Filed of the Invention
The present disclosure relates to a system and a method for controlling a work machine.
At a work site, a plurality of work machines may work together. For example, in U.S. Pat. No. 9,014,922, a plurality of bulldozers cooperate to excavate in the same work site. The bulldozers excavate according to work lanes extending in a predetermined working direction.
The work site is divided into a plurality of work areas, and the work machine is automatically operated in each work area, so that the efficiency of the system can be improved. However, in that case, it is required to avoid interference with another work machine working in the adjacent work area.
An object of the present disclosure is to prevent a plurality of work machines from interfering with each other during automatic operation.
A system according to one aspect is a system for controlling a plurality of work machines including a first work machine and a second work machine. The system includes the first work machine, the second work machine, and one or more processors. The one or more processors allocate a first work area to the first work machine. The first work area includes a plurality of first work lanes. The plurality of first work lanes extend in a predetermined first working direction. The plurality of first work lanes are arranged in a direction intersecting the first working direction. The one or more processors acquire first position data indicative of a position of the first work machine. The one or more processors control the first work machine to work according to the first work lane. The one or more processors allocate a second work area to the second work machine. The second work area includes a plurality of second work lanes. The plurality of second work lanes extend in a predetermined second working direction. The plurality of second work lanes are arranged in a direction intersecting the second working direction. The one or more processors acquire second position data indicative of a position of the second work machine. The one or more processors control the second work machine to work according to the second work lane. The one or more processors determine whether at least a part of the second work machine is located in the first work area. The one or more processors control the first work machine to perform an interference avoidance operation with respect to the second work machine when at least a part of the second work machine is located in the first work area.
A method according to another aspect is a method performed by one or more processors for controlling a plurality of work machines including a first work machine and a second work machine. The method includes the following processing. A first process is to allocate a first work area to the first work machine. The first work area includes a plurality of first work lanes. The plurality of first work lanes extend in a predetermined first working direction. The plurality of first work lanes are arranged in a direction intersecting the first working direction. A second process is to acquire first position data indicative of a position of the first work machine. A third process is to control the first work machine to work according to the first work lane. A fourth process is to allocate a second work area to the second work machine. The second work area includes a plurality of second work lanes. The plurality of second work lanes extend in a predetermined second working direction. The plurality of second work lanes are arranged in a direction intersecting the second working direction. A fifth process is to acquire second position data indicative of a position of the second work machine. A sixth process is to control the second work machine to work according to the second work lane. A seventh process is to determine whether at least a part of the second work machine is located in the first work area. An eighth process is to control the first work machine to perform an interference avoidance operation with respect to the second work machine when at least a part of the second work machine is located in the first work area.
A system according to further another aspect is a system for controlling a plurality of work machines including a first work machine and a second work machine. The system includes the first work machine, the second work machine, and one or more processors. The one or more processors allocate a first work lane to the first work machine. The first work lane extends in a predetermined first working direction. The one or more processors acquire first position data indicative of a position of the first work machine. The one or more processors control the first work machine to work according to the first work lane. The one or more processors allocate a second work lane to the second work machine. The second work lane extends in a predetermined second working direction. The one or more processors acquire second position data indicative of a position of the second work machine. The one or more processors control the second work machine to work according to the second work lane. The one or more processors determine whether at least a part of the second work machine is located in the first work lane. The one or more processors control the first work machine to perform an interference avoidance operation with respect to the second work machine when at least a part of the second work machine is located in the first work lane.
According to the present disclosure, it is possible to prevent a plurality of work machines from interfering with each other during automatic operation.
Hereinafter, a control system for a work machine according to an embodiment will be described with reference to the drawings.
The remote controller 2, the input device 3, the display 4, and the external communication device 5 are arranged outside the work machines 1a and 1b. The remote controller 2, the input device 3, the display 4, and the external communication device 5 may be arranged in, for example, an external management center of the work machines 1a and 1b. The remote controller 2 remotely controls the work machines 1a and 1b. The number of work machines remotely controlled by the remote controller 2 is not limited to two, and may be more than two.
