Patent Application
20240200309
The present invention relates to a technique of controlling a work machine.
A technique of controlling a work machine is known. For example, Patent Literature 1 discloses a technique of setting a rotation restrictive region on the basis of a loading position and an excavation position of a hydraulic excavator. In this technique, in order to avoid contact with a transport vehicle at a loading destination, the hydraulic excavator is controlled so that rotation of the hydraulic excavator is restricted, in a case where a bucket is located in the rotation restrictive region.
Further, for example, Patent Literature 2 discloses a technique of detecting a position of a worker with use of a magnetic field generating apparatus that is fixed to a hydraulic excavator and a wireless tag that is carried by the worker. In this technique, an approach notification area that corresponds to a range in which a magnetic field occurs is determined in accordance with a work state of the hydraulic excavator, and an approach notification is issued in a case where the determined approach notification area includes the position of the worker.
However, the techniques disclosed in Patent Literatures 1 and 2 have room for improvement in terms of operating a work machine more safely.
For example, in the technique disclosed in Patent Literature 1, the rotation restrictive region is determined on the basis of the loading position and the excavation position, regardless of an actual content of work. Therefore, in this technique, it is possible that contact with an obstacle cannot be sufficiently avoided, depending on the actual content of the work carried out by the hydraulic excavator.
In the technique disclosed in Patent Literature 2, the range in which the magnetic field occurs does not necessarily correspond to an area in which approach should be notified actually. In some cases, it is not possible to accurately set the approach notification area. Therefore, in this technique, it is possible that contact of a work machine and an obstacle cannot be sufficiently avoided.
An example aspect of the present invention has been made in view of the above problems, and an example object thereof is to provide a technique of operating a work machine safely.
A control method in accordance with an example aspect of the present invention is a control method including: an obtaining step of obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine; a range specifying step of specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and a motion controlling step of controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.
A control system in accordance with an example aspect of the present invention is a control system including: an obtaining means for obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine; a range specifying means for specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and a motion controlling means for controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.
A control apparatus in accordance with an example aspect of the present invention is a control apparatus including: an obtaining means for obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine; a range specifying means for specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and a motion controlling means for controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.
According to an example aspect of the present invention, it is possible to operate a work machine more safely.
The following description will discuss, in detail, a first example embodiment of the present invention with reference to drawings. The present example embodiment is made the basis of example embodiments described later.
A configuration of a control system 1 in accordance with the present example embodiment is described with reference to
As illustrated in
A detailed configuration of the control apparatus 10 in accordance with the present example embodiment is described with reference to
The obtaining section 11 obtains work information that pertains to the work machine 90 and position information that pertains to the work machine 90. The work information indicates a content of work to be carried out by the work machine 90. The content of the work includes, for example, a type of the work to be carried out by the work machine 90 and a state of each part constituting the work machine 90. The content of the work which content is indicated by the work information includes, for example, the type of the work to be carried out by the work machine 90, a position which is a target of the work, and a posture of the work machine 90 which posture is for carrying out the work. In other words, the work information includes work type information that indicates the type of the work, target position information that indicates the position which is the target of the work, and posture information that includes the posture of the work machine 90.
The range specifying section 12 specifies a first range in accordance with the content of the work which content is indicated by the obtained work information. The first range is a range that includes a range in which the work machine 90 operates and a vicinity of the range. The first range is specified so that the work machine 90 is operated safely. Note that the first range may be a two-dimensional range or may be alternatively a three-dimensional range. In the case of the two-dimensional range, for example, the first range may be a range on a plane as the work machine 90 is viewed from the above or may be alternatively a range on a plane as the work machine 90 is viewed from the side. The first range may be, for example, a range in which it is possible that the work machine comes into contact with an obstacle. Hereinafter, the “first range” is also referred to as “contact range”.
The motion control section 13 controls the motion of the work machine 90 with reference to the specified contact range and the position information that pertains to the work machine 90.
In the control system 1 configured as described above, the control apparatus 10 carries out a control method S1. A flow of the control method S1 is described with reference to
In the step S11, the obtaining section 11 obtains work information that pertains to the work machine 90 and position information that pertains to the work machine 90. For example, the obtaining section 11 may obtain the work information with reference to a value detected by a sensor mounted to the work machine 90, may obtain the work information by reading the work information from a memory, or may obtain the work information by receiving the work information from another apparatus that is communicably connected to the obtaining section 11. The obtaining section 11 may obtain the position information pertaining to the work machine 90, for example, with reference to a value detected by a positioning sensor mounted to the work machine 90. The obtaining section 11 may further obtain, for example, position information pertaining to an obstacle.
In the step S12, the range specifying section 12 specifies a contact range in accordance with a content of work which content is indicated by the obtained work information. For example, the range specifying section 12 may specify the contact range in accordance with a type of the work and a state of each part constituting the work machine 90.
In the step S13, the motion control section 13 controls a motion of the work machine 90 with reference to the specified contact range and the position information that pertains to the work machine 90. For example, the motion control section 13 determines whether or not the obstacle is located in the specified contact range. This determining process can be carried out, for example, with reference to a value detected by the positioning sensor mounted to the work machine 90. In a case where the motion control section 13 determines that the obstacle is located in the specified contact range, the motion control section 13 controls the work machine 90 so that a possibility that the work machine 90 comes into contact with the obstacle is reduced. Detailed examples of a content of control include, but are not limited to, stop, deceleration, and movement of the work machine 90.
As has been described, in the present example embodiment, the motion of the work machine 90 is controlled with reference to (i) the contact range specified in accordance with the content of the work to be carried out by the work machine 90 and (ii) the position information pertaining to the work machine 90. This makes it possible to operate the work machine 90 more safely because the contact range which more sufficiently reflects the content of the work to be carried out by the work machine 90 is referred to.
The following description will discuss, in detail, a second example embodiment of the present invention with reference to drawings. Note that constitutional elements having the same functions as those of the constitutional elements described in the first example embodiment are denoted by the same reference signs, and descriptions thereof will be omitted as appropriate.
A configuration of a control system 2 in accordance with the present example embodiment is described with reference to
The control apparatus 20A and the control apparatus 20B are communicably connected to each other via a network N1. Detailed examples of the network N1 include a wireless LAN, a wired LAN, a WAN, a public network, a mobile data communication network (such as 3G, LTE, 4G, 5G, and local 5G), and combinations of these networks. Note, however, that a configuration for connecting the control apparatus 20A and the control apparatus 20B is not limited to these examples.
The control apparatus 20A is installed near or far from the backhoe 90A, and is connected to the backhoe 90A such that the control apparatus 20A can control a motion of the backhoe 90A. For example, the control apparatus 20A may be connected, by wireless, to a controller 94A mounted to the backhoe 90A, or may be connected to the controller 94A via the above-described network N1. Note, however, that a configuration for connecting the control apparatus 20A and the backhoe 90A is not limited to these examples.
The control apparatus 20B is installed near or far from the backhoe 90B, and is connected to the backhoe 90B such that the control apparatus 20B can control a motion of the backhoe 90B. A manner of connection of the control apparatus 20B and the backhoe 90B is similarly described by replacing, with “B”, “A” at the ends of the reference signs in the description of the above-described manner of connection of the control apparatus 20A and the backhoe 90A.
A detailed configuration of the backhoe 90A is described. The backhoe 90A is an example of the “first work machine” recited in the claims. The backhoe 90A autonomously moves in accordance with control by the control apparatus 20A. Note that autonomously moving means moving without depending on sequential operations conducted by an operator. As illustrated in
The traveling part 93A is a traveling part that enables the backhoe 90A to move forward and backward and turn right and left. The traveling part 93A travels, for example, with use of an endless track belt.
The rotary part 91A is attached to the traveling part 93A. The rotary part 91A can rotate on a rotary shaft P1A in a plane perpendicular to the paper surface of the drawing. Note that, in a case where the backhoe 90A is on a level ground, the plane perpendicular to the paper surface of
The arm part 92A includes a boom 921A that is attached to the rotary part 91A, an arm 922A that is attached to an end portion of the boom 921A, and a bucket 923A that is attached to an end portion of the arm 922A. The boom 921A can rotate back and forth on a boom shaft P2A in a plane that is substantially perpendicular to the horizontal plane. The arm 922A can rotate back and forth on an arm shaft P3A on the same rotation plane as that of the boom 921A. The bucket 923A can rotate back and forth on a bucket shaft P4A on the same rotation plane as that of the arm 922A.
The rotary part 91A and the arm part 92A are each an example of an “operation part” recited in the claims. That is, the backhoe 90A includes a plurality of operation parts.
