Control system of loading machine, loading machine, and control method of loading machine

Abstract

A control system of a loading machine having a working machine including a bucket includes a control device. The control device detects a first surface of a dug object dug by the bucket in a digging operation; and calculates a digging-in load angle indicating an angle of the first surface with respect to a horizontal plane based on detection data of the first surface; and estimates a weight of the dug object based on the digging-in load angle.

Description

Technical Field

[0001] This invention relates to a control system for loading machinery, the loading machinery itself, and a control method for the loading machinery. Background Technology

[0002] In the field of loading machinery with a working machine, there are known loading machines capable of performing efficient digging operations, as disclosed in Patent Document 1.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-203381 Summary of the Invention

[0004] According to a specific work cycle, after the loader excavates the object, it loads the excavated material onto a transport vehicle. Ideally, when loading the excavated material onto the transport vehicle, the loader adjusts the weight of the excavated material to the most suitable weight for the transport vehicle.

[0005] The purpose of this invention is to optimize the loading operation of loading machinery.

[0006] The control system of the loading machinery including a bucket, which relates to the present invention, includes a control device. The control device detects a first surface of the excavated material excavated by the bucket during the excavation operation; and calculates the loading angle during excavation based on the detection data of the first surface, which represents the angle of the first surface relative to the horizontal plane; and calculates the weight of the excavated material based on the loading angle during excavation.

[0007] According to the present invention, the loading operation of loading machinery can be optimized. Attached Figure Description

[0008] Figure 1 This is a side view of the loading machinery according to the first embodiment.

[0009] Figure 2 This is a perspective view of the bucket according to the first embodiment.

[0010] Figure 3 This is a schematic side view of the bucket according to the first embodiment.

[0011] Figure 4 This is a diagram used to illustrate the operation of the work machine according to the first embodiment.

[0012] Figure 5 This is a structural diagram showing the loading machinery involved in the first embodiment.

[0013] Figure 6 This is a diagram used to illustrate the operating mode of the loading machinery involved in the first embodiment.

[0014] Figure 7 This diagram illustrates the excavation operation and movement away from the excavation object of the loading machinery involved in the first embodiment.

[0015] Figure 8 This diagram illustrates the loading operation and movement away from the loading object of the loading machinery involved in the first embodiment.

[0016] Figure 9 This is a diagram used to illustrate the excavated object detected by the shape sensor in the excavation operation according to the first embodiment.

[0017] Figure 10 This is a diagram illustrating the excavated material detected by the shape sensor according to the first embodiment after the excavation operation.

[0018] Figure 11 This is a diagram illustrating the state of the excavated material held in the bucket according to the first embodiment.

[0019] Figure 12 This is a functional block diagram representing the control system of the loading machinery involved in the first embodiment.

[0020] Figure 13 This is a block diagram showing the control device of the loading machinery according to the first embodiment.

[0021] Figure 14 This is a diagram used to illustrate the excavated material in the excavation operation involved in the first embodiment.

[0022] Figure 15 This is a flowchart illustrating the control method for the loading machinery according to the first embodiment.

[0023] Figure 16 This is a flowchart illustrating the calibration method involved in the first embodiment.

[0024] Figure 17 This is a flowchart illustrating the mining method involved in the first embodiment.

[0025] Figure 18 This is a functional block diagram illustrating the control system of the loading machinery involved in the second embodiment.

[0026] Figure 19 This is a flowchart illustrating the mining method involved in the second embodiment.

[0027] Figure 20 This is a diagram illustrating a modified example of the control system of the loading machinery according to the second embodiment.

[0028] Figure 21 This is a diagram used to illustrate the excavated object detected by the shape sensor according to the third embodiment. Detailed Implementation

[0029] The embodiments of the present invention will now be described with reference to the accompanying drawings, but the present invention is not limited to these embodiments. The structural elements of the embodiments described below can be appropriately combined. Furthermore, there are cases where some structural elements are not used.

[0030] In this implementation, a local coordinate system is established for the loader 1, and the positional relationships of each part are described with reference to this local coordinate system. In the local coordinate system, the first axis extending along the left-right direction (vehicle width direction) of the loader 1 is designated as the X-axis, the second axis extending along the front-back direction of the loader 1 is designated as the Y-axis, and the third axis extending along the up-down direction of the loader 1 is designated as the Z-axis. The X-axis is orthogonal to the Y-axis. The Y-axis is orthogonal to the Z-axis. The Z-axis is orthogonal to the X-axis. The +X direction is the right direction, and the -X direction is the left direction. The +Y direction is the forward direction, and the -Y direction is the backward direction. The +Z direction is the upward direction, and the -Z direction is the downward direction.

[0031] First Implementation Method

[0032] The first embodiment will be described.

[0033] Overview of Loading Machinery

[0034] Figure 1 This is a side view showing the loading machine 1 according to the embodiment. The loading machine 1 according to the embodiment is, for example, a wheel loader. In the following description, the loading machine 1 may be referred to as a wheel loader 1.

[0035] like Figure 1 As shown, the wheel loader 1 includes: a body 2, an articulated mechanism 3, a cab 4, wheels 5, and a work machine 6. The wheel loader 1 travels at the work site via the wheels 5. The wheel loader 1 uses the work machine 6 to perform operations at the work site. The wheel loader 1 can use the work machine 6 to perform operations such as excavation, loading, transportation, and snow removal.

[0036] The vehicle body 2 supports the work machine 6. The vehicle body 2 includes a front part 2F and a rear part 2R. The front part 2F is positioned forward of the rear part 2R. The front part 2F and the rear part 2R are connected by a hinge mechanism 3. The hinge mechanism 3 includes a hinge cylinder 11. The hinge cylinder 11 connects the front part 2F and the rear part 2R. By extending or retracting the hinge cylinder 11, the front part 2F bends to the left or right relative to the rear part 2R. By bending the front part 2F relative to the rear part 2R, the travel direction of the wheel loader 1 can be adjusted. The hinge cylinder 11 is, for example, a hydraulic cylinder.

[0037] The cockpit 4 is supported on the vehicle body 2. In this embodiment, the cockpit 4 is located on the upper part of the rear 2R of the vehicle body. Inside the cockpit 4 is a seat for the operator and an operating device 25, which will be described later.

