Construction machine

Abstract

Provided is a construction machine capable of loading a load into a container (71) with a reduced deviation. The construction machine is provided with a controller, and the controller selects a release operation from a plurality of candidate operations according to the condition in the container (71). Among the plurality of candidate actions, the planar view areas of the sand released into the container (71) and diffused by the respective candidate actions are different from each other.

Description

Technical Field

[0001] This invention relates to construction machinery equipped with buckets. Background Technology

[0002] Patent document 1 discloses an excavator equipped with a bucket. The excavator can discharge sand from the bucket along a target trajectory, which is set along the front-to-back direction of the dump truck's platform.

[0003] However, during the excavation process, depending on the soil type or the opening of the bucket, a deviation in the sand distribution along the front-to-back direction of the loading platform can occur. This can prevent the sand (or other loads) from being evenly distributed across the entire loading platform (or other container).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Patent Publication No. 2021 / 054436 Summary of the Invention

[0007] The purpose of this invention is to provide an engineering machine that can load the load into the container in a manner that minimizes deviation.

[0008] The provided equipment includes a main body, auxiliary devices, and a controller. The auxiliary devices are mounted on the main body and include a bucket for holding a load. The controller automatically operates the auxiliary devices by causing them to alternately and repeatedly perform holding and releasing actions. The holding action is the action of holding the load in the bucket. The releasing action is the action of releasing the load held by the bucket into a container. The releasing action is selected from a plurality of candidate actions, wherein the top view area of ​​the load released into and dispersed within the container by each candidate action is different. The controller selects the releasing action from the plurality of candidate actions based on the conditions within the container. Attached Figure Description

[0009] Figure 1 This is a side view of the engineering machinery according to the first embodiment of the present invention.

[0010] Figure 2 It is a block diagram representing the main structural elements of the engineering machinery.

[0011] Figure 3 This is a side view showing the state of sand being loaded from the construction machinery into the dump truck's loading platform for the first time.

[0012] Figure 4 It means Figure 3 A top view showing the state.

[0013] Figure 5 This is a side view showing the state of sand being loaded into the loading platform from the engineering machinery for the second time.

[0014] Figure 6 It means Figure 5 A top view showing the state.

[0015] Figure 7 This is a side view showing the space remaining behind the sand after the second loading of sand.

[0016] Figure 8 It means Figure 7 The top view of the space shown.

[0017] Figure 9 This is a side view showing the state of sand being loaded into the loading platform from the engineering machinery for the third time.

[0018] Figure 10 It means Figure 9 A top view showing the state.

[0019] Figure 11 This is a side view of the construction machinery and the dump truck, showing a first candidate action performed by an accessory of the construction machinery and sand loaded onto the loading platform of the dump truck by the first candidate action.

[0020] Figure 12 This is a top view of the construction machinery and the dump truck, showing the sand being loaded onto the loading platform by the first candidate action.

[0021] Figure 13 This is a side view of the bucket of the auxiliary device, showing the first half of the second candidate action.

[0022] Figure 14 This is a side view of the bucket, showing the latter half of the second candidate action.

[0023] Figure 15 This is a side view of the construction machinery and the dump truck, showing the third candidate action performed by the auxiliary device and the sand loaded onto the dump truck's loading platform by the third candidate action.

[0024] Figure 16 This is a top view of the construction machinery and the dump truck, showing the sand being loaded onto the platform by the third candidate action.

[0025] Figure 17 This is a side view of the construction machinery and the dump truck, showing that there is still space remaining in the rear part of the loading platform.

[0026] Figure 18 This is a top view of the construction machinery and the dump truck, which shows... Figure 17 The situation shown.

[0027] Figure 19 This is a side view of the construction machinery and the dump truck, showing a space created in the middle of the loading platform.

[0028] Figure 20 This is a top view of the construction machinery and the dump truck, which shows... Figure 19 The situation shown.

[0029] Figure 21 This is a side view of the dump truck, showing the sand being loaded onto the platform in a shape lower than the target shape.

[0030] Figure 22 This is a side view of the dump truck, showing the situation where the shape of the sand on the rear side of the loading platform is lower than the target shape.

[0031] Figure 23 This is a top view of the construction machinery and the dump truck, showing an example where the long side of the auxiliary device of the construction machinery is orthogonal to the long side of the dump truck's loading platform.

[0032] Figure 24 This is a side view of the construction machinery and dump truck according to the second embodiment of the present invention, showing a situation where space is created in the rear part of the dump truck's cargo platform.

[0033] Figure 25 This is a top view of the engineering machinery and the dump truck involved in the second embodiment, showing... Figure 24 The situation shown.

