, whether or not to correct the position of the bucket 824. That is, the correction control section 12A calculates a difference between the target position in the loading target area 910 and an actual position of the bucket 824 as a positional relation between the loading target area 910 and the bucket 824. In a case where the difference falls outside the predetermined range, the correction control section 12A determines to correct the position of the bucket 824. In this case, the correction control section 12A corrects the position of the bucket 824 such that the difference falls within the predetermined range.
(Posture Inference Section)
The posture inference section 13A infers a posture of the backhoe 8 with reference to one or more of or all of detection values of the sensors E1 through E6. For example, the posture inference section 13A infers, as the posture of the backhoe 8, a current turning angle of each portion of the movable part 820, a position of the bucket 824, and the like. Hereinafter, the posture of the bucket 824 which has been inferred by the posture inference section 13A is also referred to as an inferred posture.
(Target Position Decision Section)
The target position decision section 14A decides a target position in the loading target area 910 with reference to one or more of or all of detection values of the sensors E1 through E6. The target position is a position that is a target destination of the bucket 824 in the loading target area 910. In other words, the target position is a position at which an operation of loading earth and sand OBJ is to be carried out. For example, the target position decision section 14A decides the target position in accordance with an accumulation status of earth and sand OBJ in the loading target area 910 with reference to a detection value of the three-dimensional sensor E6.
<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 target position decision section 14A decides a target position in the loading target area 910 with reference to one or more of or all of detection values of the sensors E1 through E6. A specific example of a process of deciding the target position will be described later.
(Step S102)
In step S102, the movement control section 11A moves the bucket 824 to the target position. Specifically, the movement control section 11A generates, with reference to an inferred posture of the bucket 824, an operation control signal for moving the bucket 824 to the target position. Here, the inferred posture of the bucket 824 is inferred by the posture inference section 13A with reference to one or more of or all of detection values of the sensors E1 through E6. The target position has been inferred by the target position decision section 14A with reference to one or more of or all of detection values of the sensors E1 through E6. In other words, the movement control section 11A generates, with reference to the inferred posture and the target position based on the one or more of or all of detection values of the sensors E1 through E6, an operation control signal for moving the bucket 824 to the target position. The operation control signal is an operation control signal for changing the posture of the backhoe 8 and includes, for example, a turning direction and a turning amount in which each portion of the movable part 820 is to be caused to turn. The movement control section 11A transmits the generated operation control signal to the controller 830 of the backhoe 8. Thus, the backhoe 8 carries out an operation of moving the bucket 824 in accordance with the received operation control signal.
(Step S103)
In step S103, the movement control section 11A determines whether or not a movement operation of the backhoe 8 has been completed. Specifically, for example, in a case where the movement control section 11A has received information indicating that the movement operation which is based on the operation control signal transmitted in step S102 from the controller 830 of the backhoe 8 has been completed, the movement control section 11A may determine that the movement operation has been completed. The process of step S103 is repeated until it is determined to be Yes.
(Step S104)
In a case where it has been determined to be Yes in step S103, the correction control section 12A acquires, in step S104, information indicating the target position in the loading target area 910. Here, the correction control section 12A acquires information indicating the target position which has been decided in step S101.
(Step S105)
In step S105, the correction control section 12A acquires information indicating an actual position of the bucket 824 with reference to a detection value of the three-dimensional sensor E6. Specifically, the correction control section 12A identifies, from among pieces of point group data generated by the three-dimensional sensor E6, point group data indicating a three-dimensional shape of the bucket 824 to acquire information indicating the actual position of the bucket 824. The correction control section 12A may identify point group data indicating the three-dimensional shape of the bucket 824 based on a feature of the three-dimensional shape of the bucket 824.
(Step S106)
In step S106, the correction control section 12A detects a positional relation between the loading target area 910 and the bucket 824. Specifically, the correction control section 12A calculates a difference between the target position and the actual position of the bucket 824. For example, the correction control section 12A may calculate a difference between the target position and the actual position of the bucket 824 in a plane in which the loading target area 910 is viewed from above.