[0038] Wheels 5 support the vehicle body 2. Wheels 5 include a front wheel 5F and a rear wheel 5R. The front wheel 5F is positioned in front of the rear wheel 5R. The front wheel 5F is mounted on the front part 2F of the vehicle body. The rear wheel 5R is mounted on the rear part 2R of the vehicle body. Furthermore, in... Figure 1 The image only shows the front wheel 5F and the rear wheel 5R on the left side.

[0039] In this embodiment, the X-axis is parallel to the rotation axis CXf of the front wheel 5F. The Z-axis is orthogonal to the contact surface of the front wheel 5F, which is in contact with the ground 200. When the wheel loader 1 is traveling in a straight line, the rotation axis CXf of the front wheel 5F is parallel to the rotation axis CXr of the rear wheel 5R.

[0040] The work machine 6 is supported on the vehicle body 2. The work machine 6 is connected to the front part 2F of the vehicle body. The work machine 6 has: boom 12, bucket 13, crank 14, bucket connecting rod 15, lifting cylinder 18 and bucket cylinder 19.

[0041] The base of the boom 12 is rotatably connected to the front part 2F of the vehicle body. The boom 12 rotates about the rotation axis AXa relative to the front part 2F of the vehicle body. A bracket 16 is fixed to the middle part of the boom 12.

[0042] The base end of the bucket 13 is rotatably connected to the front end of the boom 12. The bucket 13 rotates relative to the boom 12 about the rotation axis AXb. The bucket 13 is positioned in front of the front wheel 5F. A bracket 17 is fixed to a portion of the bucket 13.

[0043] The middle part of the crank 14 is rotatably connected to the support 16 of the boom 12. The crank 14 rotates about the rotation axis AXc relative to the support 16 of the boom 12. The lower end of the crank 14 is rotatably connected to the base end of the bucket connecting rod 15.

[0044] The front end of the bucket connecting rod 15 is rotatably connected to the bracket 17 of the bucket 13. The bucket connecting rod 15 rotates about the rotation axis AXd relative to the bracket 17 of the bucket 13. The crank 14 is connected to the bucket 13 via the bucket connecting rod 15.

[0045] The lifting cylinder 18 actuates the boom 12. The base of the lifting cylinder 18 is connected to the front of the vehicle body 2F. The front end of the lifting cylinder 18 is connected to the boom 12. The boom 12 rotates relative to the lifting cylinder 18 about the rotation axis AXe. The lifting cylinder 18 is, for example, a hydraulic cylinder.

[0046] Bucket cylinder 19 actuates bucket 13. The base of bucket cylinder 19 is connected to the front of vehicle body 2F. The front end of bucket cylinder 19 is connected to the upper end of crank 14. Crank 14 rotates relative to bucket cylinder 19 about the rotation axis AXf. Bucket cylinder 19 is, for example, a hydraulic cylinder.

[0047] Bucket

[0048] Figure 2 This is a perspective view showing the bucket 13 involved in the implementation method. Figure 3 This is a schematic side view of the bucket 13 according to an embodiment. The bucket 13 is a working component for digging an object. The bucket 13 is used to hold the excavated object 300. The bucket 13 includes: a bottom plate portion 131, a back plate portion 132, an upper plate portion 133, a right plate portion 134, and a left plate portion 135. The front end of the bottom plate portion 131 has a lower end portion, namely the cutting edge end portion 13A. The front end of the upper plate portion 133 has an upper end portion 13B. The front end of the right plate portion 134 has a right end portion 13C. The front end of the left plate portion 135 has a left end portion 13D. The cutting edge end portion 13A extends in the left-right direction. The upper end portion 13B extends in the left-right direction. The right end portion 13C extends in the up-down direction or the front-back direction. The left end portion 13D extends in the up-down direction or the front-back direction. In this embodiment, the cutting edge end portion 13A is parallel to the upper end portion 13B. The right end portion 13C is parallel to the left end portion 13D. The opening 136 of the bucket 13 is defined between the cutting edge 13A, the upper end 13B, the right end 13C, and the left end 13D. The opening 136 of the bucket 13 is defined by the cutting edge 13A, the upper end 13B opposite to the cutting edge 13A, the right end 13C, and the left end 13D opposite to the right end 13C. The cutting edge 13A is equipped with a cutting edge or bucket teeth.

[0049] In this embodiment, the dimension of the opening 136 in the vertical or front-back direction, that is, the dimension of the straight line connecting the blade end 13A and the upper end 13B in the YZ plane, is defined as the length L. The dimension of the opening 136 in the horizontal direction is defined as the width H. The angle formed by the inner surface of the base plate 131 and the straight line connecting the blade end 13A and the upper end 13B in the YZ plane is defined as the opening angle θ3.

[0050] Operation of the machine

[0051] Figure 4 This diagram illustrates the operation of the excavator 6 according to the embodiment. In this embodiment, the excavator 6 is a front-loading type excavator with the bucket 13 opening 136 facing forward during excavation operations. The boom 12 is raised or lowered by the extension and retraction of the lifting cylinder 18. The bucket 13 is retracted or tipped by the extension and retraction of the bucket cylinder 19.

[0052] The lifting action of boom 12 refers to the action of boom 12 rotating around the rotation axis AXa, causing the front end of boom 12 to move away from the ground 200. The lowering action of boom 12 refers to the action of boom 12 rotating around the rotation axis AXa, causing the front end of boom 12 to move closer to the ground 200.

[0053] If the lifting cylinder 18 extends, the boom 12 will rise. If the lifting cylinder 18 retracts, the boom 12 will descend.

[0054] The bucket retraction action of the bucket 13 refers to the action of rotating the bucket 13 around the rotation axis AXb, so that the opening 136 of the bucket 13 faces upward and the cutting edge 13A moves away from the ground 200. The bucket tipping action of the bucket 13 refers to the action of rotating the bucket 13 around the rotation axis AXb, so that the opening 136 of the bucket 13 faces downward and the cutting edge 13A moves towards the ground 200.

[0055] In detail, if the bucket cylinder 19 extends, the crank 14 rotates such that its upper end moves forward and its lower end moves backward. If the lower end of the crank 14 moves backward, the bucket 13 retracts backward via the bucket connecting rod 15, thus performing a bucket retraction action. If the bucket cylinder 19 shortens, the crank 14 rotates such that its upper end moves backward and its lower end moves forward. If the lower end of the crank 14 moves forward, the bucket 13 is pushed forward by the bucket connecting rod 15, thus performing a bucket tipping action.

[0056] By retracting the bucket 13, the excavated material 300 can be scooped up and held in the bucket 13. By tilting the bucket 13, the excavated material 300 held in the bucket 13 can be discharged from the bucket 13.