[0034] Figure 26 This is a side view of the engineering machinery and the dump truck involved in the second embodiment, showing an example of selecting a release action based on the release position within the dump truck's loading dock. Detailed Implementation

[0035] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[0036] Figure 1 This is a side view of the construction machinery 1 according to the first embodiment of the present invention. The construction machinery 1 includes... Figure 1The auxiliary device 30 shown is used to perform the operation. Figure 1 The illustrated construction machinery 1 is a hydraulic excavator. The auxiliary device 30 includes a bucket 33, which the construction machinery 1 uses to hold a load and release the load from the bucket 33 into a container. In this embodiment, the container is... Figure 3 The dump truck 70 shown has a loading platform 71. Alternatively, the container may be a sand pit or the like. Furthermore, the load in this embodiment is sand. Alternatively, the load may be stones or waste (industrial waste, etc.).

[0037] The engineering machinery 1 includes a mechanical body 24, auxiliary devices 30 and multiple working cylinders 40. The mechanical body 24 includes a lower walking body 21 and an upper rotating body 22.

[0038] The lower running gear 21 is a part that can walk on the foundation, for example, it includes a pair of left and right tracks. The upper slewing body 22 is rotatably mounted on the lower running gear 21 via a slewing device 25. The upper slewing body 22 includes a driver's cab 23 located at its front.

[0039] The auxiliary device 30 is mounted on the upper rotating body 22 in a manner that allows for operational actions. The auxiliary device 30 includes a boom 31, a stick 32, and a bucket 33. The boom 31 is rotatably mounted on the upper rotating body 22. The stick 32 is rotatably mounted on the boom 31. The bucket 33 is rotatably mounted on the stick 32, forming the distal end of the auxiliary device 30. The bucket 33 is an operational component capable of digging, leveling, and excavating sand (loaded material). The bucket 33 can hold the loaded material, i.e., sand.

[0040] The plurality of working cylinders 40 are configured such that the boom 31, stick 32, and bucket 33 of the auxiliary device 30 are respectively hydraulically rotated. Each of the plurality of working cylinders 40 is a hydraulically driven cylinder that performs a telescopic movement. The plurality of working cylinders 40 includes a boom working cylinder 41, a stick working cylinder 42, and a bucket working cylinder 43.

[0041] The boom working cylinder 41 is configured to rotate the boom 31 relative to the upper slewing body 22. The boom working cylinder 41 has a base end and a distal end opposite to the base end. The base end is rotatably connected to the upper slewing body 22. The distal end is rotatably connected to the boom 31.

[0042] The stick working cylinder 42 is configured to rotate the stick 32 relative to the boom 31. The stick working cylinder 42 has a base end and a distal end opposite to the base end. The base end is rotatably connected to the boom 31. The distal end is rotatably connected to the stick 32.

[0043] The bucket working cylinder 43 is configured to rotate the bucket 33 relative to the stick 32. The bucket working cylinder 43 has a base end and a distal end opposite to the base end. The base end is rotatably connected to the stick 32. The distal end is rotatably connected to a connecting rod member 34, which is rotatably connected to the bucket 33.

[0044] The construction machinery 1 also has Figure 2 The illustrated condition acquisition device 27 acquires condition information. This condition information relates to the condition within the container; in this embodiment, it relates to the condition within the loading dock 71 of the dump truck 70. The condition acquisition device 27 is, for example, mounted on the cab 23. In this embodiment, the condition acquisition device 27 is a LiDAR (Light Detection and Ranging) or Laser Imaging Detection and Ranging system. The condition acquisition device 27 scans in a direction fixed in front of the cab 23 to acquire the condition information. The condition acquisition device 27 may also be mounted on the auxiliary device 30 (e.g., boom 31) or the upper rotating body 22.

[0045] The condition acquisition device 27 acquires point cloud data (3D point cloud) representing the distance from the location where the condition acquisition device 27 is positioned to the loading dock 71 of the dump truck 70. The point cloud data acquired by the condition acquisition device 27 allows the condition within the loading dock 71 to be determined. Acquiring information related to the condition within the loading dock 71, namely the condition information, allows the determination of the location and quantity of sand loaded into the loading dock 71.

[0046] The situation acquisition device 27 is not limited to the LiDAR. The situation acquisition device 27 may also be, for example, a TOF (Time of Flight) sensor or a stereo camera.

[0047] Figure 2This describes the main structural elements of the engineering machinery 1. In addition to the rotary device 25, the auxiliary device 30, and the status acquisition device 27, these structural elements also include a controller 11, a communication device 12, and a storage device 13.

[0048] The communication device 12 can communicate with the portable terminal 90. The portable terminal 90 is a terminal operated by a worker at the work site, such as a tablet terminal. Alternatively, the portable terminal 90 can also be a smartphone, etc.

[0049] The storage device 13 stores the target shape of the sand and soil loaded into the loading dock 71 of the dump truck 70.

[0050] The point cloud data acquired by the status acquisition device 27 is input to the controller 11.

[0051] The controller 11 enables the construction machinery 1 to perform predetermined automatic driving actions, thereby automatically activating the slewing device 25 and the auxiliary device 30. That is, the controller 11 is capable of automatic driving of the construction machinery 1. In this embodiment, the automatic driving actions include sequentially and repeatedly performing actions of digging, lifting and slewing, excavating soil, and resetting and slewing.

