Work machine control system, and work machine

Patent metadata

Field	Value
Publication number	US-12534876-B2
Application number	US-202218279477-A
Country	US
Kind code	B2
Filing date	Aug 26, 2022
Priority date	Sep 24, 2021
Publication date	Jan 27, 2026
Grant date	Jan 27, 2026

Abstract

An action management section 211 acquires a work instruction 230 , which includes a final target position, and a current position of a work machine 100 to set a target position, a route planning section 212 generates a target route 240 between the current position and the target position, an operation generation section 213 causes the work machine 100 to travel in accordance with the target route 240 , and upon receiving an evacuation instruction 250 including evacuation possible positions based on a work range of another work machine different from the work machine 100 , the action management section 211 decides an evacuation position from among the evacuation possible positions based on the work range of the other work machine and at least one of the current position and final target position of the work machine 100 to set it to the target position.

First claim

The invention claimed is:

1 . A work machine control system, comprising:
a controller configured to cause the work machine to operate, wherein the controller includes: an action management section configured to acquire a work instruction, which includes information about a work to be executed by the work machine, and a current position of the work machine so as to set a target position based on the work instruction and the current position, a route planning section configured to generate a target route between the current position and the target position, and an operation generation section configured to cause the work machine to travel in accordance with the target route, and wherein the action management section is configured to: receive an evacuation instruction including evacuation possible positions based on a work range of another work machine that is different from the work machine, when the other work machine enters the work area of the work machine, and upon receiving the evacuation instruction, decide an evacuation position from among the evacuation possible positions based on the work range of the other work machine and the current position of the work machine so as to set the evacuation position to the target position.

2 . The work machine control system according to claim 1 ,
wherein the controller further includes an abnormality detection section configured to acquire a signal relating to an abnormality of the work machine, and transmit the evacuation instruction to the action management section upon detecting the abnormality of the work machine.

3 . The work machine control system according to claim 1 ,
wherein the action management section decides, as the evacuation position, one of the evacuation possible positions which is the closest to the current position.

4 . The work machine control system according to claim 1 ,
wherein the work instruction includes information about a final target position, and wherein the action management section decides, from among target route candidates which reach the final target position from the current position via a plurality of evacuation position candidates, respectively, selected from the evacuation possible positions, an evacuation position candidate included in a target route candidate having a shortest traveling distance as the evacuation position.

5 . The work machine control system according to claim 4 ,
wherein the action management section selects, as the plurality of evacuation position candidates, a first evacuation position candidate that is an evacuation possible position closest to the current position and a second evacuation position candidate that is an evacuation possible position closest to the final target position.

6 . The work machine control system according to claim 1 ,
wherein upon arrival of the work machine at the evacuation position, the action management section outputs information indicating completion of an evacuation operation to an input device for inputting the work instruction.

7 . A work machine, comprising:
a controller configured to cause the work machine to operate, wherein the controller includes: an action management section configured to acquire a work instruction, which includes information about a work to be executed by the work machine, and a current position of the work machine so as to set a target position based on the work instruction and the current position, a route planning section configured to generate a target route between the current position and the target position, and an operation generation section configured to cause the work machine to travel in accordance with the target route, and wherein the action management section is configured to: receive an evacuation instruction including evacuation possible positions based on a work range of another work machine that is different from the work machine, when the other work machine enters the work area of the work machine, and upon receiving the evacuation instruction, decide an evacuation position from among the evacuation possible positions based on the work range of the other work machine and the current position of the work machine so as to set the evacuation position to the target position.

Assignees

• Hitachi Construction Mach Co

Inventors

• SEKINE Kazuya
• Moriki Hidekazu
• Imura Shinya
• Tsutsumi Yoshiaki

Classifications

• E02F9/24

  Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} · CPC title

• E02F9/2045 Primary

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• B60Y2200/415

  Wheel loaders · CPC title

• E02F3/434

  providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig · CPC title

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title