[0057] Structure of loading machinery

[0058] Figure 5 This is a structural diagram showing the wheeled loader 1 according to the implementation method. For example... Figure 5 As shown, the wheel loader 1 includes: a power source 20, a PTO (Power Take Off) 21, a transmission device 22, a hydraulic pump 23, a control valve 24, an operating device 25, and a control device 50.

[0059] Power source 20 is, for example, a diesel engine.

[0060] PTO21 transmits at least a portion of the driving force from power source 20 to hydraulic pump 23. PTO21 distributes the driving force from power source 20 to transmission device 22 and hydraulic pump 23.

[0061] The transmission device 22 transmits the driving force of the power source 20 to the wheels 5. The transmission device 22 controls the speed range and direction of travel of the wheel loader 1. The transmission device 22 can be, for example, an HST (Hydro Static Transmission) or an HMT (Hydraulic Mechanical Transmission). The transmission device 22 can be, for example, a transmission with a torque converter or a transmission with multiple gears.

[0062] Hydraulic pump 23 is driven by power source 20, thereby discharging hydraulic oil. At least a portion of the hydraulic oil discharged from hydraulic pump 23 is supplied to articulated cylinder 11. At least a portion of the hydraulic oil discharged from hydraulic pump 23 is supplied to lifting cylinder 18 and bucket cylinder 19 respectively via control valve 24. Control valve 24 controls the flow rate and direction of the hydraulic oil supplied from hydraulic pump 23 to lifting cylinder 18 and bucket cylinder 19 respectively. Articulated mechanism 3 and working machine 6 each operate based on the hydraulic oil from hydraulic pump 23.

[0063] The operating device 25 is located inside the cockpit 4. The operating device 25 is operated by an operator. The operating device 25 includes a drive system operating device 25A and a work machine operating device 25B.

[0064] The drive system operating device 25A generates an operating signal to activate one or both of the power source 20 and the transmission 22. The operator operates the drive system operating device 25A, thereby activating the transmission 22. The drive system operating device 25A may include, for example, a forward / reverse operating device 253.

[0065] The forward / reverse operating device 253 performs operations such as switching the wheel loader 1 between forward and reverse. The control device 50 controls the transmission device 22 based on the operating signal generated by the forward / reverse operating device 253. By controlling the transmission device 22, the forward and reverse movements of the wheel loader 1 can be switched.

[0066] The machine operating device 25B generates operating signals to operate the machine 6. The operator operates the machine 6 by operating the machine operating device 25B. The machine operating device 25B includes a boom operating section 254 and a bucket operating section 255.

[0067] The boom operating unit 254 is operated to move the boom 12. The control device 50 controls the control valve 24 based on the operating signal generated by the boom operating unit 254. By controlling the control valve 24, the lifting cylinder 18 is driven, thereby moving the boom 12.

[0068] To move the bucket 13, the bucket operating unit 255 is operated. The control device 50 controls the control valve 24 based on the operating signal generated by the bucket operating unit 255. By controlling the control valve 24, the bucket cylinder 19 is driven, thereby moving the bucket 13.

[0069] In addition, the wheel loader 1 has: a tilt sensor 30, a boom angle sensor 31, a bucket angle sensor 32, a weight measuring device 33, and a shape sensor 34.

[0070] The tilt sensor 30 is used to detect the tilt angle of the vehicle body 2. Specifically, the tilt sensor 30 is used to detect the vehicle tilt angle θa, which represents the tilt angle of the vehicle body 2 relative to the horizontal plane. The tilt sensor 30 is disposed on at least a portion of the vehicle body 2. An inertial measurement unit (IMU) can be shown as an example of the tilt sensor 30. The detection data of the vehicle tilt angle θa detected by the tilt sensor 30 is sent to the control unit 50.

[0071] The boom angle sensor 31 is used to detect the angle of the boom 12. Specifically, the boom angle sensor 31 detects the boom angle θb, which represents the angle of the boom 12 relative to the vehicle body 2 in a local coordinate system. As an example of the boom angle sensor 31, an angle sensor disposed at the connection between the front part 2F of the vehicle body and the boom 12 can be shown. In an embodiment, the boom angle θb is the angle formed by the line connecting the rotation axes AXa and AXb, and the line connecting the rotation axes CXf and CXr. The detection data of the boom angle θb detected by the boom angle sensor 31 is sent to the control device 50. Furthermore, the boom angle sensor 31 can also be a stroke sensor for detecting the stroke of the lifting cylinder 18.

[0072] The bucket angle sensor 32 is used to detect the angle of the bucket 13. Specifically, the bucket angle sensor 32 is used to detect the crank angle θc, which represents the angle of the crank 14 relative to the boom 12 in the local coordinate system. As an example of the bucket angle sensor 32, an angle sensor disposed at the connection between the boom 12 and the crank 14 can be shown. In an embodiment, the crank angle θc is the angle formed by the line connecting the rotation axes AXc and AXf, and the line connecting the rotation axes AXa and AXb. The angle of the bucket 13 relative to the boom 12 in the local coordinate system corresponds one-to-one with the crank angle θc. By detecting the crank angle θc, the angle of the bucket 13 relative to the boom 12 in the local coordinate system can be detected. The detection data of the crank angle θc detected by the bucket angle sensor 32 is sent to the control device 50. Furthermore, the bucket angle sensor 32 can also be a stroke sensor for detecting the stroke of the bucket cylinder 19.

[0073] The weight measuring device 33 is used to measure the weight Wa of the excavated material 300 held in the bucket 13. Examples of the weight measuring device 33 include a pressure sensor that detects the pressure of the hydraulic oil in the lifting cylinder 18 or a pressure sensor that detects the pressure of the hydraulic oil in the bucket cylinder 19. The load applied to the machine 6 changes between a state where the excavated material 300 is held in the bucket 13 and a state where it is not held in the bucket 13. The weight measuring device 33 can measure whether there is excavated material 300 in the bucket 13 and the weight Wa of the excavated material 300 held in the bucket 13 by detecting the change in the load applied to the machine 6. The measurement data of the weight Wa of the excavated material 300 measured by the weight measuring device 33 is sent to the control device 50. Alternatively, the weight measuring device 33 can also be a load sensor disposed on at least a portion of the machine 6. The weight measuring device 33 can also directly measure the weight Wa of the excavated material 300.