[0052] In other words, the controller 11 causes the auxiliary device 30 to operate automatically by alternately and repeatedly performing holding and releasing actions. The holding action is the action of holding sand in the bucket 33, which includes the "digging" and the "lifting and rotating". The releasing action is the action of releasing the sand held in the bucket 33 into the loading platform 71 of the dump truck 70, which includes the "soil discharge".

[0053] In this embodiment, the release action is performed a total of 3 times. Figure 3 and Figure 4 This indicates that the sand E1 has been loaded onto the loading platform 71 through the first release action. Figure 5 and Figure 6 This indicates that sand E2 has been loaded onto the loading platform 71 through the second release action. Figure 7 and Figure 8 This indicates the remaining space 73 of the platform 71 after the second release action. Figure 9 and Figure 10 This indicates that the sand E3 has been loaded onto the loading platform 71 through the third release action. In this illustrated release action, the long side direction (front-to-back direction) of the loading platform 71 is parallel to the long side direction of the auxiliary device 30. That is, the construction machinery 1 is facing the rear end of the loading platform 71 (at... Figures 3 to 10The release action is performed at the position of the right end (center). Thus, the construction machinery 1 can move the soil discharge position along the long side of the loading platform 71.

[0054] exist Figures 3 to 10 In the example shown, the same type of release action is performed three times. In each release action, the position of the base end portion 33a of the bucket 33 relative to the mechanical body 24 is fixed in the long side direction of the auxiliary device 30, and the bucket 33 rotates around the base end portion 33a. The base end portion 33a is the stick connection portion, which is the part of the bucket 33 connected to the stick 32. In the long side direction (front-back direction) of the platform 71, through the first release action, sand E1 is loaded into the front part of the platform 71 (left side in the figure), through the second release action, sand E2 is loaded into the central part of the platform 71, and through the third release action, sand E3 is loaded into the rear part of the platform 71 (right side in the figure).

[0055] exist Figures 3 to 10 In the example shown, at the point in time at the end of the second release action, such as Figure 7 and Figure 8 As shown, the top-view area of ​​the remaining space 73 at the rear of the loading platform 71 is smaller than the top-view area of ​​the sand E1 and E2 that were loaded into the loading platform 71 and dispersed through the first and second release actions, respectively. Therefore, if the third release action is as follows... Figure 9 and Figure 10 As shown, if the release action is of the same type as the first and second release actions, the following situation will occur: the sand E3 loaded by the third release action will cover the sand E2 loaded by the second release action. This will increase the deviation in the height of the sand within the platform 71.

[0056] As a means of reducing the deviation, the controller 11 selects an action corresponding to the condition within the loading platform 71 from a plurality of pre-set candidate actions as the actual release action. Among the plurality of candidate actions, the top-view area of ​​the sand loaded into and dispersed within the loading platform 71 by the candidate action is different for each. In this embodiment, the plurality of candidate actions includes a first candidate action Ma, a second candidate action Mb, and a third candidate action Mc. However, the number of candidate actions and the specific content of each candidate action are not limited in the present invention.

[0057] Figure 11 and Figure 12This indicates that the sand E is loaded into the platform 71 by the first candidate action Ma. The first candidate action Ma is the action of the bucket 33 rotating in the opening direction with the base end 33a, the connecting part of the boom, as the center. That is, the first candidate action Ma is the action of releasing the sand while the position of a part of the bucket 33 (base end 33a) relative to the main body of the machine 24 is fixed in the long side direction of the auxiliary device 30. Through the first candidate action Ma, the sand can be loaded into a small area within the platform 71.

[0058] Figure 13 and Figure 14 This refers to the second candidate action Mb. The second candidate action Mb includes: causing the bucket 33 to... Figure 13 As shown by the solid line, the bucket 33 is rotated to a vertical position with its opening facing vertically; and thereafter, the boom 31, the stick 32, and the bucket 33 rotate in such a way that, while maintaining the position of the distal end 33b of the bucket 33 relative to the machine body 24 in the longitudinal direction, the bucket 33 is rotated from the vertical position to the position shown by the solid line. Figure 14 The solid line in the figure shows the downward-facing orientation of the bucket 33. The front-back direction is parallel to the direction of rotation of the bucket 33 relative to the boom 32. That is, the second candidate action Mb is the action of releasing sand from the bucket 33 downwards while the position of a portion (distal end 33b) of the bucket 33 relative to the machine body 24 is fixed in the long side direction of the auxiliary device 30. In the second candidate action Mb, the position where the sand is released remains approximately fixed from the start to the end of the rotation of the bucket 33. Thus, the second candidate action Mb is suitable for loading sand onto the fixed point of the platform 71. The top view area Ab(±E of the sand loaded into the platform 71 by the second candidate action Mb) Figure 14 The area of ​​the sand ± E shown is smaller than the area Aa corresponding to the first candidate action Ma. Figure 12 (The area of ​​sand E shown).