The controller 94A has a processor, a memory, and a communication interface (each not illustrated). The controller 94A reads and executes a program stored in the memory so as to control each part of the backhoe 90A in accordance with a motion control signal received from the control apparatus 20A via the communication interface.
For example, the controller 94A controls, in accordance with the motion control signal, a part or all of the rotary part 91A, the boom 921A, the arm 922A, and the bucket 923A so that the part or all rotate and accordingly the backhoe 90A carries out the work such as excavation and loading. For example, the controller 94A controls, in accordance with the motion control signal, the traveling part 93A so that the traveling part 93A travels and accordingly the backhoe 90A moves.
The backhoe 90A includes a group of various sensors (not illustrated) for detecting a posture and a position of the backhoe 90A. Examples of a sensor for detecting the posture include, but are not limited to, tilt sensors, acceleration sensors, gyro sensors, encoders, pressure sensors, flow sensors, cylinder sensors, oil pressure sensors, and stroke sensors. These sensors each detect a rotation angle of the rotary part 91A, the boom 921A, the arm 922A, or the bucket 923A. Examples of a sensor for detecting the position include positioning sensors. Examples of the positioning sensors include, but are not limited to, global positioning system (GPS) satellites and sensors each of which uses a signal received from a base station of a mobile phone network. Note that the backhoe 90A does not necessarily need to include a positioning sensor. In this case, the position of the backhoe 90A is detected with use of a three-dimensional sensor (not illustrated) that is installed in a space in which the backhoe 90A exists. Examples of the three-dimensional sensor include, but are not limited to, three-dimensional laser scanners, 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), and radar sensors.
The backhoe 90B is an example of a “second work machine” recited in the claims. The backhoe 90B is configured similarly to the backhoe 90A. A configuration of the backhoe 90B is similarly described by replacing, with “B”, “A” at the ends of the reference signs in the description of the configuration of the backhoe 90A. Hereinafter, in a case where it is not particularly necessary to distinguish between the backhoes 90A and 90B, each of the backhoes 90A and 90B is also referred to as a backhoe 90. The backhoe 90B may be also referred to as “the other backhoe 90” with respect to the backhoe 90A. Similarly, the backhoe 90A may be also referred to as “the other backhoe 90” with respect to the backhoe 90B.
A detailed configuration of the control apparatus 20A is described. As illustrated in
The obtaining section 21A sequentially obtains work information A that indicates a content of the work to be carried out by the backhoe 90A and position information A that pertains to the backhoe 90A. The obtaining section 21A also sequentially obtains position information B that pertains to the backhoe 90B and information that indicates a contact range 80B. Details of the work information A, the position information A, the position information B, and the contact range 80B are described later.
The range specifying section 22A specifies a contact range 80A in accordance with the content of the work which content is indicated by the work information A and operation ranges of the operation parts that are included in the backhoe 90A. For example, the range specifying section 22A specifies, in accordance with the content of the work which content is indicated by the work information A, the contact range 80A that has a shape corresponding to each of the plurality of operation parts which are included in the backhoe 90A. Details of the contact range 80A are described later. The work information A includes the content of the work which content has been determined by the motion specifying section 24A (described later). Details of the work information A are described later. The range specifying section 22A sequentially changes the contact range 80A in accordance with the work information A that is sequentially obtained.
The motion specifying section 24A determines the content of the work to be carried out by the backhoe 90A. Note that the motion specifying section 24A may determine the content of the work to be carried out by the backhoe 90A, with reference to the contact range 80B and the position information B that pertains to the backhoe 90B. The motion specifying section 24A may determine the content of the work to be carried out by the backhoe 90A, on the basis of an input that has been received in advance from an operator or may determine the content of the work in accordance with a schedule that has been determined in advance. The motion specifying section 24A may autonomously determine the content of the work to be carried out by the backhoe 90A. Autonomously determining the content of the work means, for example, determining the content of the work in accordance with a situation of the backhoe 90A. For example, the motion specifying section 24A may autonomously determine the content of the work with use of a generation model which generates the content of the work to be carried out by the backhoe 90A. In this case, the generation model may be, for example, a model that has been trained by machine learning so that, in a case where values outputted from the group of various sensors for detecting the posture and the position of the backhoe 90A are inputted into the model, the model outputs the content of the work. The motion specifying section 24A may determine, as the content of the work, a type of the work and information that defines the work of the type. As a detailed example, in a case where the motion specifying section 24A determines “excavation” as the type of the work, the motion specifying section 24A determines a position of excavation and a method of excavation (e.g., a depth, a direction, an angle, a work track, and the like of excavation), as information that defines the “excavation” work.
The motion control section 23A generates motion control information for controlling the motion of the backhoe 90A, in accordance with the content of the work to be carried out by the backhoe 90A. The motion control section 23A transmits the generated motion control information to the backhoe 90A via the communication interface (not illustrated). This causes the backhoe 90A to autonomously move. For example, the backhoe 90A may autonomously move in accordance with the content of the work which content is determined in advance or may autonomously move in accordance with the content of the work which content is determined in accordance with a situation during the motion.
The motion control section 23A determines whether or not the contact range 80A and the contact range 80B at least partially overlap each other, with reference to the contact range 80A, the position information A, the position information B, and the contact range 80B. In a case where the motion control section 23A determines that the contact range 80A and the contact range 80B at least partially overlap each other, the motion control section 23A controls the backhoe 90A. As an example, a content of control is control for reducing a possibility that the backhoe 90A comes into contact with the backhoe 90B. It is described below that a detailed content of the control is control for stopping the backhoe 90A. Note, however, that the content of the control for reducing the possibility that the backhoe 90A comes into contact with the backhoe 90B is not limited to this example. For example, the content of the control may be control of causing the backhoe 90A to travel until the contact range 80A does not overlap the contact range 80B. Alternatively, for example, the content of the control may be control of changing the content of the work to be carried out by the backhoe 90A to the content of the work which content allows the contact range 80A not to overlap the contact range 80B.
The control apparatus 20B is configured similarly to the control apparatus 20A. A configuration of the control apparatus 20B is similarly described by, in the description of the configuration of the control apparatus 20A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs.
The work information A is an example of “first work information” recited in the claims. The work information A is information that indicates the content of the work to be carried out by the backhoe 90A.
The content of the work which content is indicated by the work information A includes, for example, the type of the work to be carried out by the backhoe 90A, a position which is a target of the work, and the posture of the backhoe 90A which posture is for carrying out the work. In other words, the work information A includes work type information that indicates the type of the work, target position information that indicates the position which is the target of the work, and posture information that includes the posture of the backhoe 90A.
Detailed examples of the type of the work include, but are not limited to, “loading”, “excavation”, “leveling”, and “pushing”. Detailed examples of the target position include, but are not limited to, an excavation position and a loading position. The posture is expressed, for example, by the rotation angle of each of the rotary part 91A, the boom 921A, the arm 922A, and the bucket 923A. That is, the work information A includes information that pertains to a direction(s) (here, a rotation angle(s)) of one or more of the plurality of operation parts (here, the rotary part 91A, the boom 921A, the arm 922A, and the bucket 923A) that are included in the backhoe 90A.
Note that the work information A includes information that has been determined by the motion specifying section 24A so as to cause the backhoe 90A to autonomously move. For example, the work type information and the target position information are examples of the information that has been determined by the motion specifying section 24A. Note that these pieces of information that are included in the work information A may be those that have been determined in advance or may be those that have been determined autonomously.
The work information A also includes information that indicates a current state of the backhoe 90A. The information that indicates the current state is detected by the group of sensors that are included in the backhoe 90A. For example, the posture information is an example of the information that indicates the current state. The posture information includes the rotation angle of each of the rotary part 91A, the boom 921A, the arm 922A, and the bucket 923A, which rotation angle has been detected by any of the group of sensors.
The work information B is similarly described by replacing, with “B”, “A” at the ends of the reference signs in the description of the work information A. Hereinafter, in a case where it is not particularly necessary to distinguish between the work information A and the work information B, each of the work information A and the work information B is also referred to as “work information”.
The position information A is information that indicates the position of the backhoe 90A. The position information A is expressed by the same three-dimensional coordinate system as that of the position information B. For example, the position information A is detected by the above-described positioning sensor or three-dimensional sensor.
The position information B is similarly described by, in the description of the position information A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs. Hereinafter, in a case where it is not particularly necessary to distinguish between the position information A and the position information B, each of the position information A and the position information B is also referred to as “position information”.