[0074] Shape sensor 34 is used to detect the shape of a target object in front of the vehicle body 2. Shape sensor 34 is mounted on wheel loader 1. For example... Figure 1 and Figure 4 As shown, the shape sensor 34 is disposed on the upper part of the cockpit 4. Alternatively, the shape sensor 34 can also be disposed on the front 2F of the vehicle body. The shape sensor 34 is a non-contact sensor that detects the shape of a target object without actually contacting it. The shape sensor 34 can be an optical sensor or an imaging device. Examples of shape sensors 34 include laser sensors (LIDAR: Light Detection and Ranging) that detect targets by emitting laser light, radar sensors (RADAR: Radio Detection and Ranging) that detect targets by emitting radio waves, infrared sensors that detect targets by emitting infrared light, monocular cameras, and stereo cameras.

[0075] Operating modes of loading machinery

[0076] Figure 6 This diagram illustrates the operating modes of the wheel loader 1 according to the embodiment. The wheel loader 1 operates in multiple operating modes. The operating modes of the wheel loader 1 include: digging operation M1, moving away from the digging object M2, loading operation M3, and moving away from the loading object M4.

[0077] Excavation operation M1 is a work mode in which the loader 1 advances towards the object to be excavated and excavates the object using the bucket 13. In this embodiment, the object to be excavated is a hill 210 placed on the ground 200. The hill 210 refers to a hill composed of sand and soil. In excavation operation M1, the wheel loader 1 advances towards the hill 210 and excavates the hill 210 using the bucket 13.

[0078] The action M2, which involves moving away from the excavation target, is a working mode in which the excavated material 300 is held in the bucket 13 and the machine moves away from the excavation target. After the excavation operation M1 is completed, the wheel loader 1 moves away from the hill 210 while holding the excavated material 300 in the bucket 13.

[0079] Loading operation M3 is a working mode in which the loader moves forward in a manner close to the object to be loaded and loads the excavated material 300 held in the bucket 13 onto the object. In this embodiment, the object to be loaded is the dump truck body 230 of a transport vehicle 220 that can travel on the ground 200. As an example of the transport vehicle 220, a dump truck can be shown. After the action M2, which moves away from the object to be loaded, the wheel loader 1 turns forward in a manner close to the transport vehicle 220 and discharges the excavated material 300 from the bucket 13 to load it onto the dump truck body 230.

[0080] Action M4, which involves moving away from the loading object, is a working mode in which the loader moves away from the loading object. After loading operation M3 is completed, the wheel loader 1 moves away from the transport vehicle 220.

[0081] The wheel loader 1 repeatedly performs digging operation M1, moving away from the digging object M2, loading operation M3, and moving away from the loading object M4 until the excavated object 300 with the target load amount Tr is loaded in the transport vehicle 220.

[0082] In excavation operation M1, the excavator 6 operates in either automatic or manual excavation mode. In automatic excavation mode, the excavator 6 operates based on control commands output from the control device 50, rather than on the operation of the excavator operating device 25B. In manual excavation operation, the excavator 6 operates based on operation signals generated by the excavator operating device 25B according to the operator's commands. In this embodiment, the excavator 6 operates in automatic excavation mode.

[0083] Excavation operations and actions away from the excavation target

[0084] Figure 7 This is a diagram used to illustrate the digging operation M1 and the movement M2 away from the digging object of the wheel loader 1 involved in the embodiment. Figure 7 (A) and Figure 7 (B) represents excavation operation M1. Figure 7 (C) indicates the action M2, which moves away from the excavation object.

[0085] like Figure 7 As shown in (A), during excavation operation M1, the operator operates the drive system control device 25A to move the wheel loader 1 forward in a manner that brings it close to the hill 210. While moving the wheel loader 1 forward, the operator operates the work machine control device 25B to control the attitude of the work machine 6 to excavate the hill 210 using the bucket 13. Specifically, the operator operates the work machine control device 25B to control the attitude of the work machine 6 so that the cutting edge 13A of the bucket 13 approaches the ground 200. By moving the wheel loader 1 forward with the cutting edge 13A close to the ground 200, the cutting edge 13A of the bucket 13 is inserted into the lower end of the hill 210.

[0086] like Figure 7 As shown in (B), after the cutting edge 13A of the bucket 13 is inserted into the hill 210, the control device 50 causes the bucket 13 to retract. Thus, the hill 210 is excavated by the bucket 13. The bucket 13 scoops up the excavated material 300. The excavated material 300 is held in the bucket 13.

[0087] like Figure 7 As shown in (C), during the action M2, which moves away from the excavated object, the operator operates the drive system control device 25A to reverse the wheel loader 1 away from the hill 210. The control device 50 controls the attitude of the work machine 6 to prevent the excavated material 300 from spilling out of the bucket 13.

[0088] Loading operations and actions away from the loading object

[0089] Figure 8 This is a diagram used to illustrate the loading operation M3 and the action M4 of the wheel loader 1 according to the embodiment. Figure 8 (A) and Figure 8 (B) indicates loading operation M3. Figure 8 (C) indicates the action M4, which is away from the loaded object.

[0090] like Figure 8As shown in (A), during loading operation M3, the operator operates the drive system operating device 25A to move the wheel loader 1 forward in a manner that brings it close to the transport vehicle 220. The control device 50 controls the attitude of the work machine 6 so that the excavated material 300 held in the bucket 13 can be loaded onto the dump body 230 of the transport vehicle 220. The control device 50 controls the attitude of the work machine 6 so that the excavated material 300 does not spill from the bucket 13 and the bucket 13 is positioned above the upper end of the dump body 230. Furthermore, the attitude of the work machine 6 during loading of the excavated material 300 held in the bucket 13 can also be controlled by operating the work machine operating device 25B.

[0091] like Figure 8 As shown in (B), after the bucket 13 is positioned above the dump truck body 230, the control device 50 causes the bucket 13 to tip. As a result, the excavated material 300 is discharged from the bucket 13 and loaded into the dump truck body 230. Furthermore, the tipping action of the bucket 13 can also be controlled by operating the machine operating device 25B.

[0092] like Figure 8 As shown in (C), in the action M4 of moving away from the loading object, the operator operates the drive system operating device 25A to reverse the wheel loader 1 away from the transport vehicle 220.