[0059] Figure 15 and Figure 16 This indicates that the sand E is loaded into the platform 71 via the third candidate action Mc. The third candidate action Mc is the action of the bucket 33 moving along the long side (front-to-back direction) of the platform 71 while rotating in the opening direction. That is, the third candidate action Mc is the action of the bucket 33 moving along the long side of the auxiliary device 30 while releasing the sand within the bucket 33 downwards. Figure 15 and Figure 16As shown, the long side of the platform 71 is parallel to the long side of the auxiliary device 30. The long side of the platform 71 can also be orthogonal to the long side of the auxiliary device 30. In this case, the bucket 33 releases the sand E while moving along the width direction of the platform 71 (the direction orthogonal to the long side: left-right direction). The top view area Ac of the sand E loaded into the platform 71 by the third candidate action Mc is... Figure 16 The area of ​​the sand ± E shown is greater than the area Aa corresponding to the first candidate action Ma. Figure 12 Therefore, the third candidate action Mc can cause the sand to be loaded into a larger area within the loading platform 71.

[0060] The controller 11 selects a candidate action from the first candidate action Ma to the third candidate action Mc that corresponds to the state within the platform 71 as the actual release action to be performed. In other words, the controller 11 selects the candidate action based on the state information obtained by the state acquisition device 27, i.e., information related to the state within the platform 71, thereby changing the type of release action.

[0061] Reference Figure 17 and Figure 18 This section describes an example of selecting from the plurality of candidate actions, specifically an example of changing the type of the release action. Figure 17 and Figure 18 This is a side view of the construction machinery 1 and the dump truck 70, showing a situation where space 75 is created in the rear portion of the loading platform 71. This situation arises because sand is first loaded onto the front portion (left side in the figure) of the loading platform 71 by the first candidate action Ma, and then a second time sand is loaded onto the central portion of the loading platform 71 by the same first candidate action Ma. The rear portion of the loading platform 71 further rear of the sand E2 ( Figure 17 and Figure 18 The remaining space 75 is the right side portion. From this state, the space 75 is further loaded with sand for the third time through the subsequent release action. However, the top view area of ​​the space 75 is smaller than the top view area of ​​the sand ±E1 involved in the first loading, i.e., the area Aa corresponding to the first candidate action Ma. Therefore, if the space 75 is loaded with sand for the third time through the first candidate action Ma, the sand involved in the third loading will cover the sand E2 loaded into the central part of the platform 71 (i.e., the sand involved in the second loading), which will increase the deviation in the height of the sand in the platform 71.

[0062] To address this problem, the following steps are performed. The condition acquisition device 27 acquires information related to the top-view area of ​​the space 75 as condition information related to the condition within the loading platform 71. Based on this information, the controller 11 selects the second candidate action Mb, whose corresponding area is smaller than the top-view area of ​​the space 75, as the third release action. That is, the type of the third release action is changed from the second release action, i.e., the first candidate action Ma, to the second candidate action Mb. Thus, sand is loaded into the space 75 using the second candidate action Mb. This effectively reduces the deviation of the sand E3 loaded into the space 75. In this way, the condition acquisition device 27 directly acquires condition information, i.e., information related to the condition within the loading platform 71, which allows for accurate selection of the release action from the plurality of candidate actions Ma to Mc.

[0063] The remaining portion containing the space 75 is not limited to the rear portion of the platform 71. The space 75 could, for example, be as follows: Figure 19 and Figure 20 As shown, the remaining space in the central part of the loading platform 71. Through the first candidate action Ma, sand E1 is loaded into the front part of the loading platform 71 (the left side in the figure). Then, also through the first candidate action Ma, sand E2 is loaded into the rear part of the loading platform 71 (the right side in the figure) at a distance behind sand E1, separated by the space 75. This creates... Figure 19 and Figure 20 The illustrated situation. In this situation, a third release action is required to load the sand into the space 75 in the central part of the platform 71. The top view area of ​​the space 75 is also... Figure 17 and Figure 18 The space 75 shown is similarly smaller than the area Aa corresponding to the first candidate action Ma, and larger than the area Ab corresponding to the second candidate action Mb. Therefore, in this case, the controller 11 also selects the second candidate action Mb as the third release action. That is, the type of the third release action is changed from the first candidate action Ma up to this point to the second candidate action Mb. Thus, sand is loaded into the space 75 by the second candidate action Mb.

[0064] The space 75 is not limited to an entire area in the vertical direction that is completely unloaded with sand. For example, it could also be the space remaining above sand that is loaded at a lower horizontal level than other areas.

[0065] For example, the side view of a dump truck 70. Figure 21 and Figure 22As shown, the controller 11 can also function as a shape setting unit, which sets the target shape 76 of the sand loaded into the platform 71. The target shape 76 is stored in the storage device 13. The status acquisition device 27 acquires the shape 77 of the sand loaded into the platform 71 at the current time as status information related to the status within the platform 71. Based on a comparison between the current shape 77 acquired by the status acquisition device 27 and the target shape 76 preset in the aforementioned manner, the controller 11 determines the type of the next release action, i.e., selects from the first candidate action Ma to the third candidate action Mc.