The contact range 80A is a range that includes a range in which the work machine 90 operates and a vicinity of the range in order to cause the backhoe 90A to operate safely. For example, the contact range 80A is a range in which it is possible that the backhoe 90A comes into contact with the backhoe 90B. The contact range 80A is an example of the “first range” recited in the claims. The contact range 80A has a shape corresponding to the operation parts of the backhoe 90A. Here, the operation parts of the backhoe 90A are the rotary part 91A and the arm part 92A. That is, the backhoe 90A has the plurality of operation parts. In other words, the contact range 80A includes a shape corresponding to each of the plurality of operation parts. The shape corresponding to each of the operation parts is, for example, a shape of a circle, an ellipse, or a fan having a radius corresponding to each of the operation parts. For example, the contact range 80A has such a shape that a region which has a shape of a fan that has a radius corresponding to the rotary part 91A and a region which has a shape of a fan that has a radius corresponding to the arm part 92A are synthesized.
The contact range 80B is similarly described by, in the description of the contact range 80A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs. The contact range 80B is an example of a “second range” recited in the claims. Hereinafter, in a case where it is not particularly necessary to distinguish between the contact ranges 80A and 80B, each of the contact ranges 80A and 80B is also referred to as a “contact range 80”.
In the control system 2 configured as described above, the control apparatus 20A sequentially carries out a control method S2. Sequentially carrying out the control method S2, for example, may be carrying out the control method S2 at given intervals or may be carrying out the control method S2 in accordance with a change in the work information A. The control apparatus 20B also sequentially carries out the control method S2, similarly to the control apparatus 20A.
A flow of the control method S2 is described with reference to
In the step S21, the obtaining section 21A obtains the work information A. Details of this step are described later.
In the step S22, the obtaining section 21A obtains the position information A pertaining to the backhoe 90A. Specifically, for example, the obtaining section 21A obtains the position information A with use of the positioning sensor included in the backhoe 90A or the three-dimensional sensor installed in the space where the backhoe 90A exists. Details of this step are described later.
In the step S23, the obtaining section 21A obtains the position information B pertaining to the backhoe 90B (the other backhoe 90). Specifically, the obtaining section 21A receives the position information B by requesting the control apparatus 20B of the position information B.
In the step S24, the range specifying section 22A specifies the contact range 80A of the backhoe 90A in accordance with the content of the work which content is indicated by the work information A. Specifically, the range specifying section 22A specifies the contact range 80A which is obtained by synthesizing a contact range 82A that has a shape corresponding to the arm part 92A and a contact range 81A that has a shape corresponding to the rotary part 91A. The contact range 80A specified in this step can sequentially change by the control method S2 being sequentially carried out. Details of this step are described later.
In the step S25, the obtaining section 21A obtains the contact range 80B of the backhoe 90B (the other backhoe 90). Specifically, the obtaining section 21A receives the contact range 80B from the control apparatus 20B. Here, the control apparatus 20B carries out the control method S2 similarly to the control apparatus 20A. Thus, the control apparatus 20B specifies the contact range 80B in the step S24. Then, the obtaining section 21A receives the contact range 80B by requesting the control apparatus 20B of the contact range 80B.
In the step S26, the motion control section 23A determines whether or not the contact range 80A and the contact range 80B at least partially overlap each other. A detailed example of this step is described later.
In a case where a determination of YES is made in the step S26, the motion control section 23A controls, in the step S27, the backhoe 90A so that the backhoe 90A stops. Specifically, the motion control section 23A transmits, to the backhoe 90A, the motion control information that indicates an instruction to stop. Note that, by the control apparatus 20A and the control apparatus 20B carrying out the control method S2, the backhoe 90A and the backhoe 90B stop in this step.
In a case where a determination of NO is made in the step S26, the control apparatus 20A ends the control method S2. Note that, in a case where, in the control method S2 previously carried out, a determination of YES was made in the step S26 and then the step S27 was carried out, the backhoe 90A is already in a stopped state. In such a state, in a case where a determination of NO is made in the step S26 in the control method S2 carried out this time, the motion control section 23A may control the backhoe 90A so that the backhoe 90A resumes the work.
The details of the step S21 are described with reference to
In the step S211, the obtaining section 21A obtains the work type information. The work type information is, for example, information that indicates “excavation” or “loading”, but is not limited to this example. The work type information is information that has been determined by the motion specifying section 24A so as to control the motion of the backhoe 90A. The work type information is stored in, for example, a memory (not illustrated) of the control apparatus 20A. Such work type information can change in accordance with a change in the content of the work to be carried out by the backhoe 90A. The obtaining section 21A obtains the work type information that has been most recently determined, by reading the work type information from the memory. Note that the work type information that has been most recently determined may be one that has been determined in advance or may be one that has been determined autonomously.
In the step S212, the obtaining section 21A obtains the target position information. The target position information is expressed by the same three-dimensional coordinate system as those of the position information A and the position information B. For example, the target position information includes one or both of excavation position information and loading position information. The excavation position information indicates a position at which a target object to be excavated exists. The loading position information indicates coordinates that represent a position at which the target object is loaded. For example, the loading position information indicates coordinates of a cargo bed of a vehicle that carries the target object loaded thereon. In a case where the work type information indicates “excavation”, the target position information includes the excavation position information. In a case where the work type information indicates “loading”, the target position information may include (i) the excavation position information that indicates a position at which rotation is started for loading and (ii) the loading position information that indicates a position at which the target object is to be loaded.
For example, in a case where the work type information indicates “leveling” or “pushing”, the target position information includes one or both of target object position information and movement destination position information. The target object position information indicates a position at which the deposited target object exists. The movement destination position information indicates a position of a movement destination of the target object.
The target position information is information that has been determined by the motion specifying section 24A so as to control the motion of the backhoe 90A. The target position information is stored in, for example, the memory of the control apparatus 20A. The target position information can change in accordance with a change in the content of the work to be carried out by the backhoe 90A. The obtaining section 21A obtains the target position information that has been most recently determined, by reading the target position information from the memory. Note that the target position information that has been most recently determined may be one determined in advance or may be one determined autonomously.
In the step S213, the obtaining section 21A obtains the posture information. As described above, the posture information includes information that indicates the rotation angle of each of the rotary part 91A, the boom 921A, the arm 922A, and the bucket 923A. The rotation angle of each of these parts is detected by any of the group of sensors mounted to the backhoe 90A. The obtaining section 21A obtains the posture information with reference to the values detected by the group of sensors.
The details of the step S24 are described with reference to
In the step S241, the range specifying section 22A determines a work radius R2A of the arm part 92A with reference to the posture information included in the work information A. The work radius R2A of the arm part 92A is a radius of a fan-shaped region in which it is predicted that there is a possibility that the arm part 92A moves due to the work of the backhoe 90A. Typically, the work radius R2 has a value that is higher than that of a work radius R1A of the rotary part 91A (described later).
A detailed example of the step S241 is described with reference to
As illustrated in
Here, r3 is a distance from the boom shaft P2A to the arm shaft P3A on the rotation plane (xz plane) of the boom 921A, the arm 922A, and the bucket 923A. Further, r4 is a distance from the boom shaft P2A to the bucket shaft P4A on the rotation plane. Further, r5 is a distance from the boom shaft P2A to an end portion P5A of the bucket 923A on the rotation plane. Further, r6 is a distance from the boom shaft P2A to a bottom portion P6A of the bucket 923A on the rotation plane. With reference to
In the step S242, the range specifying section 22A determines a work angle of the arm part 92A with reference to the work type information included in the work information A. Here, the work angle indicates a maximum angle at which it is possible that a corresponding operation part (here, the arm part 92A) rotates in the work of a corresponding type. The work angle may be determined in advance, for example, in accordance with the work type information. The work angle may be determined in consideration of an angle at which the operation part rotates from when the motion control information that indicates an instruction to stop rotation is transmitted to when the rotation actually stops, in addition to being determined in accordance with the work type information.
A detailed example of the step S242 is described with reference to
In the step S243, the range specifying section 22A calculates the contact range 82A that has a shape corresponding to the arm part 92A, on the basis of the determined work radius R2A, the determined work angle and the target position information that is included in the work information A.
A detailed example of the step S243 is described with reference to
In the step S244, the range specifying section 22A determines the work radius R1A of the rotary part 91A. The work radius R1A of the rotary part 91A is a radius of a fan-shaped region in which it is predicted that the rotary part 91A rotates due to the work of the backhoe 90A. The work radius R1A is a constant determined by the size of the rotary part 91A. Typically, the work radius R1A has a value that is lower than that of the above-described work radius R2A of the arm part 92A.
A detailed example of the step S244 is described with reference to
In the step S245, the range specifying section 22A calculates the contact range 81A that has a shape corresponding to the rotary part 91A, on the basis of the determined work radius R1A.