[0093] Inspection of excavated objects during and after excavation operations

[0094] Figure 9 This is a diagram illustrating the excavated object 300 detected by the shape sensor 34 in the excavation operation according to the embodiment. Figure 10 This diagram illustrates the excavated material 300 detected by the shape sensor 34 after the excavation operation, according to the embodiment. In this embodiment, the shape sensor 34 detects the shape of the surface of the excavated material 300 excavated by the bucket 13. The excavated material 300 refers to a portion of the hill 210 that has been separated from the hill 210 by the bucket 13.

[0095] The shape sensor 34 can detect the shape of the surface of the excavated object 300 during and after the excavation operation of the bucket 13 on the hill 210. For example... Figure 9 As shown, the excavation operation of the bucket 13 on the hill 210 refers to the period during which the bucket 13 retracts while at least a portion of it is inserted into the hill 210. For example... Figure 10 As shown, after the bucket 13 performs the excavation operation on the hill 210, it refers to the period when the bucket 13 and the excavated object 300 are positioned on the outer side of the surface 210S of the hill 210 while the bucket 13 is holding the excavated object 300.

[0096] like Figure 9 and Figure 10 As shown, the bucket 13 excavates the hill 210, thereby at least a portion of the excavated material 300 is located outside the opening 136 of the bucket 13. In the following description, the excavated material 300 located outside the opening 136 of the bucket 13 may be referred to as the exposed portion 330 of the excavated material 300.

[0097] like Figure 9 As shown, during the excavation operation, a portion of the surface of the excavated object 300 is located outside the surface 210S of the hill 210. When the bucket 13 is excavating the hill 210, the shape sensor 34 detects the shape of the portion of the surface of the excavated object 300 located outside the surface 210S of the hill 210.

[0098] During excavation operations, a portion of the surface of the excavated material 300 located outside the surface 210S of the hill 210 slopes forward and upward from the upper end 13B of the bucket 13. In the following description, the portion of the excavated material 300 that slopes forward and upward from the upper end 13B may be referred to as the first surface 310.

[0099] During the excavation operation, the first surface 310 is located outside the surface 210S of the hill 210. The first surface 310 is a portion of the exposed portion 330. The first surface 310 is formed to be connected to the upper end portion 13B. During the excavation operation, the shape sensor 34 detects the shape of the first surface 310.

[0100] like Figure 10 As shown, after the excavation operation, the entire surface of the excavated object 300 is located outside the surface 210S of the hill 210. The shape sensor 34 detects the shape of the surface of the excavated object 300 located outside the surface 210S of the hill 210 after the bucket 13 excavates the hill 210.

[0101] After the excavation operation, a portion of the surface of the excavated material 300 located outside the surface 210S of the hill 210 slopes backward and upward from the cutting edge 13A of the bucket 13. In the following description, the portion of the excavated material 300 that slopes backward and upward from the cutting edge 13A may be referred to as the second surface 320.

[0102] After the excavation operation, a first surface 310 is also formed on part of the surface of the excavated object 300.

[0103] After the excavation operation, both the first surface 310 and the second surface 320 are positioned further outward than the surface 210S of the hill 210. The first surface 310 and the second surface 320 are each part of the surface of the exposed portion 330. The first surface 310 is formed to connect with the upper end portion 13B. The second surface 320 is formed to connect with the cutting edge end 13A. After the excavation operation, the shape sensor 34 detects the shape of the first surface 310 and the shape of the second surface 320, respectively.

[0104] In the following description, the excavated material 300 held in the bucket 13 during the excavation operation is referred to as the excavated material 300 during the excavation operation, and the excavated material 300 held in the bucket 13 after the excavation operation is referred to as the excavated material 300 after the excavation operation. The surface of the excavated material 300 during the excavation operation includes a first surface 310 but does not include a second surface 320. The surface of the excavated material 300 after the excavation operation includes both the first surface 310 and the second surface 320.

[0105] The state of the excavated material in the bucket

[0106] Figure 11 This is a diagram illustrating the state of the excavated material 300 held in the bucket 13 according to the embodiment. Figure 11 This indicates the excavated material (300) after the excavation operation. For example... Figure 11 As shown, the exposed portion 330 is formed to protrude from the opening 136 toward the outside of the bucket 13.

[0107] The exposed portion 330 includes a first surface 310 and a second surface 320. The second surface 320 is located in front of the first surface 310. The first surface 310 slopes forward and upward. The second surface 320 slopes forward and downward. The rear end of the first surface 310 is connected to the upper end 13B. The front end of the second surface 320 is connected to the blade end 13A. The front end of the first surface 310 is connected to the rear end of the second surface 320. In a section orthogonal to the rotation axis AXb, the first surface 310, the second surface 320, and the right end 13C (left end 13D) substantially form a triangle.

[0108] Figure 11 The bucket 13 shown in (A) and Figure 11 The bucket angles θbk, which represent the angles of the bottom plate portion 131 relative to the horizontal plane, are different between the buckets 13 shown in (B). Figure 11 (A) shows an example where the bucket angle θbk is the first angle θbk1. Figure 11 (B) shows an example where the bucket angle θbk is a second angle θbk2 that is greater than the first angle θbk1.

[0109] In this embodiment, the angle of the first surface 310 relative to the horizontal plane can be referred to as the loading angle θ1. Furthermore, the loading angle θ1 of the excavated object 300 during the excavation operation can be referred to as the loading angle θ1d during excavation, and the loading angle θ1 of the excavated object 300 after the excavation operation can be referred to as the loading angle θ1a after excavation. Figure 11 In the diagram, the loading angle θ1 represents the loading angle θ1a after excavation.

[0110] like Figure 11 As shown, if the bucket angle θbk changes, the loading angle θ1 also changes. If the bucket angle θbk increases, the loading angle θ1 increases. If the bucket angle θbk decreases, the loading angle θ1 decreases. In both the excavated object 300 during and after excavation, if the bucket angle θbk changes, the loading angle θ1 also changes. That is, depending on the change in the bucket angle θbk, both the loading angle θ1d during excavation and the loading angle θ1a after excavation change.

[0111] The angle of the second surface 320 relative to the horizontal plane represents the angle of repose θ2 (angle of repose) of the excavation 300.

[0112] like Figure 11 As shown, even if the bucket angle θbk changes, the angle of repose θ2 will not change substantially. The angle of repose θ2 is uniquely determined based on the characteristics of the excavated object 300 (hill 210). With the characteristics of the excavated object 300 fixed, even if the bucket angle θbk changes, the angle of repose θ2 will not change substantially.

[0113] The inventors discovered that if the bucket angle θbk changes, the loading angle θ1 on the upper end 13B side changes, and a resting angle θ2 is formed on the blade end 13A side.

