Work vehicle path plan generation system and work vehicle path plan generation method

Abstract

An aspect of the present disclosure provides a work vehicle path plan generation system that generates a path plan in order for a work vehicle including work equipment to perform an excavation work on a ground of a construction target area. The work vehicle path plan generation system includes a position detection unit configured to detect a position of the work vehicle, an information storage unit configured to store topographic shape information indicating a shape of a topography in the construction target area, a position of the work vehicle, and design surface information indicating a shape required to be excavated of the ground in the construction target area, and a path plan generation unit configured to generate a work equipment path plan indicating a movement path of the work equipment and a travel path plan indicating a travel path of the work vehicle, based on the topographic shape information, the position of the work vehicle, and the design surface information.

1 . A work vehicle path plan generation system that generates a path plan in order for a work vehicle including work equipment to perform an excavation work on a ground of a construction target area, the work vehicle path plan generation system comprising:
 a position detection unit configured to detect a position of the work vehicle;   an information storage unit configured to store topographic shape information indicating a shape of a topography in the construction target area, a position of the work vehicle, and design surface information indicating a target shape in the construction target area; and   a path plan generation unit configured to generate a work equipment path plan indicating a movement path of the work equipment and a travel path plan indicating a travel path of the work vehicle, based on the topographic shape information, the position of the work vehicle, and the design surface information.   
     
     
         2 . The work vehicle path plan generation system according to  claim 1 ,
 wherein the path plan generation unit is subjected to reinforcement learning such that an optimal travel path and an optimal movement path are generated.   
     
     
         3 . The work vehicle path plan generation system according to  claim 2 ,
 wherein a plurality of times of simulations are performed by using at least an earth excavated by the work equipment and a parameter related to the work vehicle on the travel path to perform the reinforcement learning on the path plan generation unit.   
     
     
         4 . The work vehicle path plan generation system according to  claim 2 ,
 wherein the path plan generation unit is subjected to the reinforcement learning based on a reward obtained by using at least one of an excavation earth amount and a work time in a case where the work vehicle is caused to move along the travel path.   
     
     
         5 . The work vehicle path plan generation system according to  claim 4 ,
 wherein the path plan generation unit is subjected to the reinforcement learning using the excavation earth amount calculated based on a holding earth amount with the work equipment, which is based on a difference in a topography before and after the work vehicle is caused to move along the travel path to excavate the ground with the work equipment.   
     
     
         6 . The work vehicle path plan generation system according to  claim 5 ,
 wherein the path plan generation unit is subjected to the reinforcement learning using the holding earth amount calculated by causing the work vehicle to move along the travel path and then modeling an earth held in front of the work equipment as a polygonal prism-shaped three-dimensional model.   
     
     
         7 . The work vehicle path plan generation system according to  claim 5 ,
 wherein the path plan generation unit is subjected to the reinforcement learning using the excavation earth amount calculated based on an earth amount of wavy windrows protruding on both sides of the work equipment in a case where the work vehicle is caused to move along the travel path.   
     
     
         8 . The work vehicle path plan generation system according to  claim 7 ,
 wherein the path plan generation unit is subjected to the reinforcement learning using the earth amount of the windrows calculated by modeling an earth of the windrows as a polygonal prism-shaped three-dimensional model.   
     
     
         9 . A work vehicle path plan generation method that generates a path plan in order for a work vehicle including work equipment to perform an excavation work on a ground of a construction target area, the work vehicle path plan generation method comprising:
 a step of detecting a position of the work vehicle;   a step of storing topographic shape information indicating a shape of a topography in the construction target area, a position of the work vehicle, and design surface information indicating a shape required to be excavated of the ground in the construction target area; and   a step of generating a work equipment path plan indicating a movement path of the work equipment and a travel path plan indicating a travel path of the work vehicle, based on the topographic shape information, the position of the work vehicle, and the design surface information.