A detailed example of the step S245 is described with reference to
In the step S246, the range specifying section 22A specifies the contact range 80A of the backhoe 90A, on the basis of the contact ranges 82A and 81A each of which has a shape corresponding to one of the operation parts (the arm part 92A and the rotary part 91A).
A detailed example of the step S246 is described with reference to
(Detailed Example of Step S24 that is Carried Out by Control Apparatus 20B)
Similarly, the control apparatus 20B specifies the contact range 80B of the backhoe 90B by carrying out the step S24. A detailed example of the contact range 80B of the backhoe 90B is described with reference to
As illustrated in
In this case, the contact range 80B is a region which is obtained by synthesizing a contact range 82B that has a shape corresponding to the arm part 92B and a contact range 82B that has a shape corresponding to the rotary part 91B.
Specifically, the contact range 82B is a region which has a shape of a fan that is centered on the rotary shaft P1B and that has the work radius R2B and which includes the arm part 92B. The contact range 82B has, as boundaries, (i) a line segment that extends in a direction of +Δθ2B from the rotary shaft P1B with respect to the direction d1B and (ii) a line segment that extends in a direction of −Δθ2B from the rotary shaft P1B with respect to a direction d2B. Note that the direction d1B is a direction from the rotary shaft P1B toward the excavation position D1B. The direction d2B is a direction from the rotary shaft P1B toward the loading position D2B.
The contact range 81B has a shape corresponding to the rotary part 91B. Specifically, the contact range 81B is a region which has a shape of a fan that is centered on the rotary shaft P1B and that has the work radius R1B and which includes the rotary part 91B. Note that the contact range 81B preferably includes a region which is not included in the contact range 82B in a circle that is centered on the rotary shaft P1B and that has the work radius R1B.
The detailed example of the step S26 is described with reference to
Note that, in the present example embodiment, an example is described in which the contact ranges 80A and 80B are two-dimensional ranges and the virtual space in which the contact ranges 80A and 80B are disposed is a two-dimensional plane as illustrated in
For example, each of the three-dimensional contact ranges 80A and 80B includes a contact range that is disposed on a horizontal plane in the virtual three-dimensional space and a contact range that is disposed on a vertical plane in the virtual three-dimensional space. The contact range that is disposed on the horizontal plane is described similarly to each of the above-described two-dimensional contact ranges 80A and 80B. The contact range that is disposed on the vertical plane includes a range in which it is possible that the arm part 92A moves in the vertical direction. Specifically, the contact range that is disposed on the vertical plane includes a range in which it is possible that the boom 921A rotates in the vertical direction on the boom shaft P2A. The contact range that is disposed on the vertical plane also includes a range in which it is possible that the arm 922A rotates in the vertical direction on the arm shaft P3A. The contact range that is disposed on the vertical plane also includes a range in which it is possible that the bucket 923A rotates in the vertical direction on the bucket shaft P4A. The motion control section 23A determines whether or not the contact ranges of the backhoes 90A and 90B which contact ranges are disposed on the horizontal plane at least partially overlap each other. The motion control section 23A also determines whether or not the contact ranges of the backhoes 90A and 90B which contact ranges are disposed on the vertical plane at least partially overlap each other. In this manner, it is possible to cause the contact ranges 80A and 80B, which are infinite in the vertical direction in a case where the contact ranges 80A and 80B are disposed in a two-dimensional space, to be finite in the vertical direction by disposing the contact ranges 80A and 80B in the three-dimensional space. As a result, the contact ranges in the vertical direction of the contact ranges 80A and 80B are narrowed. This makes it possible to more accurately determine a possibility that the backhoes 90A and 90B come into contact with each other. Therefore, work efficiency increases.
As has been described, in the present example embodiment, the contact ranges 80A and 80B of the backhoes 90A and 90B are specified with reference to the contents of the work to be carried out by the backhoes 90A and 90B. In a case where these ranges at least partially overlap each other, the backhoes 90A and 90B are controlled so that the backhoes 90A and 90B stop. This makes it possible to, in the present example embodiment, flexibly set the contact ranges 80 for determining a possibility of contact while reflecting the contents of the work. As a result, it is possible to more sufficiently avoid contact of the backhoes 90A and 90B.
Furthermore, in the present example embodiment, the contact ranges 80A and 80B are sequentially changed in accordance with the work information A and the work information B that are sequentially obtained. This makes it possible to, in the present example embodiment, more accurately specify the contact ranges 80 while reflecting a change in the contents of the work to be carried out by the backhoes 90A and 90B. As a result, it is possible to more sufficiently avoid contact of the backhoes 90A and 90B.
The contact ranges 80A and 80B specified in the present example embodiment each have a shape corresponding to each of the plurality of operation parts. This causes each of the contact ranges 80A and 80B to be a region that more reflects the motion characteristics of each of the plurality of operation parts. As a result, it is reduced that a region in which, actually, there is a low possibility of contact is included in each of the contact ranges 80A and 80B. This causes a work region (i.e., a region other than the contact range 80) of each of the backhoes 90A and 90B to be wide. Therefore, work efficiency is improved.
In the above-described embodiment, the contact range 82A corresponding to the arm part 92A and the contact range 81A corresponding to the rotary part 91A are synthesized so as to specify the contact range 80A of the backhoe 90A. This may be modified such that at least one of the plurality of operation parts (the arm part 92A and the rotary part 91A) is selected in accordance with the content of the work which content is indicated by the work information A and then the contact range 80A is specified in accordance with an operation range of the selected at least one of the plurality of operation parts. Specifically, in the present modification, one of the contact range 82A corresponding to the arm part 92A and the contact range 81A corresponding to the rotary part 91A may be specified as the contact range 80A of the backhoe 90A. In other words, in the present modification, the contact range 80A includes one of the shapes corresponding to the respective plurality of operation parts (the rotary part 91A and the arm part 92A).
In the present modification, the control apparatus 20A carries out a step S24a, instead of the step S24 in the control method S2 described with reference to
Details of the step S24a are described with reference to
In the step S241a, the range specifying section 22A determines whether or not the backhoe 90B (the other backhoe 90) exists at the target position or in a vicinity thereof. Specifically, the range specifying section 22A carries out this determination with reference to the target position information that is included in the work information A and the position information B that pertains to the backhoe 90B.
In a case where a determination of YES is made in the step S241a, the range specifying section 22A calculates the contact range 82A of the arm part 92A by carrying out the steps S242a to S244a. Processes in the steps S242a to S244a are similar to those in the steps S241 to S243 described with reference to
In a case where a determination of NO is made in the step S241a, the range specifying section 22A calculates the contact range 81A of the rotary part 91A by carrying out the steps S245a and S246a. Processes in the steps S245a and S246a are similar to those in the steps S244 and S245 described with reference to
A detailed example of the first modification is described. In this detailed example, the backhoes 90A and 90B carry out excavation in parallel. The control apparatuses 20A and 20B each carry out the process S24a in the control method S2.
A detailed example of the step S241a is described with reference to
Further, as illustrated in
Detailed examples of the steps S242a to S244a are described with reference to
Detailed examples of the steps S245a and S246a are described with reference to
A detailed example of the step S26 in the present modification is described with reference to
In the present modification, the contact range is changed in accordance with whether or not the other backhoe 90 exists at the target position of the backhoe 90, which is a control target, or in the vicinity thereof. Specifically, in a case where the other backhoe 90 exists at the target position or in the vicinity thereof (for example, in the forward direction), the contact range 80 includes a wide region that includes the target position and the vicinity thereof. Otherwise, the contact range 80 includes a region that is located on an opposite side (e.g., in the backward direction) from the target position. Thus, in the present modification, it is possible to reduce an excess part of the contact range 80 which excessive part is unlikely to contribute to determination of contact. As a result, it is possible to improve working efficiency, while more sufficiently avoiding contact of the backhoes 90A and 90B.
In the above embodiment, it has been described that the control apparatus 20A obtains the contact range 80B from the control apparatus 20B. This may be modified such that the control apparatus 20A obtains the work information B from the control apparatus 20B and specifies the contact range 80B on the basis of the work information B. In the present modification, the control apparatus 20B may not have the range specifying section 22B.
In the present modification, the control apparatus 20A carries out a control method S2b which is a modification of the control method S2 described with reference to
In the step S25b-1, the obtaining section 21A obtains the work information B that pertains to the backhoe 90B. For example, the obtaining section 21A receives the work information B by requesting the control apparatus 20B of the work information B.