The work implement 13 is attached to the vehicle body 11. The work implement 13 includes a lift frame 17, a dosing blade 18, and a lift cylinder 19. The lift frame 17 is attached to the vehicle body 11 so as to be movable up and down. The lift frame 17 supports the dosing blade 18. The dosing blade 18 moves up and down with the operation of the lift frame 17. The lift frame 17 may be attached to the traveling device 12. The lift cylinder 19 is connected to the vehicle body 11 and the lift frame 17. As the lift cylinder 19 expands and contracts, the lift frame 17 moves up and down.
As illustrated in
The power transmission device 24 transmits the driving force of the engine 22 to the traveling device 12. The power transmission device 24 may be, for example, an HST (Hydro Static Transmission). Alternatively, the power transmission device 24 may be a transmission including a torque converter or a plurality of speed gears. Alternatively, the power transmission device 24 may be another type of transmission.
The control valve 27 is arranged between the hydraulic pump 23 and the hydraulic actuator such as the lift cylinder 19. The control valve 27 controls the flow rate of the hydraulic fluid supplied from the hydraulic pump 23 to the lift cylinder 19. The control valve 27 may be a pressure proportional control valve. Alternatively, the control valve 27 may be an electromagnetic proportional control valve.
The first work machine 1a includes a machine controller 26a and a machine communication device 28. The machine controller 26a runs the first work machine 1a by controlling the traveling device 12 or the power transmission device 24. The machine controller 26a moves the dosing blade 18 up and down by controlling the control valve 27.
The machine controller 26a is programmed to control the first work machine 1a based on the acquired data. The machine controller 26a includes a processor 31a and a storage device 32a. The processor 31a is, for example, a CPU (central processing unit). Alternatively, the processor 31a may be a processor different from the CPU. The processor 31a executes a process for controlling the first work machine 1a according to the program.
The storage device 32a includes a non-volatile memory, such as ROM, and a volatile memory, such as RAM. The storage device 32a may include an auxiliary storage device, such as a hard disk or an SSD (Solid State Drive). The storage device 32a is an example of a non-transitory computer-readable recording medium. The storage device 32a stores computer commands and data for controlling the first work machine 1a.
The machine communication device 28 wirelessly communicates with the external communication device 5. For example, the machine communication device 28 communicates with the external communication device 5 by a wireless LAN, such as Wi-Fi (registered trademark), mobile communication, such as 3G, 4G, or 5G, or another type of wireless communication system.
The first work machine 1a includes a position sensor 33. The position sensor 33 may include a GNSS (Global Navigation Satellite System) receiver, such as GPS (Global Positioning System). Alternatively, the position sensor 33 may include a receiver for another positioning system. The position sensor 33 may include a motion sensor, such as an IMU (Inertial Measurement Unit), a distance measurement sensor, such as a Lidar device, or an image sensor, such as a stereo camera. The position sensor 33 outputs position data to the machine controller 26a. The position data indicates a position of the first work machine 1a.
The external communication device 5 illustrated in
The input device 3 is a device that is operable by an operator. The input device 3 receives an input command from the operator and outputs an operation signal corresponding to the input command to the remote controller 2. The input device 3 outputs the operation signal corresponding to the operation by the operator. The input device 3 outputs the operation signal to the remote controller 2. The input device 3 may include a pointing device such as a mouse or a trackball. The input device 3 may include a keyboard.
The display 4 includes a monitor such as a CRT, an LCD, or an OELD. The display 4 receives an image signal from the remote controller 2. The display 4 displays an image corresponding to the image signal. The display 4 may be integrated with the input device 3. For example, the input device 3 and the display 4 may include a touch screen.
The remote controller 2 remotely controls the work machines 1a and 1b. The remote controller 2 receives the operation signal from the input device 3. The remote controller 2 outputs the image signal to the display 4. The remote controller 2 includes a processor 2a and a storage device 2b. The processor 2a is, for example, a CPU (Central Processing Unit). Alternatively, the processor 2a may be a processor different from the CPU. The processor 2a executes a process for controlling the work machines 1a and 1b according to the program. In the following description, the description regarding the process executed by the remote controller 2 may be interpreted as the process executed by the processor 2a.