(Step S107)
In step S107, the correction control section 12A determines whether or not the calculated difference falls within a predetermined range. In a case where it has been determined to be Yes in this step, the control apparatus 10A terminates the control method S1A.
(Step S108)
In a case where it has been determined to be No in step S107, the correction control section 12A decides, in step S108, a correction direction and a correction amount of the position of the bucket 824 based on the calculated difference.
(Step S109)
In step S109, the correction control section 12A generates, based on the decided correction direction and correction amount, an operation control signal for correcting the position of the bucket 824. The operation control signal is an operation control signal for changing the posture of the backhoe 8 and includes, for example, a turning direction and a turning amount in which each portion of the movable part 820 is to be caused to turn. The correction control section 12A transmits the generated operation control signal to the controller 830 of the backhoe 8. Thus, the backhoe 8 carries out an operation of correcting the position of the bucket 824 in accordance with the received operation control signal. That is, the backhoe 8 carries out an operation of moving the bucket 824 in order to correct the position of the bucket 824. After that, the correction control section 12A repeats the processes from step S105.
<Specific Example of Control Method>
The following description will discuss a specific example of the control method S1A, with reference to
In
A center line L2 is an example of a target position which has been decided by the target position decision section 14A. In other words, in this specific example, the target position is indicated with use of the center line L2. The center line L2 is a center line of the loading target area 910 which is projected on the horizontal plane. The center line L2 is a target position at which the center line L1 of the bucket 824-1 is expected to be disposed. A bucket 824-2 and an arm 823-2 schematically indicate the bucket 824 and the arm 823 which are expected to be at the target positions. Hereinafter, in a case where it is not necessary to particularly distinguish between the buckets 824-1 and 824-2, each of the buckets 824-1 and 824-2 may be referred to as a bucket 824.
In this example, the target position decision section 14A decides the center line L2 of the loading target area 910 as the target position with reference to one or more of or all of detection values of the sensors E1 through E6. The center line L2 of the loading target area 910 is a straight line that passes through the center of the loading target area 910 in the width direction in the horizontal plane. Note that the width direction of the loading target area 910 is a direction perpendicular to the forward and backward directions of the dump truck 9 in the horizontal plane. That is, the center line of the loading target area 910 is a straight line extending in the forward and backward directions. Note that, in
Center lines L2a and L2b indicate a predetermined range of a position of the bucket 824-1 that is permissible with respect to the target position. In other words, when the center line L1 is encompassed in a range from the center line L2a to the center line L2b, the position of the bucket 824-1 falls within a range that is permissible with respect to the target position. For example, the center lines L2a and L2b can be lines which are obtained by translating the center line L2 by +d and −d in the width direction. In this case, +d and −d are thresholds that define a lower limit and an upper limit of the predetermined range. Note that the center lines L2a and L2b are not limited to lines which are obtained by translating the center line L2. For example, the center lines L2a and L2b may be lines which are obtained by rotating the center line L2 around a reference point by +dθ and −dθ. In this case, +dθ and −dθ are thresholds that define a lower limit and an upper limit of the predetermined range.
The correction control section 12A obtains a difference between the center lines L1 and L2 as a difference between an actual position of the bucket 824-1 and the target position. For example, the correction control section 12A may obtain an angle formed by the center lines L1 and L2 as the difference between the center lines L1 and L2. Alternatively, for example, the correction control section 12A may obtain a distance between the center lines L1 and L2 at respective end portions of the buckets 824-1 and 824-2. In a case where the difference between the center lines L1 and L2 does not fall within a predetermined range, the correction control section 12A carries out correction control such that the position of the bucket 824-1 falls within the predetermined range. Specifically, the correction control section 12A changes the posture of the movable part 820 in order to correct the position of the bucket 824-1. For example, the correction control section 12A calculates a turning direction and a turning amount in which each portion of the movable part 820 should be turned in order to make the difference fall within the predetermined range. The arrow AR illustrated in
When an operation of the backhoe 8 corresponding to the transmitted operation control signal is completed, the correction control section 12A detects the actual bucket 824-1 again with reference to a detection value of the three-dimensional sensor E6 to obtain the center line L1. The correction control section 12A repeats the process of generating an operation control signal and transmitting the operation control signal to the backhoe 8 to obtain the difference between the center line L1 and the center line L2 again, until the difference falls within the predetermined range. Thus, the position of the bucket 824 is corrected.