In the step S25b-2, the range specifying section 22A specifies the contact range 80B of the backhoe 90B with reference to the work information B. Specifically, the range specifying section 22A specifies the contact range 80B which is obtained by synthesizing the contact range 82B that has a shape corresponding to the arm part 92B and the contact range 81B that has a shape corresponding to the rotary part 91B. Note that, in order to specify the contact range 80B of the backhoe 90B, the range specifying section 22A refers to information that indicates the size of each part of the backhoe 90B, in addition to referring to the work information B. The information that indicates the size of each part of the backhoe 90B may be stored in the memory of the control apparatus 20A or may be received together with the work information B in the step S25b-1. A detailed flow of this step is as described with reference to the flowchart in
In the present modification, the control apparatus 20A specifies the contact range 80B of the backhoe 90B with reference to the work information B received from the control apparatus 20B. Thus, in the present modification, in a case where the contact ranges 80A and 80B at least partially overlap each other, at least the backhoe 90A is controlled so that the backhoe 90A stops. Therefore, even in a case where the control apparatus 20B does not have a function of specifying the contact range 80B, it is possible to more sufficiently avoid a collision of the backhoes 90A and 90B.
In the above-described second example embodiment and first and second modifications, it has been described that the control apparatus 20A receives (i) the position information B and (ii) the contact range 80B or the work information B, by requesting the control apparatus 20B of (i) the position information B and (ii) the contact range 80B or the work information B. The second example embodiment and the first and second modifications are not limited to this example, and the control apparatus 20B may be configured to sequentially transmit (i) the position information B and (ii) the contact range 80B or the work information B, even without receiving a request from the control apparatus 20A. In this case, for example, the control apparatus 20B may transmit (i) the position information B and (ii) the contact range 80B or the work information B to the control apparatus 20A at given intervals. The control apparatus 20B may, for example, transmit, to the control apparatus 20A, each of (i) the position information B and (ii) the contact range 80B or the work information B at a timing at which each of (i) the position information B and (ii) the contact range 80B or the work information B changes.
Similarly, in the above-described second example embodiment and first modification, it has been described that the control apparatus 20B receives the position information A and the contact range 80A by requesting the control apparatus 20A of the position information A and the contact range 80A. The second example embodiment and the first modification are not limited to this example, and the control apparatus 20A may be configured to sequentially transmit the position information A and the contact range 80A, even without receiving a request from the control apparatus 20B. In this case, for example, the control apparatus 20A may transmit the position information A and the contact range 80A to the control apparatus 20B at given intervals. The control apparatus 20A may, for example, transmit each of the position information A and the contact range 80A to the control apparatus 20B at a timing at which each of the position information A and the contact range 80A changes.
In the present modification, each of the control apparatuses 20A and 20B obtains information that pertains to the other backhoe 90, without requesting the other of the control apparatuses 20A and 20B of the information. Therefore, it is possible to reduce a load on the system.
The following description will discuss, in detail, a third example embodiment of the present invention with reference to drawings. Note that constitutional elements having the same functions as those of the constitutional elements described in the first and second example embodiments are denoted by the same reference signs, and descriptions thereof will not be repeated.
An outline of a control system 3 in accordance with the present example embodiment is described with reference to 19.
The virtual space VS includes regions that correspond to respective objects that exist in the real space RS (the backhoes 90A and 90B, other vehicles, facilities, building structures, workers, and the like). The virtual space VS is generated with reference to values detected by a three-dimensional sensor that is installed in the real space RS, a positioning sensor mounted to each object, and the like.
As illustrated in
Here, future information X may be information at a certain point in time after a current point in time (a point in time at which the control system 3 moves) or may be each of pieces of information in a certain period of time after the current point in time. Note that the “information X” indicates, for example, work information, position information, or contact range. In other words, the information that is predicted at a certain point in time after the current point in time or each of the pieces of information that are predicted in a certain period of time after the current point in time may be expressed also as the future information X as an example. It is described below that the future information X is each of the pieces of information that are predicted in a certain period of time after the current point in time.
A configuration of the control system 3 in accordance with the present example embodiment is described with reference to
A detailed configuration of the control apparatus 30A is described. As illustrated in
The obtaining section 31A obtains future work information A, future position information A, future position information B, and the future contact range 80B. The future work information A indicates a future content of work to be carried out by the backhoe 90A. The future position information A indicates a future position of the backhoe 90A. The future position information B indicates a future position of the backhoe 90B. The future contact range 80B indicates the future contact range 80B of the backhoe 90B. The future work information A includes the future content that has been determined by the motion specifying section 24A (described later).
The range specifying section 32A specifies the future contact range 80A with reference to the information obtained by the obtaining section 31A. In other words, the range specifying section 32A specifies the future contact range 80A in the virtual space VS.
The motion control section 33A controls a motion of the backhoe 90A with reference to the future contact range 80A and the information that has been obtained by the obtaining section 31A. More specifically, in a case where the future contact range 80A and the future contact range 80B at least partially overlap each other, the motion control section 33A controls the backhoe 90A so that the backhoe 90A stops.
The motion specifying section 34A determines the future content of the work to be carried out by the backhoe 90A. Note that the motion specifying section 34A may determine the future content of the work to be carried out by the backhoe 90A, with reference to the future contact range 80B and the future position information B that pertains to the backhoe 90B. The motion specifying section 34A may determine the future content of the work to be carried out by the backhoe 90A, on the basis of an input that has been received in advance from an operator or may determine the future content of the work in accordance with a schedule that has been determined in advance.
The control apparatus 30B is configured similarly to the control apparatus 30A. A configuration of the control apparatus 30B is similarly described by, in the description of the configuration of the control apparatus 30A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs.
In the control system 3 configured as described above, the control apparatus 30A carries out a control method S3. For example, the control apparatus 30A may carry out the control method S3 at a timing of a change in work type information included in the future work information A. The control apparatus 30B also carries out the control method S3, similarly to the control apparatus 30A. For example, the control apparatus 30B may carry out the control method S3 at a timing of a change in work type information included in future work information B.
A flow of the control method S3 is described with reference to
In the step S31, the obtaining section 21A obtains pieces of future work information A. For example, the pieces of future work information A are a time series of pieces of work information A at points t1 to tn in time in the future. Hereinafter, the work information A at a point tx in time is referred to as work information Ai (i=1, 2, . . . , n). Details of the work information Ai are similar to those of the work information A described in the second example embodiment, and includes work type information, target position information, and posture information.
For example, pieces of work type information and pieces of target position information at the points t1 to tn in time are determined by the motion specifying section 34A in order to cause the backhoe 90A to autonomously move, and are stored in a memory of the control apparatus 30A. Pieces of posture information at the points t1 to tn in time can change in accordance with the motion of the backhoe 90A. The obtaining section 31A may obtain the pieces of posture information at the points t1 to tn in time, by predicting the pieces of posture information on the basis of pieces of work information A up to the current point in time.
In the step S32, the obtaining section 31A obtains pieces of future position information A pertaining to the backhoe 90A. The pieces of future position information A are a time series of pieces of position information A at the points t1 to tn in time. Hereinafter, the position information A at the point ti in time is referred to as position information Ai. Pieces of position information A1 to An can change in accordance with the motion of the backhoe 90A. The obtaining section 31A obtains the pieces of position information A1 to An, by predicting the pieces of position information A1 to An on the basis of the pieces of work information A and pieces of position information A up to the current point in time.
In the step S33, the obtaining section 31A obtains pieces of future position information B pertaining to the backhoe 90B. The pieces of future position information B are a time series of pieces of position information B at the points t1 to tn in time. Hereinafter, the position information B at the point ti in time is referred to as position information Bi. Pieces of position information B1 to Bn can change in accordance with the motion of the backhoe 90B. Here, the control apparatus 30B carries out the control method S3 similarly to the control apparatus 30A. Thus, the control apparatus 30B specifies the pieces of position information B1 to Bn in the step S32. Thus, the obtaining section 31A obtains the pieces of position information B1 to Bn by receiving the pieces of position information B1 to Bn from the control apparatus 30B.
In the step S34, the range specifying section 32A specifies future contact ranges 80A of the backhoe 90A. The future contact ranges 80A are a time series of contact ranges 80A at the points t1 to tn in time. Hereinafter, the contact range 80A at the point ti in time is referred to as a contact range 80Ai. Specifically, the range specifying section 22A specifies the contact range 80Ai by carrying out, at each point ti of the points t1 to tn in time, the range specifying process illustrated in
In the step S35, the obtaining section 31A obtains future contact ranges 80B of the backhoe 90B. The future contact ranges 80B are a time series of contact ranges 80B at the points t1 to tn in time. Hereinafter, the contact range 80B at the point ti in time is referred to as a contact range 80Bi. Here, the control apparatus 30B carries out the control method S3 similarly to the control apparatus 30A. Thus, the control apparatus 30B specifies contact ranges 80B1 to 80Bn in the step S34. Then, the obtaining section 31A receives the contact ranges 80B1 to 80Bn by requesting the control apparatus 30B of the contact ranges 80B1 to 80Bn.