[0114] During excavation operations, the bucket 13 changes its bucket angle θbk while the cutting edge 13A is inserted into the hill 210. At least a portion of the first surface 310 is formed by the surface 210S of the hill 210. If the bucket angle θbk is changed while the cutting edge 13A is inserted into the hill 210, the surface 210S of the hill 210 moves, causing a change in the angle of the surface of the excavated material 300, i.e., the first surface 310, on the upper end 13B side. Therefore, it can be considered that if the bucket angle θbk changes, the loading angle θ1 on the upper end 13B side changes.

[0115] After the excavation operation, the bucket 13 is pulled out of the hill 210 while holding the excavated material 300. As the bucket 13 is pulled out of the hill 210, at least a portion of the excavated material 300 spills out from the blade tip 13A due to gravity. Because at least a portion of the excavated material 300 spills out from the blade tip 13A, the surface of the excavated material 300 on the blade tip 13A side, i.e., the second surface 320, is stabilized at an angle corresponding to the shape of the excavated material 300. Therefore, it can be considered that a repose angle θ2 is formed on the blade tip 13A side.

[0116] control system

[0117] Figure 12 This is a functional block diagram showing the control system 40 of the wheel loader 1 according to the embodiment. The control system 40 includes: a control device 50, an operating device 25, a control valve 24, a lifting cylinder 18, a bucket cylinder 19, a tilt sensor 30, a boom angle sensor 31, a bucket angle sensor 32, a weight measuring device 33, a shape sensor 34, and a calibration switch 26.

[0118] The control unit 50 includes a computer system. The control unit 50 outputs control commands for controlling the wheel loader 1.

[0119] Figure 13 This is a block diagram illustrating the control device 50 of the wheel loader 1 according to the embodiment. (As shown) Figure 13 As shown, the control device 50 includes a processor 51, main memory 52, a memory 53, and an interface 54. The processor 51 executes computer programs to process the actions of the workstation 6. Examples of the processor 51 include a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). Examples of the main memory 52 include non-volatile memory or volatile memory. Examples of non-volatile memory include ROM (Read Only Memory). Examples of volatile memory include RAM (Random Access Memory). The memory 53 is a non-transitory tangible storage medium. Examples of memory 53 include magnetic disks, magneto-optical disks, and semiconductor memory. The memory 53 can be an internal medium directly connected to the bus of the control device 50, or an external medium connected to the control device 50 via the interface 54 or a communication line. The memory 53 stores computer programs used to control the workstation 6.

[0120] like Figure 12As shown, the control device 50 includes: a work judgment unit 60, a calibration unit 70, a calculation unit 80, a target weight setting unit 90, a machine control unit 100, a characteristic storage unit 120, a bucket data storage unit 130, a target load storage unit 140, and an actual load storage unit 150. The control device 50 communicates with the operating device 25, the control valve 24, the tilt sensor 30, the boom angle sensor 31, the bucket angle sensor 32, the weight measuring device 33, the shape sensor 34, and the calibration switch 26.

[0121] Job Judgment Department

[0122] The operation determination unit 60 determines whether the wheel loader 1 is performing an excavation operation on the hill 210. The operation determination unit 60 determines whether the bucket 13 is performing an excavation operation on the hill 210 based, for example, on the wheel loader 1's direction of travel, traction force, the load applied to the work machine 6, and the attitude of the work machine 6. The direction of travel of the wheel loader 1 indicates whether the wheel loader 1 is moving forward or backward. The operation determination unit 60 can determine whether the wheel loader 1 is moving forward based on the operation signal of the forward / reverse operation device 253 of the drive system operation device 25A. Furthermore, if a rotation sensor for detecting the rotation direction of the wheels 5 is provided, the operation determination unit 60 can also determine whether the wheel loader 1 is moving forward based on the detection data of the rotation direction of the wheels 5 detected by the rotation sensor. The operation determination unit 60 can acquire the traction force of the wheel loader 1. The traction force is, for example, a value calculated based on the output torque of the power source 20, the input-output speed ratio of the transmission device 22, and the load radius of the wheels 5. The work determination unit 60 can acquire measurement data of the weight Wa of the excavated material 300 held in the bucket 13 from the weight measuring device 33. The work determination unit 60 can acquire the attitude of the work machine 6. The attitude of the work machine 6 includes the boom angle θb and the crank angle θc. The work determination unit 60 can acquire detection data of the boom angle θb from the boom angle sensor 31 and detection data of the crank angle θc from the bucket angle sensor 32. In addition, as examples of elements for determining whether the wheel loader 1 is performing excavation work on the hill 210, the travel direction of the wheel loader 1, traction force, load applied to the work machine 6, and attitude of the work machine 6 are shown, but it is not limited to these. The elements for determining whether the wheel loader 1 is performing excavation work on the hill 210 may include some or all of the above elements.

[0123] When the bucket 13 is excavating the hill 210, the wheel loader 1 moves forward, and the cutting edge 13A of the bucket 13 inserts into the hill 210, increasing the traction force. The excavated material 300 held in the bucket 13 increases the load applied to the work machine 6, and the bucket 13 begins to retract from a position where the cutting edge 13A is close to the ground 200. Therefore, the operation judgment unit 60 can determine that the bucket 13 is excavating the hill 210 based on the direction of travel of the wheel loader 1, the traction force, the load applied to the work machine 6, and the attitude of the work machine 6.

[0124] When the bucket 13 has finished excavating the hill 210, the wheel loader 1 reverses. Therefore, the operation determination unit 60 can determine, based on the direction of travel of the wheel loader 1, that the bucket 13 has finished excavating the hill 210.

[0125] Calibration Department

[0126] The calibration unit 70 calculates the characteristic data of the excavated material 300 based on the excavated material 300 retained in the bucket 13 after the excavation operation. The characteristic data of the excavated material 300 includes the angle of repose θ2 and the density ρ of the excavated material 300.

[0127] The calibration unit 70 includes: a shape acquisition unit 71, a repose angle calculation unit 72, a post-excavation loading angle calculation unit 73, a bucket angle calculation unit 74, a volume calculation unit 75, and a density calculation unit 76.

[0128] The shape acquisition unit 71 is used to acquire detection data of the shape of the surface of the excavated object 300 after the excavation operation, as detected by the shape sensor 34. The shape acquisition unit 71 can acquire the detection data of the shape of the surface of the excavated object 300 after the excavation operation based on the judgment result of the operation judgment unit 60.