[0066] For example, such as Figure 21 As shown, when the upper surface of the sand actually loaded onto the platform 71 is lower than the target shape 76, the controller 11 selects the third candidate action Mc as the next release action, and loads the sand onto the entire platform 71 through the third candidate action Mc. This makes the shape of the sand loaded onto the platform 71 close to the target shape 76.

[0067] On the other hand, for example, such as Figure 22 As shown, when the upper surface of the sand on the rear portion (right side in the figure) of the loading platform 71 is lower than the target shape 76, the second candidate action Mb is selected as the next release action, and sand is loaded onto the rear portion of the loading platform 71 through the second candidate action Mb. This allows the shape of the sand loaded onto the loading platform 71 to be close to the target shape 76.

[0068] exist Figures 17-22 In the example shown, the long side (front-to-back direction) of the platform 71 is parallel to the long side of the auxiliary device 30, meaning that the construction machinery 1 is positioned facing the rear end of the platform 71. However, the relative position of the construction machinery 1 with respect to the platform 71 is not limited. The long side of the platform 71 may also intersect with the long side of the auxiliary device 30. Figure 23 This example illustrates an instance where the long side of the loading platform 71 is orthogonal to the long side of the auxiliary device 30, specifically, an example where the construction machinery 1 is positioned facing the side of the loading platform 71. In this example, the construction machinery 1 can move its earth-discharge position along the width direction of the loading platform 71 (the direction orthogonal to the long side). Figure 23In the illustrated situation, sand E is loaded onto the far side of the platform 71 in the width direction via the first candidate action Ma, leaving space 78 at the front side of the platform 71 in the width direction. If the top-view area of ​​space 78 is smaller than the area Aa corresponding to the first candidate action Ma, but larger than the area Ab corresponding to the second candidate action Mb, the controller 11 changes the type of the subsequent release action from the first candidate action Ma to the second candidate action Mb. Thus, sand is loaded into space 78 via the second candidate action Mb. Figure 23 In the example shown, as the soil discharge positions are staggered along the long side of the loading platform 71, the operation of loading sand E to the far side in the width direction by the first candidate action Ma and the operation of loading sand to the space 78 in front of the sand E by the second candidate action Mb are repeatedly performed.

[0069] As described above, according to the engineering machinery 1 involved in this embodiment, for example, Figure 17 , Figure 18 and Figure 19 , Figure 20 As shown, a release action is selected from the first candidate action Ma to the third candidate action Mc based on the condition within the loading platform 71. The areas of sand loaded and dispersed within the loading platform 71 by the first candidate action Ma to the third candidate action Mc are all different. Therefore, by changing the type of release action from the first candidate action Ma to the third candidate action Mc according to the condition within the loading platform 71, the area of ​​sand dispersed within the loading platform 71 can be changed. For example, when the top-view area of ​​the idle space within the loading platform 71 is obtained as information related to the condition within the loading platform 71, i.e., the condition information, if the top-view area of ​​the idle space is small, the candidate action with the smaller area is selected as the release action for loading sand into that idle space. Thus, sand can be loaded into the idle space within the loading platform 71 with reduced deviation. In this way, by selecting the release action based on the condition within the loading platform 71, sand can be loaded into the entire loading platform 71 with reduced deviation.

[0070] The first candidate action Ma and the second candidate action Mb are respectively as follows: Figures 11-14 As shown, the action of releasing sand is performed with a portion of the bucket 33 fixed relative to the mechanical body 24 in the long side direction of the auxiliary device 30. Through this action, sand can be loaded into a small area within the loading platform 71.

[0071] Additionally, the third candidate action Mc is as follows Figure 15 and Figure 16As shown, this is an action in which the bucket 33 moves along the long side of the auxiliary device 30 while releasing sand. Through this action, sand can be loaded into a larger area within the loading platform 71.

[0072] In addition, the status acquisition device 27 directly acquires information related to the status within the platform 71, i.e., status information, thereby enabling accurate selection from multiple candidate actions (in this embodiment, the first candidate action Ma to the third candidate action Mc).

[0073] Specifically, the status acquisition device 27, for example, Figures 17-20 As shown, the top-view area of ​​the space within the loading platform 71 is obtained as the status information. Based on the area obtained in this manner, a release action is selected from the plurality of candidate actions. For example, if the top-view area of ​​the space to be loaded with sand is small by the next release action, the candidate action with a smaller top-view area of ​​the sand loaded into the loading platform 71 and dispersed is selected as the next release action. Thus, the sand can be loaded into the space corresponding to the next release action in a manner that minimizes deviation.

[0074] exist Figure 21 and Figure 22 In the example shown, the shape of the sand loaded into the platform 71 at the current time is obtained as the status information. Based on the comparison between the shape of the sand obtained in this manner and the target shape 76, the release action is selected from the plurality of candidate actions. For example, the release action is selected in a way that makes the shape of the sand loaded into the platform 71 approximate the target shape 76. This makes the shape of the sand loaded into the platform 71 approximate the target shape 76.