(Variation of Process for Calculating Difference)
In this specific example, it has been described that the correction control section 12A calculates the foregoing difference with use of the center lines L1 and L2 of the respective buckets 824. The correction control section 12A is not limited to that example, and may calculate the difference with use of a center point of a region of the bucket 824 and a center point of the loading target area 910 which are projected on the horizontal plane. In this case, the correction control section 12A may calculate a distance between an actual center point of the bucket 824-1 and the center point of the loading target area 910 which is the target position. In this case, a range between 0 or more and a threshold d or less is defined as a predetermined range. The correction control section 12A may calculate the difference with use of other information, instead of the center lines or the center points.
<Effect of the Present Example Embodiment>
The present example embodiment makes it possible to move the bucket 824 of the backhoe 8 to the loading target area 910 with higher accuracy. The following description will discuss the reason in detail.
In the present example embodiment, the movement control section 11A moves the bucket 824 to the loading target area 910, and the correction control section 12A corrects the position of the bucket 824 such that a difference between a target position in the loading target area 910 and an actual position of the bucket 824 falls within a predetermined range. Thus, even if a measurement error due to an internal factor or an external environment factor is included in detection values of the sensors E1 through E6 which the movement control section 11A refers to, the actual position of the bucket 824 after correction approaches the target position. Furthermore, in the present example embodiment, after carrying out control to correct the position of the bucket 824, the correction control section 12A detects the actual position of the bucket 824 again and repeats the process of correcting the position of the bucket 824 until the difference between the target position and the actual position of the bucket 824 falls within the predetermined range. Thus, the actual bucket 824 is moved to a region within a predetermined range based on the target position with higher accuracy.
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 second example embodiment, and descriptions as to such constituent elements are not repeated.
<Configuration of Control System>
The following description will discuss a configuration of a control system 1B 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 10B according to the present example embodiment. As illustrated in
(Determination Rule R2)
The determination rule R2 is a rule for determining whether or not to correct a position of the bucket 824. Specifically, the determination rule R2 is a rule that the position of the bucket 824 is corrected if the bucket 824 is not entirely included in the loading target area 910.
(Correction Control Section)
The correction control section 12B differs from the correction control section 12A according to the second example embodiment in terms of details of a process of detecting a positional relation between the loading target area 910 and the bucket 824. The other configurations are similar to those of the correction control section 12A.
Specifically, the correction control section 12B determines, in accordance with the determination rule R2, whether or not to correct the position of the bucket 824. That is, the correction control section 12B detects an inclusion relation between the bucket 824 and the loading target area 910 as a positional relation between the loading target area 910 and the bucket 824. In a case where the bucket 824 is not entirely included in the loading target area 910, that is, in a case where at least a part of the bucket 824 falls outside the loading target area 910, the correction control section 12B determines to correct the position of the bucket 824. In this case, the correction control section 12B corrects the position of the bucket 824 such that the bucket 824 is included in the loading target area 910. Here, the bucket 824 is an example of the “at least a predetermined portion of the movable part” recited in claims. The correction control section 12B is configured to realize a correction control means in the present example embodiment.
<Flow of Control Method>
In the control system 1B configured as described above, the control apparatus 10B carries out a control method S1B. The following description will discuss a flow of the control method S1B with reference to
(Step S204)
In a case where it has been determined to be Yes in step S103, the correction control section 12B acquires, in step S204, information indicating a position of the loading target area 910 with reference to a detection value of the three-dimensional sensor E6. Specifically, the correction control section 12B identifies, from among pieces of point group data generated by the three-dimensional sensor E6, point group data indicating a three-dimensional shape of the loading target area 910 to acquire information indicating the position of the loading target area 910. The correction control section 12B may identify point group data indicating the three-dimensional shape of the loading target area 910 based on a feature of the three-dimensional shape of the loading target area 910.
(Step S105)
In step S105, the correction control section 12B acquires information indicating an actual position of the bucket 824 with reference to a detection value of the three-dimensional sensor E6. Details of the process in this step are as described above in the second example embodiment.