[0129] The angle of repose calculation unit 72 calculates the angle of repose θ2, which represents the angle of the second surface 320 of the excavated object 300 relative to the horizontal plane. The angle of repose calculation unit 72 calculates the angle of repose θ2 based on the detection data of the angle of the vehicle body 2 and the detection data of the second surface 320 of the excavated object 300 acquired by the shape acquisition unit 71. The detection data of the angle of the vehicle body 2 is the detection data of the vehicle body tilt angle θa relative to the horizontal plane detected by the tilt sensor 30. That is, the angle of repose calculation unit 72 calculates the angle of repose θ2 relative to the horizontal plane based on the detection data of the second surface 320 of the excavated object 300 detected after the excavation operation.

[0130] The excavation loading angle calculation unit 73 calculates the excavation loading angle θ1a, which represents the angle of the first surface 310 of the excavated object 300 relative to the horizontal plane after the excavation operation. The excavation loading angle calculation unit 73 calculates the excavation loading angle θ1a based on the detection data of the vehicle body 2's angle and the detection data of the first surface 310 of the excavated object 300 acquired by the shape acquisition unit 71. That is, the excavation loading angle calculation unit 73 calculates the excavation loading angle θ1a relative to the horizontal plane based on the detection data of the first surface 310 of the excavated object 300 detected after the excavation operation.

[0131] The bucket angle calculation unit 74 calculates the bucket angle θbk, which represents the angle of the bucket 13 relative to the horizontal plane after the digging operation. The bucket angle calculation unit 74 calculates the bucket angle θbk after the digging operation based on the detection data of the angle of the vehicle body 2 and the detection data of the angle of the work machine 6. The detection data of the angle of the work machine 6 includes: the detection data of the boom angle θb, which represents the angle of the boom 12 in the local coordinate system, detected by the boom angle sensor 31, and the detection data of the crank angle θc, which represents the angle of the crank 14 in the local coordinate system, detected by the bucket angle sensor 32. Therefore, the bucket angle calculation unit 74 can calculate the bucket angle θbk based on the detection data of the vehicle body tilt angle θa, the detection data of the boom angle θb, and the detection data of the crank angle θc.

[0132] The volume calculation unit 75 is used to calculate the volume Va of the excavated material 300 after the excavation operation. The volume calculation unit 75 calculates the volume Va of the excavated material 300 after the excavation operation held in the bucket 13 based on the repose angle θ2 calculated by the repose angle calculation unit 72, the excavation loading angle θ1a calculated by the excavation loading angle calculation unit 73, the bucket angle θbk calculated by the bucket angle calculation unit 74, and the dimensions of the bucket 13 stored in the bucket data storage unit 130.

[0133] The cross-sectional area A1 of the exposed portion 330, which is orthogonal to the axis of rotation AXb, can be calculated based on the following formula (1):

[0134]

[0135] The cross-sectional area A2 of the bucket 13, which is orthogonal to the rotation axis AXb, can be derived from the dimensions of the bucket 13 stored in the bucket data storage unit 130. The cross-sectional area Aa of the excavated material 300 after the excavation operation, which is orthogonal to the rotation axis AXb, can be calculated based on the following formula (2):

[0136] Aa=A1+A2…(2)

[0137] The volume Va of the excavated material 300 can be calculated based on the following formula (3):

[0138] Va=Aa×H…(3)

[0139] The density calculation unit 76 calculates the density ρ of the excavated material 300 based on the weight Wa of the excavated material 300 held in the bucket 13 after the excavation operation, measured by the weight measuring device 33, and the volume Va of the excavated material 300 after the excavation operation, calculated by the volume calculation unit 75. The density ρ can be calculated based on the following formula (4):

[0140] ρ=Wa / Va…(4)

[0141] The characteristic storage unit 120 is used to store the characteristic data of the excavated object 300 calculated by the calibration unit 70. The characteristic storage unit 120 stores the angle of repose θ2 of the excavated object 300 calculated by the angle of repose calculation unit 72 and the density ρ of the excavated object 300 calculated by the density calculation unit 76 as characteristic data.

[0142] Estimation Department

[0143] The calculation unit 80 is used to calculate the weight Wp of the excavated material 300 held in the bucket 13 when the bucket 13 is in the process of excavating the hill 210. The calculation unit 80 calculates the weight Wp of the excavated material 300 after the excavation operation based on the detection data of the excavated material 300 detected by the shape sensor 34 during the excavation operation.

[0144] The calculation unit 80 includes: a shape acquisition unit 81, a loading angle calculation unit 82 during excavation, a bucket angle monitoring unit 83, and a weight calculation unit 84.

[0145] The shape acquisition unit 81 is used to acquire detection data of the shape of the surface of the excavated object 300 during the excavation operation, as detected by the shape sensor 34. The shape acquisition unit 81 can acquire the detection data of the shape of the surface of the excavated object 300 during the excavation operation based on the judgment result of the operation judgment unit 60.

[0146] The excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d, which represents the angle of the first surface 310 of the excavated object 300 relative to the horizontal plane during the excavation operation. The excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d based on the detection data of the vehicle body 2's angle and the detection data of the first surface 310 of the excavated object 300 acquired by the shape acquisition unit 81. That is, the excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d relative to the horizontal plane based on the detection data of the first surface 310 of the excavated object 300 detected during the excavation operation.

[0147] The bucket angle monitoring unit 83 is used to calculate the bucket angle θbk, which represents the angle of the bucket 13 relative to the horizontal plane during excavation. The bucket angle monitoring unit 83 calculates the bucket angle θbk during excavation based on the detection data of the angle of the vehicle body 2 and the detection data of the angle of the work machine 6.

[0148] The weight calculation unit 84 calculates the weight Wp of the excavated object 300 based on the excavation loading angle θ1d calculated by the excavation loading angle calculation unit 82. The weight Wp calculated by the weight calculation unit 84 is the weight Wp extrapolated by the calculation unit 80. The weight calculation unit 84 outputs the calculation result of the weight Wp to the work machine control unit 100.