The storage device 2b includes a non-volatile memory, such as ROM, and a volatile memory, such as RAM. The storage device 2b may include an auxiliary storage device, such as a hard disk or an SSD (Solid State Drive). The storage device 2b is an example of a non-transitory computer-readable recording medium. The storage device 2b stores computer commands and data for controlling the work machines 1a and 1b.
Next, the automatic operation of the work machines 1a and 1b executed by the control system 100 will be described.
As illustrated in
In step S102, the remote controller 2 acquires the position data. The position data includes the first position data of the first work machine 1a and the second position data of the second work machine 1b. The first position data indicates the position of the first work machine 1a. The second position data indicates the position of the second work machine 1b.
In step S103, the remote controller 2 determines a plurality of work areas 50A and 50B at the work site.
The second work area 50B includes a plurality of second work lanes 54 to 56. The plurality of second work lanes 54 to 56 extend in a predetermined second working direction D2. The plurality of second work lanes 54 to 56 extend linearly. The second work lanes 54 to 56 are arranged in a lateral direction of the second work area 50B. The lateral direction of the second work area 50B is a direction intersecting the second working direction D2. In the example illustrated in
The remote controller 2 may determine the work areas 50A and 50B according to the operation of the input device 3 by the operator. Alternatively, the remote controller 2 may automatically determine the work areas 50A and 50B.
The first work area 50A includes areas 61 and 62 of the first excavation wall. The areas 61 and 62 of the first excavation wall are arranged between the plurality of first work lanes 51 to 53. The width of each of the areas 61 and 62 of the first excavation wall is smaller than the width of each of the first work lanes 51 to 53. The remote controller 2 may determine the width of each of the first work lanes 51 to 53 based on the width dimension of the dosing blade 18 of the first work machine 1a. The remote controller 2 may determine a value smaller than the width dimension of the dosing blade 18 of the first work machine 1a as the width of the areas 61 and 62 of the first excavation wall.
The second work area 50B includes areas 63 and 64 of the second excavation wall. The areas 63 and 64 of the second excavation wall are arranged between the plurality of second work lanes 54 to 56. The width of each of the areas 63 and 64 of the second excavation wall is smaller than the width of each of the second work lanes 54 to 56. The remote controller 2 may determine the width of each of the second work lanes 54 to 56 based on the width dimension of the dosing blade of the second work machine 1b. The remote controller 2 may determine a value smaller than the width dimension of the dosing blade of the second work machine 1b as the width of the areas 63 and 64 of the second excavation wall.
The arrangement of the work lanes 51 to 56 and the areas 61 to 64 of the excavation wall is not limited to that illustrated in
In step S104, the remote controller 2 allocates the work areas 50A and 50B to the work machines 1a and 1b. The operator allocates each of the plurality of work areas 50A and 50B to any of the work machines 1a and 1b by the input device 3. The remote controller 2 determines a work machine allocated to each of the plurality of work areas 50A and 50B based on the operation signal from the input device 3. Alternatively, the remote controller 2 may automatically determine the work machines allocated to each of the plurality of work areas 50A and 50B. In the example illustrated in
The remote controller 2 allocates the area 65 of the third excavation wall located between the first work area 50A and the second work area 50B to either the first work machine 1a or the second work machine 1b. The remote controller 2 may allocate the area 65 of the third excavation wall to either the first work machine 1a or the second work machine 1b according to the operation of the input device 3 by the operator. Alternatively, the remote controller 2 may automatically allocate the area 65 of the third excavation wall to either the first work machine 1a or the second work machine 1b. In the example illustrated in
In step S105, the remote controller 2 determines whether an approval for starting work has been received. The operator can instruct the approval by the input device 3 for starting work by the work machines 1a and 1b. The remote controller 2 determines whether the approval has been received based on the operation signal from the input device 3. The remote controller 2 may determine whether the approval has been received individually for each of the work machines 1a and 1b.