In the step S36, the motion control section 33A determines whether or not the contact range 80Ai and the contact range 80Bi at least partially overlap each other at at least any point ti of the points t1 to tn in time.
In a case where a determination of YES is made in the step S36, the motion control section 33A controls, in the step S37, the backhoe 90A so that the backhoe 90A stops. Specifically, the motion control section 33A transmits, to the backhoe 90A, motion control information that indicates an instruction to stop.
In a case where a determination of NO is made in the step S36, the control apparatus 30A ends the control method S3. Note that, in a case where, in the control method S3 previously carried out, a determination of YES was made in the step S36 and then the step S37 was carried out, the backhoe 90A is already in a stopped state. In such a state, in a case where a determination of NO is made in the step S36 in the control method S3 carried out this time, the motion control section 33A may control the backhoe 90A so that the backhoe 90A resumes the work.
Note that, in the present example embodiment, it has been described that the work type information and the target position information which are included in the future work information Ai, Bi are determined by the motion specifying section 34A in order to cause the backhoe 90A to autonomously move. Note, however, that the obtaining section 31A may obtain these pieces of information by predicting these pieces of information on the basis of the pieces of work information A, B up to the current point in time. Further, it has been described that the posture information included in the future work information Ai, Bi is predicted on the basis of the pieces of work information A, B up to the current point in time. It also has been described that the future position information Ai, Bi is predicted on the basis of the pieces of work information A, B and the pieces of position information A, B up to the current point in time. Note, however, that the obtaining section 31A may obtain information determined by the motion specifying section 34A, as the future position information Ai, Bi and the posture information that is included in the future work information Ai, Bi.
In the present example embodiment, the future contact ranges 80A and 80B are simulated on the virtual space VS on the basis of the future work information A and the future position information A pertaining to the backhoe 90A and the future work information B and the future position information B pertaining to the backhoe 90B. In the present example embodiment, in a case where, in the simulation on the virtual space VS, the contact ranges 80A and 80B at least partially overlap each other, the backhoe 90A and 90B are controlled so that the backhoes 90A and 90B stop. In the present example embodiment, this makes it possible to, in accordance with a future change in the content of the work to be carried out by each of the backhoes 90A and 90B, (i) predict a possibility that the backhoes 90A and 90B comes into contact with each other and (ii) more sufficiently avoid the contact.
The following description will discuss, in detail, a fourth example embodiment of the present invention with reference to drawings. Note that constitutional elements having the same functions as those of the constitutional elements described in the first to third example embodiments are denoted by the same reference signs, and descriptions thereof will not be repeated.
A configuration of a control system 4 in accordance with the present example embodiment is described with reference to
The control apparatus 40A, the control apparatus 40B, and the integral control apparatus 60 are communicably connected to each other via a network N1. A manner of connection of the control apparatus 40A and the backhoe 90A and a manner of connection of the control apparatus 40B and the backhoe 90B are as described in the second example embodiment. Configurations of the backhoes 90A and 90B are also as described in the second example embodiment.
A detailed configuration of the integral control apparatus 60 is described. As illustrated in
The range collecting section 61 receives a contact range 80A from the control apparatus 40A, and receives a contact range 80B from the control apparatus 40B. The range collecting section 61 transmits the contact range 80B to the control apparatus 40A, and transmits the contact range 80A to the control apparatus 40B. In other words, the range collecting section 61 collects the contact ranges 80A and 80B from the respective control apparatuses 40A and 40B, and delivers the collected contact ranges 80B and 80A to the respective control apparatuses 40A and 40B.
The delivery destination specifying section 62 determines a delivery destination of each of the collected contact ranges 80A and 80B. Specifically, as the delivery destination of the collected contact range 80A, the delivery destination specifying section 62 determines the control apparatus 40B that controls the backhoe 90B which exists near the contact range 80A. Further, for example, as the delivery destination of the collected contact range 80B, the delivery destination specifying section 62 determines the control apparatus 40A that controls the backhoe 90A which exists near the contact range 80B.
For example, the delivery destination specifying section 62 may receive position information pertaining to each of the backhoes 90A and 90B from a corresponding one of the control apparatuses 40A and 40B, and determine the delivery destination with reference to the received position information. Specifically, in a case where the backhoes 90A and 90B exist within a given distance, the delivery destination specifying section 62 may determine the control apparatus 40B as the delivery destination of the contact range 80A, and determine the control apparatus 40A as the delivery destination of the contact range 80B. Note that, in a case where the backhoes 90A and 90B are apart from each other by the given distance or more, the delivery destination specifying section 62 does not need to determine the delivery destination of each of the contact ranges 80A and 80B. In this case, the contact ranges 80A and 80B are not delivered.
In some cases, for example, the integral control apparatus 60 integrates three or more control apparatuses including the control apparatuses 40A and 40B. The three or more control apparatuses are apparatuses that control respective different backhoes. In this case, as a delivery destination(s) of each collected contact range, the integral control apparatus 60 determines a part or all of the control apparatuses other than a transmission source of the contact range. For example, as the delivery destination(s) of the contact range 80A, the delivery destination specifying section 62 determines that, among the control apparatuses other than the control apparatus 40A, (i) the control apparatus(es) that controls/control the backhoe(s) which exists/exist near the contact range 80A is/are a delivery destination(s) and (ii) the other control apparatus(es) is/are not a delivery destination(s).
A detailed configuration of the control apparatus 40A is described. As illustrated in
The obtaining section 41A is configured substantially similarly to the obtaining section 21A in the second example embodiment. Note, however, that the obtaining section 41A differs from the obtaining section 21A in that the obtaining section 41A receives the contact range 80B of the backhoe 90B from the integral control apparatus 60, instead of receiving the contact range 80B from the control apparatus 40B.
The range specifying section 42A is configured substantially similarly to the range specifying section 22A in the second example embodiment. Note, however, that the range specifying section 42A differs from the range specifying section 22A in that the range specifying section 42A transmits the specified contact range 80A of the backhoe 90A to the integral control apparatus 60.
The motion control section 43A and the motion specifying section 44A are configured similarly to the motion control section 23A and the motion specifying section 24A, respectively, in the second example embodiment.
The control apparatus 40B is configured similarly to the control apparatus 40A. A configuration of the control apparatus 40B is similarly described by, in the description of the configuration of the control apparatus 40A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs.
The control system 4 configured as described above sequentially carry out a control method S4. Sequentially carrying out the control method S4, for example, may be carrying out the control method S4 at given intervals or may be carrying out the control method S4 in accordance with a change in work information A. The control apparatus 40B also sequentially carries out the control method S4, similarly to the control apparatus 40A.
A flow of the control method S4 is described with reference to
The steps S41 to S43 are similar to the respective steps S21 to S23 described with reference to
In the step S44, the range specifying section 42A specifies the contact range 80A of the backhoe 90A in accordance with a content of work which content is indicated by the work information A. Details of this process are substantially similar to those of the process in the step S24 described with reference to
In the step S61, the range collecting section 61 of the integral control apparatus 60 collects the contact ranges 80A and 80B from the respective control apparatuses 40A and 40B.
In the step S62, the delivery destination specifying section 62 determines the control apparatus 40B as the delivery destination of the collected contact range 80A, and determines the control apparatus 40A as the delivery destination of the contact range 80B. The range collecting section 61 delivers the contact range 80B to the control apparatus 40A. The range collecting section 61 delivers the contact range 80A to the control apparatus 40B.
The steps S45 to S47 are substantially similar to the respective steps S25 to S27 described with reference to
In the present example embodiment, the integral control apparatus 60 corrects and delivers the contact ranges 80A and 80B that are used to determine a possibility of contact of the backhoes 90A and 90B. Thus, the control apparatuses 40A and 40B do not need to be able to communicate with each other, and each only need to be able to communicate with the integral control apparatus 60. Therefore, the present example embodiment can be easily extended in a case where three or more backhoes 90 are made control targets.
The following description will discuss, in detail, a fifth example embodiment of the present invention with reference to drawings. Note that constitutional elements having the same functions as those of the constitutional elements described in the first to fourth example embodiments are denoted by the same reference numerals, and descriptions thereof will not be repeated.