[0075] Next, refer to Figure 24 and Figure 25 The second embodiment of the present invention will be described. Furthermore, descriptions of structures and effects common to the first embodiment are omitted; the differences from the first embodiment will be primarily explained. Additionally, components identical to those in the first embodiment are given the same reference numerals as those in the first embodiment.

[0076] The construction machinery 1 in the first embodiment includes a status acquisition device 27, and the controller 11 can directly acquire information related to the status within the loading platform 71. In the second embodiment, the controller 11 replaces the status acquisition device 27 and functions as an estimation unit for estimating the status within the loading platform 71. The controller 11 further selects a release action from multiple candidate actions based on the status within the loading platform 71 estimated by the controller 11 itself.

[0077] exist Figure 24 and Figure 25 In the example shown, through the first release action, sand E1 is loaded into the front part of the platform 71 (the left part in the figure), and through the second release action, sand E2 is loaded into the central part of the platform 71. Thus, in the rear part of the platform 71 (the right part in the figure), there remains a space 79 for sand to be loaded through the third release action. Regarding this situation, the information that the first and second release actions are both the first candidate action M1 described in the first embodiment, based on past operational experience, suggests that the top-view area of ​​the space 79 for sand to be loaded through the third release action is smaller than the area Aa corresponding to the first candidate action Ma, and greater than the area Ab corresponding to the second candidate action Mb.

[0078] The controller 11 functions as a settling unit for a target number of repetitions. The target number of repetitions is a target value for the number of times the hold and release actions are repeated. For example, based on data from... Figure 2 The portable terminal 90 shown indicates that the target number of times is set. Figure 24 and Figure 25 In the example shown, the target number of times is 3. The controller 11 estimates the condition within the loading platform 71 based on a comparison between the number of times the holding action and the releasing action have been repeated at the current time and the target number preset in the manner described. For example, if the holding action and the releasing action have been repeated twice at the current time, and the next releasing action is the third time, then, if the first candidate action Ma is performed as the first and second releasing action, the top-view area of ​​the space 79 to be loaded with sand by the third releasing action is estimated based on the area Aa corresponding to the first candidate action Ma. That is, the estimated area of ​​the space 79 is smaller than the area Aa corresponding to the first candidate action Ma, and greater than the area Ab corresponding to the second candidate action Mb. Based on the area estimated in the manner described, the controller 11 selects the second candidate action Mb as the third releasing action, and loads sand into the space 79 by the second candidate action Mb. Thus, the sand can be loaded into the space 79 in a manner that minimizes deviation.

[0079] In this way, by using past operational experience, the loading condition of the sand in the platform 71 can be appropriately estimated based on the number of times the holding and releasing actions are repeated. Through this estimation, the releasing action can be appropriately selected from multiple candidate actions without the need for a device that can directly obtain the condition within the platform 71.

[0080] The controller 11 can also function as a mass setting unit that sets a target mass instead of the target number of times. The target mass is a target value for the mass of sand loaded into the loading platform 71. For example, based on data from... Figure 2 The portable terminal 90 shown indicates that the target mass is set. On the other hand, the construction machinery 101 of this embodiment has a well-known load function. This load function measures the load, such as sand, held by the bucket 33, that is, the load acting on the bucket 33 due to the gravity of the sand. Thus, based on the load acting on the bucket 33 and the number of times the release action is performed, the mass of sand loaded into the platform 71 at the current time can be determined.

[0081] The controller 11 functions as an estimation unit that estimates the condition within the loading platform 71 based on the mass of sand already loaded into the platform 71 at the current time and the target mass. For example, if the difference between the mass of sand already loaded into the platform 71 at the current time and the target mass is the mass of the bucket when it is full, this indicates that the next release action is the final release action (the third release action in this embodiment). Furthermore, the top-view area of ​​the space 79 where sand will be loaded by the third release action can be estimated based on the types of the first and second release actions, i.e., the candidate actions selected as relevant release actions. For example, if the first and second release actions are the first candidate action Ma, the estimated area of ​​the space 79 is smaller than the area Aa corresponding to the first candidate action Ma, and greater than or equal to the area Ab corresponding to the second candidate action Mb. Therefore, the controller 11 selects the second candidate action Mb as the third release action, and loads sand into the space 79 through the second candidate action Mb. Thus, the sand can be loaded into the space 79 in a manner that minimizes deviation.

[0082] In this way, by using past operational experience, the condition of the sand in the loading platform 71 can be appropriately estimated based on the quality of the sand loaded into the loading platform 71.

[0083] The mass of sand that has been loaded into the platform 71 at the current time can also be determined based on the load acting on the platform 71 of the dump truck 70. This can be achieved, for example, through communication between the dump truck 70 and the construction machinery 101.

[0084] The controller 11 can also function as a volume setting unit, which sets a target volume instead of the target number of times or the target mass. The target volume is a target value for the volume of sand loaded into the platform 71. For example, based on data from... Figure 2The portable terminal 90 shown indicates that the target volume is set. The storage device 13 stores the volume of the bucket 33. The volume of sand that has been loaded into the platform 71 at the current time can be determined based on the volume of the bucket 33 and the number of times the release action is performed.