(Step S206)
In step S206, the correction control section 12B detects an inclusion relation between the loading target area 910 and the bucket 824.
(Step S207)
In step S207, the correction control section 12B determines whether or not the bucket 824 is entirely included in the loading target area 910 based on the detection result in step S206. In a case where it has been determined to be No in step S207, the correction control section 12B carries out steps S108 and S109 in a manner similar to that in the second example embodiment, and carries out control to correct the position of the bucket 824. In a case where it has been determined to be Yes in step S207, the control apparatus 10B terminates the control method S1B.
<Specific Example of Control Method>
The following description will discuss a specific example of the control method S1B, with reference to
In
When an operation of the backhoe 8 corresponding to an operation control signal for correcting the position of the bucket 824-1 is completed, the correction control section 12B detects the bucket 824-1 again to detect the inclusion relation between the regions A1 and A2. Then, the correction control section 12B repeats the process of generating an operation control signal and transmitting the operation control signal to the backhoe 8 to detect the inclusion relation again, until the region A1 is entirely included in the region A2. Thus, the position of the bucket 824 is corrected.
<Effect of the Present Example Embodiment>
The present example embodiment makes it possible to accurately move the bucket 824 of the backhoe 8 to the loading target area 910. The following description will discuss the reason in detail.
In the present example embodiment, the movement control section 11A moves the bucket 824 to the loading target area 910, and the correction control section 12B corrects the position of the bucket 824 such that the bucket 824 is entirely included in the loading target area 910. Thus, even if a measurement error due to an internal factor or an external environment factor is included in detection values of the sensors E1 through E6 which the movement control section 11A refers to, the actual position of the bucket 824 after correction is included more sufficiently in the loading target area 910. Furthermore, in the present example embodiment, after carrying out control to correct the position of the bucket 824, the correction control section 12B detects the actual position of the bucket 824 again and repeats the process of correcting the position of the bucket 824 until the bucket 824 is entirely included in the loading target area 910. Thus, the entire bucket 824 is accurately moved to be within the loading target area 910.
Further, another reason will be described as follows. In the present example embodiment, the correction control section 12B detects the positional relation between the loading target area 910 and the bucket 824 with reference to a detection value of only the three-dimensional sensor E6. Therefore, even if the target position itself, which has been decided based on detection values of the sensors E1 through E6, includes an error with respect to the target position in a real space, the error can be corrected.
[Other Variations]
<Variation of Correction Control Section>
It is possible that, in the second or third example embodiment, the correction control section 12A or 12B refers to a table for generating an operation control signal to generate an operation control signal, and refers to a position of the bucket 824 after correction to modify the table. In this case, the storage section 120A or 120B stores the table.
For example, the table includes information in which a correction amount of the position of the bucket 824 is associated with a turning amount of each portion of the movable part 820. The correction control sections 12A and 12B each generate, with reference to the table, an operation control signal with use of the turning amount of each portion of the movable part 820 that is associated with the correction amount of the bucket 824. The correction control sections 12A and 12B each carry out control to correct the position of the bucket 824 with use of the operation control signal, and then detect a difference between a position after correction which is intended by the operation control signal and an actual position of the bucket 824 which is detected after correction. The correction control sections 12A and 12B each modify the table based on the detected difference. The following description will discuss an example in which a turning amount a of the boom 822 is associated with a correction amount of 1 centimeter of the bucket 824. The correction control sections 12A and 12B each generate, with reference to the table, an operation control signal for turning the boom 822 by the turning amount a in order to move the bucket 824 by 1 centimeter. At this time, it is assumed that, as a result of transmitting the operation control signal to the backhoe 8, the bucket 824 has actually been moved by more than 1 centimeter. In this case, the correction control sections 12A and 12B each modify the turning amount associated with the correction amount of 1 centimeter of the bucket 824 to a value smaller than α in the table.