A configuration of a control system 5 in accordance with the present example embodiment is described with reference to
A manner of connection of the control apparatus 50A, the control apparatus 50B, and the integral control apparatus 70, a manner of connection of the control apparatus 50A and the backhoe 90A, and a manner of connection of the control apparatus 50B and the backhoe 90B are as described in the fourth example embodiment. Configurations of the backhoes 90A and 90B are as described in the second example embodiment.
A detailed configuration of the integral control apparatus 70 is described. As illustrated in
The range collecting section 71 receives a contact range 80A and position information A from the control apparatus 50A, and receives a contact range 80B and position information B from the control apparatus 50B. In other words, the range collecting section 71 collects the contact range 80 and the position information from each of the control apparatuses 50A and 50B.
The risk determining section 72 determines whether or not it is possible that the plurality of backhoes 90 come into contact with each other, with reference to the collected contact ranges 80 and pieces of position information. The risk determining section 72 transmits, to a corresponding one of to the control apparatuses 50A and 50B, information pertaining to control of a motion of each of the backhoes 90A and 90B, in accordance with a determination result.
A detailed configuration of the control apparatus 50A is described. As illustrated in
The obtaining section 51A is configured substantially similarly to the obtaining section 21A in the second example embodiment. Note, however, that the obtaining section 51A differs from the obtaining section 21A in that the obtaining section 51A receives the contact range 80B of the backhoe 90B from the integral control apparatus 70, instead of receiving the contact range 80B from the control apparatus 50B. The obtaining section 51A differs from the obtaining section 21A also in that the obtaining section 51A transmits the obtained position information A to the integral control apparatus 70.
The range specifying section 52A is configured substantially similarly to the range specifying section 22A in the second example embodiment. Note, however, that the range specifying section 52A differs from the range specifying section 22A in that the range specifying section 52A transmits the specified contact range 80A of the backhoe 90A to the integral control apparatus 70.
The motion control section 53A controls the backhoe 90A so that the backhoe 90A stops, in a case where the motion control section 53A receives, from the integral control apparatus 70, information that indicates an instruction to stop the backhoe 90A.
The motion specifying section 54A is configured similarly to the motion specifying section 24A in the second example embodiment.
The control apparatus 50B is configured similarly to the control apparatus 50A. A configuration of the control apparatus 50B is similarly described by, in the description of the configuration of the control apparatus 50A, (i) replacing, with “B”, “A” at the ends of the reference signs and (ii) replacing, with “A”, “B” at the ends of the reference signs.
The control system 5 configured as described above sequentially carry out a control method S5. Sequentially carrying out the control method S5, for example, may be carrying out the control method S5 at given intervals or may be carrying out the control method S5 in accordance with a change in work information A. The control apparatus 50B also sequentially carries out the control method S5, similarly to the control apparatus 50A.
A flow of the control method S5 is described with reference to
The step S51 is similar to the step S21 described with reference to
The step S52 is substantially similar to the step S22 described with reference to
In the step S53, the range specifying section 52A specifies the contact range 80A of the backhoe 90A in accordance with a content of work which content is indicated by the work information A. Details of this process are substantially similar to those of the process in the step S24 described with reference to
In the step S71, the range collecting section 71 of the integral control apparatus 70 collects the contact range 80A and the position information A from the control apparatus 50A, and collects the contact range 80B and the position information B from the control apparatus 50B.
In the step S72, the risk determining section 72 determines whether or not the contact ranges 80A and 80B at least partially overlap each other, with reference to the position information A and the position information B.
In a case where a determination of YES is made in the step S72, the risk determining section 72 transmits information that indicates an instruction to stop each of the backhoes 90A and 90B.
In the step S54, the motion control section 53A determines whether or not to have received, from the integral control apparatus 70, the information that indicates an instruction to stop the backhoe 90A.
In a case where a determination of YES is made in the step S54, the motion control section 53A controls, in the step S55, the backhoe 90A so that the backhoe 90A stops. Specifically, the motion control section 53A transmits, to the backhoe 90A, motion control information that indicates an instruction to stop.
In a case where a determination of NO is made in the step S73, a determination of NO is made in the step S55, and the control method S5 ends.
In the present example embodiment, the integral control apparatus 70 collects the contact ranges 80A and 80B that are used to determine a possibility of contact of the backhoes 90A and 90B. The integral control apparatus 70 then delivers information that indicates an instruction to stop each of the backhoes 90A and 90B, in a case where there is a possibility of contact. This makes it possible to more sufficiently avoid contact, regardless of a communication state between the control apparatuses 50A and 50B.
In the above-described fifth example embodiment, the integral control apparatus 70 can be modified such that the integral control apparatus 70 further includes a range specifying section, and the control apparatuses 50A and 50B can be modified such that the control apparatuses 50A and 50B do not include the respective range specifying sections 52A and 52B. In this case, in the control system 5A, the work information A obtained by the obtaining section 51A is transmitted to the integral control apparatus 70. Similarly, in the control system 5B, the work information B is transmitted to the integral control apparatus 70. The range specifying section of the integral control apparatus 70 specifies the contact range 80A in accordance with the content of the work which content is indicated by the work information A, and specifies the contact range 80B in accordance with a content of work which content is indicated by the work information B. The risk determining section 72 transmits the information that indicates an instruction to stop each of the backhoes 90A and 90B, in a case where the contact ranges 80A and 80B that have been specified by the range specifying section of the integral control apparatus 70 at least partially overlap each other. This makes it possible to more sufficiently avoid contact of the backhoes 90A and 90B on the basis of the contact ranges 80A and 80B that have been integrally specified.
In the above-described fourth modification, the integral control apparatus 70 can be modified such that the integral control apparatus 70 further includes a motion specifying section, and the control apparatuses 50A and 50B can be modified such that the control apparatuses 50A and 50B do not include the respective motion specifying sections 54A and 54B. In this case, the obtaining section 51A of the control system 5A obtains the position information and the posture information that pertain to the backhoe 90A, and transmits these pieces of information to the integral control apparatus 70. Similarly, also in the control system 5B, the position information and the posture information that pertain to the backhoe 90B are obtained and transmitted to the integral control apparatus 70. The motion specifying section of the integral control apparatus 70 determines the content of the work to be carried out by each of the backhoes 90A and 90B, and transmits, to a corresponding one of the control apparatuses 50A and 50B, information that indicates the determined content of the work. The range specifying section of the integral control apparatus 70 specifies the contact ranges 80A and 80B, in accordance with the received position information, the received posture information, and the determined content of the work that relate to each of the backhoes 90A and 90B. The risk determining section 72 transmits the information that indicates an instruction to stop each of the backhoes 90A and 90B, in a case where the contact ranges 80A and 80B that have been specified by the range specifying section of the integral control apparatus 70 at least partially overlap each other. This makes it possible to integrally control the motion of each of the backhoes 90A and 90B, and makes it possible to more sufficiently avoid contact of the backhoes 90A and 90B on the basis of the contact ranges 80A and 80B that have been integrally specified.
The above-described third to fifth example embodiments can be each modified such that the contact range 80, which is calculated in accordance with whether or not the other backhoe 90 exists in the region that includes the target position and the vicinity thereof, is varied, as in the first modification of the second example embodiment. The above-described third to fifth example embodiments can be modified such that the work information is obtained from the other backhoe 90 and a work range of the other backhoe 90 is specified, as in the second modification of the second example embodiment. The above-described third to fifth example embodiments can be modified such that the position information, the contact range 80, or the work information is sequentially transmitted to the other backhoe, as in the third modification of the second example embodiment.
(Modification in which One Backhoe Moves by Remote Operation)
In the above-described second to fifth example embodiments, one of the backhoes 90A and 90B may be a work machine that moves by a remote operation conducted by an operator. For example, a case is described where the backhoe 90A moves on the basis of control by the control apparatus (any of 20A, 30A, 40A, and 50A) and the backhoe 90B moves by a remote operation. In this case, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, the backhoes 90A and 90B may be controlled so that the backhoes 90A and 90B stop, regardless of an operation conducted by an operator. Also, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, information may be outputted which instructs the operator to move the backhoe 90B to a position at which the contact ranges 80A and 80B do not overlap each other. Also, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, the backhoe 90A may be controlled so that the backhoe 90A moves to a position at which the contact ranges 80A and 80B do not overlap each other. This makes it possible to, in each example embodiment, more sufficiently avoid contact of the plurality of backhoes 90 even in a case where the backhoe 90 which moves by a remote operation conducted by an operator is included in the control targets.
(Modifications in which Work Machine Other than Backhoes are Control Targets)
The above-described second to fifth example embodiments can be modified such that other work machines, instead of the backhoes 90A and 90B, are control targets. In such a modification, a plurality of work machines that are control targets in each example embodiment do not necessarily need to be work machines that move similarly.