[0085] In this case, the controller 11 also functions as an estimation unit, which estimates the condition within the loading platform 71 based on the volume of sand already loaded into the loading platform 71 at the current time and the target volume preset in the aforementioned manner. For example, if the difference between the volume of sand already loaded into the loading platform 71 at the current time and the target volume is the volume of the bucket being filled, this indicates that the next release action is the final release action (the third release action in this embodiment). Moreover, the top-view area of ​​the space 79 where sand will be loaded by the third release action can be estimated based on the types of the first and second release actions, i.e., the candidate actions selected as relevant release actions. For example, if the first and second release actions are the first candidate action Ma, the estimated area of ​​the space 79 is smaller than the area Aa corresponding to the first candidate action Ma, and greater than or equal to the area Ab corresponding to the second candidate action Mb. Therefore, the controller 11 selects the second candidate action Mb as the type of the third release action, and loads sand into the space 79 through the second candidate action Mb. Thus, the sand can be loaded into the space 79 in a manner that minimizes deviation.

[0086] In this way, by using past operational experience, the condition of the sand in the loading platform 71 can be appropriately estimated based on the volume of sand that has been loaded into the loading platform 71 at the current time.

[0087] In the case where the engineering machinery 101 involved in this embodiment is equipped with a sensor such as a LiDAR or TOF sensor or a stereo camera that can capture images of the sand in the loading platform 71, the volume of sand that has been loaded into the loading platform 71 at the current time can also be determined based on the images of the sand in the loading platform 71 captured by the sensor.

[0088] In addition, such as Figure 26 As shown, the controller 11 can also be configured such that it estimates the condition within the platform 71 based on the position within the platform 71 where the next release action will take place, i.e., the release position. Figure 26In the example shown, a boundary surface 80 extending vertically is provided on the platform 71. The position of the boundary surface 80 is set such that the top-view area of ​​the space in the platform 71 that is forward of the boundary surface 80 (the front portion, left portion in the figure) Rf is greater than the area Aa corresponding to the first candidate action Ma, and the top-view area of ​​the space in the rear portion, the rear portion, (the right portion in the figure) Rr, is less than the area Aa, and is greater than or equal to the area Ab corresponding to the second candidate action Mb. The controller 11 can accurately select the release action based on the relative relationship between the release position and the boundary surface 80. Specifically, when the next release position is forward of the boundary surface 80 in the front-back direction of the platform 71, the controller 11 selects the first candidate action Ma as the next release action. On the other hand, when the next release position is rearward of the boundary surface 80 in the front-back direction of the platform 71, the controller 11 selects the second candidate action Mb as the next release action. Thus, the sand can be loaded into the portion of the platform 71 that is further back than the boundary surface 80 in a manner that minimizes deviation.

[0089] As described above, according to the engineering machinery 101 of this embodiment, by estimating the condition inside the loading platform 71, the release action can be appropriately selected without using a device that can directly obtain the condition inside the loading platform 71.

[0090] Specifically, in Figure 24 and Figure 25 In the example shown, the condition within the platform 71 is estimated based on the number of times the hold and release actions have been repeated at the current time and the target number of times. For example, by using past operational performance, the condition within the platform 71 can be appropriately estimated based on the number of times the hold and release actions have been repeated at the current time.

[0091] In addition, Figure 24 and Figure 25 In another example shown, the condition inside platform 71 is estimated based on the mass and target mass of the sand that has been loaded into platform 71 at the current time. For example, by using past operational experience, the condition inside platform 71 can be appropriately estimated based on the mass of the sand that has been loaded into platform 71 at the current time.

[0092] In addition, Figure 24 and Figure 25In another example shown, the condition inside the loading platform 71 is estimated based on the volume of sand that has been loaded into the platform at the current time and the target volume. For example, by using past operational experience, the condition inside the loading platform 71 can be appropriately estimated based on the volume of sand that has been loaded into the platform at the current time.

[0093] In addition, Figure 26 In the example shown, the condition within the platform 71 is estimated based on the location within the platform 71 where the next release action will take place, i.e., the release position. For example, since the next release position is at the end of the platform 71, the estimated planar area of ​​the space within the platform 71 at that end is smaller. In this case, the candidate action with the smaller planar area of ​​the sand released into and diffused within the platform 71 through this candidate action is selected as the release action. Thus, the sand can be dispensed into the smaller space at the end of the platform 71 in a manner that minimizes deviation.

[0094] The embodiments of the present invention described above are merely illustrative examples and do not specifically limit the present invention. The design of the specific structure, etc., can be appropriately modified. Furthermore, the effects and benefits described in the embodiments of the invention only illustrate the optimal effects and benefits produced by the present invention, and the effects and benefits of the present invention are not limited to those described in the embodiments of the present invention.