<Variation of Sensor Used by Correction Control Section>
In the second or third example embodiment, an example has been described in which the correction control section 12A or 12B uses the sensor E6 which is one of the sensors E1 through E6 used by the movement control section 11A as a sensor used to correct the position of the bucket 824. The correction control sections 12A and 12B are not limited to the example, and may each correct the position of the bucket 824 with use of a sensor that is different from the sensor group used by the movement control section 11A.
In the second or third example embodiment, the correction control sections 12A and 12B may each use a two-dimensional sensor instead of the three-dimensional sensor E6. Examples of the two-dimensional sensor include a camera that captures an image of a surrounding area to generate a two-dimensional image. In this case, the camera generates a captured image which is a two-dimensional image obtained by imaging the loading target area 910 from above. In this case, the correction control sections 12A and 12B each detect a positional relation between the bucket 824 and the loading target area 910 in the captured image.
<Variation of Plane for Detecting Positional Relation>
In the second or third example embodiment, an example has been described in which the correction control section 12A or 12B detects a positional relation in the horizontal plane as the “positional relation between the bucket 824 and the loading target area 910”. Note, however, that the “positional relation between the bucket 824 and the loading target area 910” is not limited to the positional relation in the horizontal plane. For example, the correction control sections 12A and 12B may each determine the positional relation in a plane other than the horizontal plane. The plane other than the horizontal plane may be, for example, a vertical plane. In this case, the correction control sections 12A and 12B can each correct the position of the bucket 824 in the vertical direction. The correction control sections 12A and 12B may each determine the positional relation in each of the horizontal plane and the vertical plane and carry out control to correct the position of the bucket 824 by combining the determination results. In this case, the correction control sections 12A and 12B can each correct the position of the bucket 824 in the horizontal direction and the vertical direction. The correction control sections 12A and 12B may each determine the positional relation in a three-dimensional space. In this case, the correction control sections 12A and 12B can each three-dimensionally correct the position of the bucket 824.
<Variation of Work Machine>
In each of the example embodiments described above, a robot or a construction machine can be applied as a work machine. For example, in the second and third example embodiments, a crane may be applied instead of the backhoe 8. In this case, in each of the example embodiments, a hook can be applied instead of the bucket 824. In this case, instead of the loading target area 910, a region is applied which is a destination of a movement target object which is to be moved with use of the hook. Note that the work machine is not limited to a crane, and may be another construction machine or another robot.
In each of the example embodiments described above, the controller (830) is not limited to the configuration of being mounted on the work machine (backhoe 8), and may be installed outside the work machine (backhoe 8). In this case, the movement control section 11 (11A, 11B) transmits an operation control signal to a controller (830) that is installed outside the work machine (backhoe 8). The controller (830) controls, by wireless communication, a driving section of a movement mechanism that moves a movable part (bucket 824) of the work machine (backhoe 8) in accordance with the received operation control signal. In a case where the controller (830) is installed at a location (for example, on a cloud) remote from the work machine, the controller (830) controls the driving section via a relay apparatus. In this case, the relay apparatus is installed in a place (e.g., around a work machine, in a work site, or the like) where the driving section can be controlled by wireless communication.
Further, in each of the example embodiments described above, the work machine (backhoe 8) may have, instead of or in addition to the controller, an operation section (such as an operation lever) and an operation section driving apparatus (such as an attachment) attached to the operation section. Here, the operation section receives an operation by an operator for moving the movable part (bucket 824). The operation section driving apparatus is an apparatus that drives the operation section in place of an operator.
In this case, the movement control section 11 (11A) controls the work machine by transmitting an operation control signal to the operation section driving apparatus, instead of or in addition to transmitting an operation control signal to the controller (830). This enables each of the example embodiments to control a work machine (backhoe 8) on which an operator can board.
In each of the example embodiments described above, the movement control section 11 (11A) may generate an operation control signal for controlling the work machine (backhoe 8) based on an operation by an operator. In this case, the movement control section 11 (11A) can be configured by another computer that is installed at a physically different location from a computer that constitutes the correction control section 12 (12A, 12B). Thus, the operator can carry out an operation of moving the movable part (bucket 824) of the work machine (backhoe 8) from a remote location. In this case, each of the example embodiments makes it possible to move the position of the movable part (bucket 824) which is moved by the operator to a destination region (loading target area 910) with higher accuracy.