As an example, the control targets in each example embodiment may be robots that autonomously move. For example, in some cases, a plurality of robots carry out a motion of mounting components in parallel. At that time, a control apparatus that controls a first robot may control the first robot on the basis of a contact range of the first robot and a contact range of a second robot that exists in the same work area as that of the first robot or a work area adjacent to the work area of the first robot.
For example, in some cases, in a site where a forklift carries out loading and unloading of a load, a transport robot transports the load, and a cleaning robot cleans the site. At that time, a control apparatus that controls the transport robot may specify a contact range from a motion of the transport robot and obtain or specify a contact range of the cleaning robot. In this case, the control apparatus that controls the transport robot may compare the contact ranges of the transport robot and the cleaning robot, and control the transport robot.
Further, for example, in some cases, while a storage robot organizes contents of a shelf, a cleaning robot cleans a floor around the shelf. At that time, a control apparatus that controls the cleaning robot may specify a contact range from work information that pertains to the storage robot or may obtain the contact range of the storage robot from a control apparatus that controls the storage robot. In this case, the control apparatus that controls the cleaning robot may compare the contact ranges of the storage robot and the cleaning robot, and control the cleaning robot.
Further, in some cases, a plurality of robots that are installed side by side each carry out an interactive motion in which the plurality of robots communicate with each other while each carrying out work such as shaking of an arm or movement. At that time, a control apparatus of a first robot may control the first robot on the basis of a contact range of a second robot.
As has been described, in each example embodiment, by causing each of the robots to be a control target, it is possible to more sufficiently avoid contact of the robots.
As another example, the control targets in each example embodiment may include a robot that autonomously moves and a robot that moves by a remote operation conducted by an operator. In this case, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, both of the robots may be stopped, regardless of the operation conducted by the operator. Also, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, information may be outputted which instructs the operator to move the robot that moves by a remote operation to a position at which the contact ranges 80A and 80B do not overlap each other. Also, in each example embodiment, in a case where the contact ranges 80A and 80B at least partially overlap each other, the robot that autonomously moves may be controlled so that the robot moves to a position at which the contact ranges 80A and 80B do not overlap each other. This makes it possible to more sufficiently avoid contact of the robot that moves autonomously and the robot that moves by a remote operation.
The functions of a part or all of the control apparatuses 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, and 50B and the integral control apparatuses 60 and 70 can be realized by hardware such as an integrated circuit (IC chip) or can be alternatively realized by software.
In the latter case, the part or all of the control apparatuses 10, 20A, 20B, 30A, 30B, 40A, 40B, 50A, and 50B and the integral control apparatuses 60 and 70 are each realized by, for example, a computer that executes instructions of a program that is software realizing each function.
The processor C1 can be, for example, 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 thereof. The memory C2 can be, for example, a flash memory, a hard disk drive (HDD), a solid state drive (SSD), or a combination thereof.
Note that the computer C may further include a random access memory (RAM) in which the program P is loaded when executed and/or in which various kinds of data are temporarily stored. The computer C may further include a communication interface via which the computer C transmits and receives data to and from another apparatus. The computer C may further include an input/output interface via which the computer C is connected to an input/output apparatus such as a keyboard, a mouse, a display, and a printer.
The program P can also be recorded in a non-transitory tangible recording medium M from which the computer C can read the program P. The recording 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 such a recording 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 via such a transmission medium.
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.
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 example aspects.
A control method including:
According to the above configuration, it is possible to flexibly set the first range that includes the range in which the first work machine operates and the vicinity of the range, in accordance with the content of the work to be carried out by the first work machine. As a result, it is possible to operate the first work machine more safely.
The control method as described in Supplementary note 1, wherein, in the range specifying step, the first range is specified in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine.
According to the above configuration, it is possible to flexibly set the first range for operating the first work machine more safely, in accordance with the content of the work to be carried out by the first work machine and the operation range of the operation part that is included in the first work machine.
The control method as described in Supplementary note 2, wherein:
According to the above configuration, it is possible to flexibly set the first range for operating the first work machine more safely, in accordance with the operation range of the selected operation part.
The control method as described in any one of Supplementary notes 1 through 3, wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine.
According to the above configuration, it is possible to flexibly set the first range for operating the first work machine more safely, in accordance with each operation part.
The control method as described in any one of Supplementary notes 1 through 4, wherein:
According to the above configuration, the first range is sequentially changed in accordance with the work information that is sequentially obtained. As a result, it is possible to set the first range more accurately by reflecting a change in the work information.
The control method as described in any one of Supplementary notes 1 through 5, wherein:
According to the above configuration, it is possible to simulate the first range that includes a range in which the first work machine operates in the future and a vicinity of the range. As a result, it is possible to operate the first work machine more safely, in accordance with a future change in the work information that pertains to the first work machine.
The control method as described in any one of Supplementary notes 1 through 6, wherein:
According to the above configuration, it is possible to flexibly set the first range and the second range for determining a possibility of contact of the first work machine and the second work machine, in accordance with the content of the work to be carried out by each of the first work machine and the second work machine. As a result, it is possible to more sufficiently avoid contact of the first work machine and the second work machine.
The control method as described in Supplementary note 7, wherein, in the motion controlling step, in a case where the first range and the second range at least partially overlap each other, the motion of the first work machine is controlled.
According to the above configuration, the motion of the first work machine is controlled in a case where it is possible that the first work machine comes into contact with the second work machine. Therefore, it is possible to more sufficiently avoid contact of the first work machine and the second work machine.
A control system including:
According to the above configuration, effects similar to those brought about by Supplementary note 1 are brought about.
The control system as described in Supplementary note 9, wherein the range specifying means specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 2 is brought about.
The control system as described in Supplementary note 10, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 3 is brought about.
The control system as described in any one of Supplementary notes 9 through 11, wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 4 is brought about.
The control system as described in any one of Supplementary notes 9 through 12, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 5 is brought about.
The control system as described in any one of Supplementary notes 9 through 13, wherein:
According to the above configuration, effects similar to those brought about by Supplementary note 6 are brought about.
The control system as described in any one of Supplementary notes 9 through 14, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 7 is brought about.
The control system as described in Supplementary note 15, wherein, in a case where the first range and the second range at least partially overlap each other, the motion controlling means controls the motion of the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 8 is brought about.
A control apparatus including:
According to the above configuration, effects similar to those brought about by Supplementary note 1 are brought about.
The control apparatus as described in Supplementary note 17, wherein the range specifying means specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 2 is brought about.
The control apparatus as described in Supplementary note 18, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 3 is brought about.
The control apparatus as described in any one of Supplementary notes 17 through 19, wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 4 is brought about.
The control apparatus as described in any one of Supplementary notes 17 through 20, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 5 is brought about.
The control apparatus as described in any one of Supplementary notes 17 through 21, wherein:
According to the above configuration, effects similar to those brought about by Supplementary note 6 are brought about.
The control apparatus as described in any one of Supplementary notes 17 through 22, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 7 is brought about.
The control apparatus as described in Supplementary note 23, wherein, in a case where the first range and the second range at least partially overlap each other, the motion controlling means controls the motion of the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 8 is brought about.
A program for causing a computer to function as a control apparatus which controls a work machine,
According to the above configuration, effects similar to those brought about by Supplementary note 1 are brought about.
The program as described in Supplementary note 25, wherein the range specifying means specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 2 is brought about.
The program as described in Supplementary note 26, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 3 is brought about.
The program as described in any one of Supplementary notes 25 through 27, wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 4 is brought about.
The program as described in any one of Supplementary notes 25 through 28, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 5 is brought about.
The program as described in any one of Supplementary notes 25 through 29, wherein:
According to the above configuration, effects similar to those brought about by Supplementary note 6 are brought about.
The program as described in any one of Supplementary notes 25 through 30, wherein:
According to the above configuration, an effect similar to that brought about by Supplementary note 7 is brought about.
The program as described in Supplementary note 31, wherein, in a case where the first range and the second range at least partially overlap each other, the motion controlling means controls the motion of the first work machine.
According to the above configuration, an effect similar to that brought about by Supplementary note 8 is brought about.
A control apparatus including
Note that this control apparatus may further include a memory, and, in this memory, a program may be stored which is for causing the at least one processor to carry out the obtaining process, the range specifying process, and the motion controlling process. Alternatively, this program may be recorded in a computer-readable non-transitory tangible recording medium.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2021-076779 | Apr 2021 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2022/018899 | 4/26/2022 | WO |