In step S106, the remote controller 2 transmits a work start command to the work machines 1a and 1b. Thereby, the first work machine 1a is controlled to perform the work according to the arrangement of the allocated first work lanes 51 to 53. The remote controller 2 transmits data indicative of the positions of the first work lanes 51 to 53 to the first work machine 1a. The remote controller 2 transmits data indicative of the positions of the second work lane 54 to 56 to the second work machine 1b.
The first work machine 1a moves to the first work lane 51 to 53 allocated to the first work machine 1a, and automatically aligns the position and the orientation with respect to the first work lane 51 to 53. Then, the first work machine 1a excavates while moving along the first work lanes 51 to 53. When the excavation of the first work lanes 51 to 53 is completed, the excavation walls remain between the first work lanes 51 to 53. The first work machine 1a excavates the excavation walls while moving along the allocated areas 61 and 62 of the first excavation wall. The excavation order of the first work lanes 51 to 53 or the excavation order of the areas 61 and 62 of the first excavation wall may be determined by the remote controller 2. Alternatively, the excavation order of the first work lanes 51 to 53 or the excavation order of the areas 61 and 62 of the first excavation wall may be determined by the machine controller 26a of the first work machine 1a.
Similarly, the second work machine 1b moves to the second work lane 54 to 56 allocated to the second work machine 1b, and automatically aligns the position and orientation with respect to the second work lane 54 to 56. Then, the second work machine 1b excavates while moving along the second work lane 54 to 56. When the excavation of the second work lane 54 to 56 is completed, the excavation walls remain between the second work lanes 54 to 56. The second work machine 1b excavates the excavation walls while moving along the allocated areas 63 and 64 of the second excavation wall. The excavation order of the second work lanes 54 to 56 or the excavation order of the areas 63 and 64 of the second excavation wall may be determined by the remote controller 2. Alternatively, the excavation order of the second work lanes 54 to 56 or the excavation order of the areas 63 and 64 of the second excavation wall may be determined by the machine controller of the second work machine 1b.
For example, as illustrated in
By repeating such work, the first work machine 1a excavates the current terrain 80 in a shape along the target design terrain 84. The second work machine 1b also excavates in the same manner as the first work machine 1a. When the work machines 1a and 1b complete the excavation of the target design terrain 84, the work machines 1a and 1b excavate the next target design terrain 85 located below the target design terrain 84. The work machines 1a and 1b repeat the above work until they reach the final target terrain 81 or its vicinity.
As described above, when the first work machine 1a and the second work machine 1b work in cooperation with each other, the first work machine 1a and the second work machine 1b may approach each other. For example, as illustrated in
In step S202, the remote controller 2 instructs the first work machine 1a to perform the interference avoidance operation. For example, the remote controller 2 determines the first work lane 53 closest to the second work area 50B and the area 62 of the first excavation wall adjacent to the first work lane 53 as no-entry area C1 for the first work machine 1a. Then, the remote controller 2 makes the first work machine 1a stand by so as not to enter the no-entry area C1.
In step S201, when at least a part of the second work machine 1b is not located in the area 65 of the third excavation wall, the process proceeds to step S203.
In step S203, the remote controller 2 determines whether the first work machine 1a is located in the first work lane 53 closest to the second work area 50B. As illustrated in
In step S204, the remote controller 2 instructs the second work machine 1b to perform the interference avoidance operation. For example, the remote controller 2 determines the area 65 of the third excavation wall as the no-entry area C2 for the second work machine 1b. Then, the remote controller 2 makes the second work machine 1b stand by so as not to enter the no-entry area C2.
In the control system 100 for the work machines according to the present embodiment described above, when the second work machine 1b is located in the area 65 of the third excavation wall, the first work machine 1a is controlled to perform the interference avoidance operation. When the first work machine 1a is located in the first work lane 53 closest to the second work area 50B before the second work machine 1b enters the area 65 of the third excavation wall, the second work machine 1b is controlled to perform the interference avoidance operation. As a result, it is possible to prevent a plurality of work machines 1a and 1b from interfering with each other during the automatic operation.