In the second and third example embodiments described above, the movement control section 11A may carry out control such that the bucket 824 is moved to the loading target area 910 without referring to detection values of the sensors E1 through E6. For example, in some cases, a target position in the loading target area 910 is predetermined. In this case, the movement control section 11A can generate an operation control signal for moving the bucket 824 to the predetermined target position without referring to an inferred posture based on detection values of the sensors E1 through E6. Such an operation control signal includes a predetermined turning direction and a predetermined turning amount for each portion of the movable part 820. The movement control section 11A may generate, for example, such an operation control signal based on a past control result to the predetermined target position. In this case, in the second and third example embodiments, the backhoe 8 does not necessarily need to be provided with the sensors E1 through E4. The control apparatuses 10A and 10B each do not necessarily need to include the posture inference section 13A and the target position decision section 14A.
In the second and third example embodiments described above, the sensor E5 can be mounted on the backhoe 8. The sensor E5 can be installed at another place where a target object included in the space SP2 can be detected. For example, the sensor E5 can be installed at a position (e.g., a ceiling, a column, or the like) at which an excavation area can be viewed from above. In a case where change in shape of earth and sand OBJ due to excavation in the space SP2 is small, the sensor E5 does not necessarily need to be installed. The sensor E5 may be any sensor that detects a surrounding environment of the backhoe 8, and is not limited to a three-dimensional sensor. The sensor E5 can be used to control traveling of the traveling section 810.
Further, in the second and third example embodiments described above, the backhoe 8 may be provided with another sensor for controlling traveling of the traveling section 810. The another sensor can be, for example, a camera that captures an image in the traveling direction of the backhoe 8, a ToF, a laser sensor, or a radar sensor.
The functions of part of or all of the control apparatuses 10, 10A, and 10B 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 10A, and 10B 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]
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 2]
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 for controlling a work machine having a movable part, the control apparatus including: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
According to the configuration, the movable part can be moved to the destination region with higher accuracy. This is because, even in a case where the actual position of the movable part deviates from the intended region after the movement control means has carried out control to move the movable part to the destination region, the correction control means detects a positional relation between the destination region and the movable part to correct the position of the movable part.
(Supplementary Note 2)
The control apparatus according to supplementary note 1, in which: the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.
According to the configuration, it is possible to three-dimensionally detect a positional relation between the movable part and the destination region. Therefore, the movable part can be moved to the destination region with higher accuracy.
(Supplementary note 3)
The control apparatus according to supplementary note 2, in which: the movement control means controls, with reference to a detection value of a second sensor which detects a posture of the work machine, the work machine to move the movable part to the region; and the correction control means controls, with reference to a detection value of the first sensor, the work machine to correct the position of the movable part.
According to the configuration, even if a measurement error is included in a detection value of the second sensor used in the movement control, the movable part can be moved to the destination region with higher accuracy.
(Supplementary note 4)
The control apparatus according to any one of supplementary notes 1 through 3, in which: the correction control means corrects the position of the movable part such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.
According to the configuration, the position of the movable part can be brought closer to the target position.
(Supplementary note 5)
The control apparatus according to any one of supplementary notes 1 through 3, in which: the correction control means corrects the position of the movable part such that at least a predetermined portion of the movable part is included in the region.
According to the configuration, it is possible to increase reliability that at least a predetermined portion of the movable part is included in the destination region.
(Supplementary note 6)
The control apparatus according to any one of supplementary notes 1 through 5, in which: the movable part includes a tool for moving a movement target object to the region.
According to the configuration, the movement target object can be more reliably moved to the destination region.
(Supplementary note 7)
The control apparatus according to any one of supplementary notes 1 through 6, in which: the work machine includes a configuration for moving the movable part by changing a posture; and the correction control means controls the work machine to change the posture in order to correct the position of the movable part.
According to the configuration, it is possible to control the posture of the work machine such that the position of the movable part is corrected.