[0095] As described above, the provided equipment is an engineering machine capable of loading a load into a container in a manner that minimizes deviation. The engineering machine includes a main body, auxiliary devices, and a controller. The auxiliary devices include a bucket for holding the load and are mounted on the main body. The controller automatically operates the auxiliary devices by causing them to alternately and repeatedly perform holding and releasing actions. The holding action is the action of holding the load in the bucket. The releasing action is the action of releasing the load held by the bucket into the container. The releasing action is selected from a plurality of candidate actions, wherein the top view area of ​​the load released into and dispersed within the container by each candidate action is different. The controller selects the releasing action from the plurality of candidate actions based on the conditions within the container.

[0096] The controller selects the release action from a plurality of candidate actions based on the conditions inside the container, thereby enabling the selection of the area of ​​the load that is loaded into and dispersed within the container via the release action. For example, when the top-view area of ​​the idle space inside the container is obtained as information related to the conditions inside the container, if the top-view area of ​​the idle space is small, the controller selects the candidate action from the plurality of candidate actions that results in a smaller top-view area of ​​the load released into and dispersed within the container via that candidate action as the release action. This allows the load to be loaded into the idle space inside the container in a manner that minimizes deviation. Thus, selecting the candidate action from the plurality of candidate actions that is suitable for the conditions inside the container as the release action allows the load to be loaded into the entire container in a manner that minimizes deviation.

[0097] The plurality of candidate actions preferably include: the action of releasing the load while the relative position of a portion of the bucket relative to the mechanical body is fixed in the long side direction of the auxiliary device.

[0098] The plurality of candidate actions preferably include: the plurality of candidate actions include: releasing the load while moving the bucket relative to the container along the long side direction of the auxiliary device.

[0099] Preferably, the engineering machinery further includes: a status acquisition device for acquiring information related to the status inside the container, wherein the controller selects the release action from the plurality of candidate actions based on the information acquired by the status acquisition device.

[0100] The condition acquisition device, for example, acquires the top-view area of ​​the space within the container from which the cargo will be released by the subsequent release action, as information related to the condition within the container.

[0101] Alternatively, the status acquisition device may also acquire the shape of the load placed inside the container as information related to the status inside the container. In this case, the controller may select the release action from a plurality of candidate actions based on a comparison between the shape of the load acquired by the status acquisition device and a pre-set target shape.

[0102] Alternatively, the controller may estimate the condition inside the container and select the release action from the plurality of candidate actions based on the estimated condition inside the container.

[0103] Specifically, the controller can estimate the condition inside the container based on a comparison of the number of times the holding action and the release action are repeated with a preset target number of times. The controller can also estimate the condition inside the container based on a comparison of the mass of the load loaded into the container with a preset target mass. The controller can also estimate the condition inside the container based on a comparison of the volume of the load loaded into the container with a preset target volume. The controller can also estimate the condition inside the container based on the position within the container where the next release action will be performed.

Claims

1. An engineering machinery, characterized in that... include: Mechanical body; An auxiliary device is mounted on the main body of the machine and includes a bucket for holding the load; as well as The controller automatically operates the auxiliary device by alternately and repeatedly performing a holding action in the bucket and a releasing action to release the load held in the bucket into the container, wherein... The release action is selected from a plurality of candidate actions, wherein the top-view area of ​​the load released into the container and diffused by each candidate action is different. The controller selects the release action from the plurality of candidate actions based on the condition inside the container.

2. The engineering machinery according to claim 1, characterized in that, The plurality of candidate actions include: releasing the load while the relative position of a portion of the bucket relative to the mechanical body is fixed in the long side direction of the auxiliary device.

3. The engineering machinery according to claim 1 or 2, characterized in that, The plurality of candidate actions include: releasing the load while moving the bucket relative to the container along the long side of the auxiliary device.

4. The engineering machinery according to claim 1, characterized in that... Also includes: The status acquisition device acquires information related to the status inside the container, wherein... The controller selects the release action from the plurality of candidate actions based on the information obtained by the status acquisition device.

5. The engineering machinery according to claim 4, characterized in that, The condition acquisition device acquires the top-view area of ​​the space within the container from which the load will be released through the subsequent release action as information related to the condition within the container.

6. The engineering machinery according to claim 4, characterized in that, The condition acquisition device acquires the shape of the load being loaded into the container as information related to the condition inside the container. The controller selects the release action from a plurality of candidate actions based on a comparison between the shape of the load obtained by the status acquisition device and a pre-set target shape.

7. The engineering machinery according to claim 1, characterized in that, The controller estimates the condition inside the container and selects the release action from the plurality of candidate actions based on the estimated condition inside the container.

8. The engineering machinery according to claim 7, characterized in that, The controller estimates the condition inside the container by comparing the number of times the holding action and the releasing action are repeated with a pre-set target number.

9. The engineering machinery according to claim 7, characterized in that, The controller estimates the condition inside the container based on a comparison between the mass of the load being loaded into the container and a pre-set target mass.

10. The engineering machinery according to claim 7, characterized in that, The controller estimates the condition inside the container based on a comparison between the volume of the load being loaded into the container and a pre-set target volume.

11. The engineering machinery according to claim 7, characterized in that, The controller estimates the condition inside the container based on the location within the container where the next release action will take place.

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