As illustrated in
As illustrated in
In step S302, the remote controller 2 determines whether the second work machine 1b is located in the second determination region A2. When the second work machine 1b is located in the second determination region A2, the process proceeds to step S303.
In step S303, the remote controller 2 instructs the first work machine 1a to perform the interference avoidance operation. For example, the remote controller 2 makes the first work machine 1a stand by so that the first work machine 1a does not enter the first determination region A1.
In step S302, when the second work machine 1b is not located in the second determination region A2, the process proceeds to step S304. In step S304, the remote controller 2 determines whether the first work machine 1a is located in the first determination region A1. When the first work machine 1a is located in the first determination region A1, the process proceeds to step S305. In step S305, the remote controller 2 instructs the second work machine 1b to perform the interference avoidance operation. For example, the remote controller 2 makes the second work machine 1b stand by so that the second work machine 1b does not enter the second determination region A2.
As illustrated in
As illustrated in
Although one embodiment has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the invention.
The work machines 1a and 1b are not limited to bulldozers, and may be other vehicles, such as wheel loaders and motor graders. The work machines 1a and 1b may be vehicles driven by an electric motor.
The remote controller may have a plurality of controllers that are separate from each other. The processing by the remote controller may be distributed to a plurality of controllers and executed by the plurality of controllers. The machine controller may have a plurality of controllers that are separate from each other. The processing by the machine controller may be distributed to a plurality of controllers and executed by the plurality of controllers. The above-mentioned processing may be distributed to a plurality of processors and executed by the plurality of processors.
The processing for automatic operation and the processing for interference avoidance operation are not limited to those of the above-described embodiments, and may be changed, omitted, or added. The execution order of the process for the automatic operation and the process for the interference avoidance operation is not limited to that of the above-described embodiments, and may be changed. Part of the processing by the machine controller may be performed by the remote controller. Part of the processing by the remote controller may be performed by the machine controller.
The work machines 1a and 1b may independently perform the interference avoidance operation. For example, the processes of steps S201 and S202 may be executed by the machine controller 26a of the first work machine 1a. The processes of steps S203 and S204 may be executed by the machine controller of the second work machine 1b. The processes of steps S302 and S303 may be executed by the machine controller 26a of the first work machine 1a. The processes of steps S304 and S305 may be executed by the machine controller of the second work machine 1b. The machine controller 26a of the first work machine 1a may directly receive the second position data from the machine controller of the second work machine 1b. The machine controller of the second work machine 1b may directly receive the first position data from the machine controller of the first work machine 1a.
The control of the work machines 1a and 1b may be fully automatic or semi-automatic. For example, the input device 3 may include an operation member, such as an operation lever, a pedal, or a switch for operating the work machines 1a and 1b. The remote controller 2 may control the travel of the work machines 1a and 1b, such as forward movement, reverse movement, and turning according to the operation of the input device 3. The remote controller 2 may control operations such as ascending and descending of the work implement 13 according to the operation of the input device 3.
The interference avoidance operation is not limited to making the work machine stand by, and may be another operation. For example, the interference avoidance operation may be to slow down the work machines. The no-entry area does not have to include the area of the excavation wall. In each work area, the area of the excavation wall may be omitted.
According to the present disclosure, it is possible to prevent a plurality of work machines from interfering with each other during automatic operation.
Number | Date | Country | Kind |
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2019-104001 | Jun 2019 | JP | national |
This application is a U.S. National stage application of International Application No. PCT/JP2020/019863, filed on May 20, 2020. This U.S. National stage application claims priority under 35 U.S.C. § 119(a) to Japanese Patent Application No. 2019-104001, filed in Japan on Jun. 3, 2019, the entire contents of which are hereby incorporated herein by reference.
Filing Document | Filing Date | Country | Kind |
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PCT/JP2020/019863 | 5/20/2020 | WO | 00 |