(Supplementary note 8)
A control system including a sensor and a control apparatus that controls a work machine having a movable part, the control apparatus including: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of the sensor to control the work machine to correct a position of the movable part.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary note 9)
The control system according to supplementary note 8, in which: the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 10)
The control system according to supplementary note 9, in which: the movement control means controls, with reference to a detection value of a second sensor which detects a posture of the work machine, the work machine to move the movable part to the region; and the correction control means controls, with reference to a detection value of the first sensor, the work machine to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 11)
The control system according to any one of supplementary notes 8 through 10, in which: the correction control means corrects the position of the movable part such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 12)
The control system according to any one of supplementary notes 8 through 10, in which: the correction control means corrects the position of the movable part such that at least a predetermined portion of the movable part is included in the region.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary Note 13)
The control system according to any one of supplementary notes 8 through 12, in which: the movable part includes a tool for moving a movement target object to the region.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 14)
The control system according to any one of supplementary notes 8 through 13, in which: the work machine includes a configuration for moving the movable part by changing a posture; and the correction control means controls the work machine to change the posture in order to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 7 is brought about.
(Supplementary Note 15)
A control method for controlling a work machine having a movable part, the control method including: controlling the work machine to move the movable part to a region which is a destination; and detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 16)
The control method according to supplementary note 15, in which: the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 17)
The control method according to supplementary note 16, in which: a detection value of a second sensor that detects a posture of the work machine is referred to for controlling the work machine to move the movable part to the region which is the destination; and a detection value of the first sensor is referred to for controlling the work machine to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 18)
The control method according to any one of supplementary notes 15 through 17, in which: the position of the movable part is corrected with reference to a detection value of the sensor such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 19)
The control method according to any one of supplementary notes 15 through 17, in which: the position of the movable part is corrected with reference to a detection value of the sensor such that at least a predetermined portion of the movable part is included in the region.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary Note 20)
The control method according to any one of supplementary notes 15 through 19, in which: the movable part includes a tool for moving a movement target object to the region.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 21)
The control method according to any one of supplementary notes 15 through 20, in which: the work machine includes a configuration for moving the movable part by changing a posture; and the correction control means controls the work machine to change the posture in order to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 7 is brought about.
(Supplementary Note 22)
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: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
According to the configuration, an effect similar to that of supplementary note 1 is brought about.
(Supplementary Note 23)
The program according to supplementary note 22, in which: the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.
According to the configuration, an effect similar to that of supplementary note 2 is brought about.
(Supplementary Note 24)
The program according to supplementary note 23, in which: the movement control means controls, with reference to a detection value of a second sensor which detects a posture of the work machine, the work machine to move the movable part to the region; and the correction control means controls, with reference to a detection value of the first sensor, the work machine to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 3 is brought about.
(Supplementary Note 25)
The program according to any one of supplementary notes 22 through 24, in which: the correction control means corrects the position of the movable part such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.
According to the configuration, an effect similar to that of supplementary note 4 is brought about.
(Supplementary Note 26)
The program according to any one of supplementary notes 22 through 24, in which: the correction control means corrects the position of the movable part such that at least a predetermined portion of the movable part is included in the region.
According to the configuration, an effect similar to that of supplementary note 5 is brought about.
(Supplementary Note 27)
The program according to any one of supplementary notes 22 through 26, in which: the movable part includes a tool for moving a movement target object to the region.
According to the configuration, an effect similar to that of supplementary note 6 is brought about.
(Supplementary Note 28)
The program according to any one of supplementary notes 22 through 27, in which: the work machine includes a configuration for moving the movable part by changing a posture; and the correction control means controls the work machine to change the posture in order to correct the position of the movable part.
According to the configuration, an effect similar to that of supplementary note 7 is brought about.
(Supplementary Note 29)
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: a movement control means of controlling the work machine to move the movable part to a region which is a destination; and a correction control means of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
(Supplementary Note 30)
A control apparatus comprising at least one processor, the at least one processor carrying out: a movement control process of controlling the work machine to move the movable part to a region which is a destination; and a correction control process of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.
Note that the control apparatus can further include a memory. The memory can store a program for causing the processor to carry out the movement control process and the correction control process. The program can be stored in a computer-readable non-transitory tangible storage medium.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-188136 | Nov 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/039934 | 10/29/2021 | WO |