[0149] Figure 14 This is a diagram used to illustrate the excavated material 300 in the excavation operation involved in the implementation method. (See diagram below.) Figure 14 As shown, when the bucket 13 is engaged in excavation of the hill 210, a portion of the bucket 13, including the cutting edge 13A, is positioned inside the hill 210. When the bucket 13 is engaged in excavation of the hill 210, the first surface 310 of the excavated material 300 is located outside the surface 210S of the hill 210. Therefore, the shape sensor 34 can detect the first surface 310 of the excavated material 300 when the bucket 13 is engaged in excavation of the hill 210. When the bucket angle θbk is small, a shape is formed as shown... Figure 14 The first surface 310 is shown by line E1. The bucket 13 retracts, and the bucket angle θbk gradually increases. During excavation, the loading angle θ1d also gradually increases, forming a shape as shown... Figure 14 The first surface 310 is shown by line E2.

[0150] When the bucket 13 is in the process of excavating the hill 210, the second surface 320 of the excavated object 300 will not appear outside the surface 210S of the hill 210.

[0151] The excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d based on the detection data of the first surface 310 of the excavated object 300 during the excavation operation detected by the shape sensor 34. The weight calculation unit 84 calculates the weight Wp of the excavated object 300 held in the bucket 13 when it is pulled out of the hill 210 while maintaining the excavation loading angle θ1d unchanged.

[0152] The characteristic data of the excavated object 300 are stored in the characteristic storage unit 120. The bucket angle θbk during the excavation operation is calculated by the bucket angle monitoring unit 83. The weight calculation unit 84 can calculate the weight Wp based on the excavation loading angle θ1d calculated by the excavation loading angle calculation unit 82 and the specific data of the excavated object 300, including the repose angle θ2 and density ρ, stored in the characteristic storage unit 120. The cross-sectional area A3 of the exposed part 330 during the excavation operation, which is orthogonal to the rotation axis AXb, can be calculated based on the following formula (5):

[0153]

[0154] The cross-sectional area Ad of the excavated object 300 in the excavation operation orthogonal to the rotation axis AXb can be calculated based on the following formula (6):

[0155] Ad=A3+A2…(6)

[0156] The volume Vp of excavated material 300 can be calculated based on the following formula (7):

[0157] Vp=Ad×H…(7)

[0158] The weight Wp can be calculated based on the following equation (8):

[0159] Wp=Vp×ρ…(8)

[0160] Target weight setting department

[0161] The target weight setting unit 90 is used to set a target weight Wr, which represents a target value for the weight Wa of the excavated material 300 held in the bucket 13. The target loading amount Tr of the excavated material 300 of the dump truck 230 is stored in the target loading amount storage unit 140. The target loading amount Tr is a fixed value specified for the transport vehicle 220. The target weight setting unit 90 sets the target weight Wr based on the target loading amount Tr stored in the target loading amount storage unit 140.

[0162] Machine control unit

[0163] The machine control unit 100 controls the attitude of the bucket 13, making the weight Wp calculated by the calculation unit 80 the target weight Wr. The attitude of the bucket 13 includes the bucket angle θbk, which represents the angle of the bucket 13 relative to the horizontal plane. If the bucket angle θbk changes, the digging loading angle θ1d changes. During digging operations, the machine control unit 100 controls at least one of the lifting cylinder 18 and the bucket cylinder 19 to adjust the bucket angle θbk. The digging loading angle θ1d is adjusted by adjusting the bucket angle θbk. The weight Wp of the excavated object 300 is adjusted by adjusting the digging loading angle θ1d. During digging operations, the digging loading angle calculation unit 82 calculates the digging loading angle θ1d when the bucket angle θbk changes, based on the detection data of the first surface 310 when the bucket angle θbk changes. During excavation, the weight calculation unit 84 calculates the weight Wp of the excavated object 300 when the bucket angle θbk changes, based on the loading angle θ1d during excavation. During excavation, the machine control unit 100 controls the bucket angle θbk, which represents the attitude of the bucket 13, based on the detection data of the first surface 310, so that the weight Wp calculated by the weight calculation unit 84 becomes the target weight Wr.

[0164] The machine control unit 100 pulls the bucket 13 out of the hill 210 with the loading angle θ1d and bucket angle θbk in the state where the weight Wp is maintained at the target weight Wr. As a result, the difference between the weight Wa of the excavated material 300 after the excavation operation held in the bucket 13 and the target weight Wr becomes smaller.

[0165] Feature storage unit

[0166] The characteristic storage unit 120 is used to store characteristic data of the excavated object 300, including the angle of repose θ2 and density ρ. The characteristic storage unit 120 is also used to store the characteristic data of the excavated object 300 calculated by the calibration unit 70.

[0167] Bucket Data Storage Department

[0168] The bucket data storage unit 130 is used to store specification data or design data of the bucket 13, including the dimensions of the bucket 13.

[0169] Target loading capacity storage unit

[0170] The target load storage unit 140 is used to store the target load Tr of the excavated material 300 of the dump vehicle 230.

[0171] Actual load storage department

[0172] The actual load storage unit 150 stores the actual load Tp, which represents the actual load of the excavated material 300 loaded on the dump truck body 230. A transport vehicle 220 may perform multiple operation modes, including excavation operation M1 and loading operation M3. The weight calculation unit 84 sums the weight Wp of the excavated material 300 calculated in each of the multiple excavation operations M1 and stores the actual load Tp in the actual load storage unit 150.

[0173] Control methods

[0174] Figure 15 This is a flowchart illustrating the control method of the wheel loader 1 according to the implementation method. Figure 15 This is a flowchart illustrating the operation of a wheel loader 1 relative to a transport vehicle 220. For example... Figure 15 As shown, the wheel loader 1 performs digging operation M1, moving away from the digging object action M2, loading operation M3, and moving away from the loading object action M4. In digging operation M1, automatic digging is performed (step SA). In moving away from the digging object action M2, calibration processing is performed (step SB).

[0175] Calibration Processing

[0176] Figure 16 This is a flowchart illustrating the calibration method involved in the implementation. The calibration process refers to the process of calculating characteristic data of the excavated material 300 based on the excavated material 300 held in the bucket 13 after the excavation operation. The calibration process is performed after the excavation operation. The calibration process is performed by the calibration unit 70.

[0177] The calibration process is performed in the first operating mode. In the first operating mode's digging operation M1, the weight Wp calculation performed by the calculation unit 80 is not performed. In the first digging operation M1, the machine control unit 100 keeps the bucket 13 holding an appropriate amount of excavated material 300.

[0178] like Figure 15 As shown, during the action M2 away from the excavation target, the calibration unit 70 determines whether to start the calibration process (step SC). When it is determined in step SC that the calibration process should start (step SC: Yes), the calibration unit 70 starts the calibration process during the action M2 away from the excavation target. When it is determined in step SC that the calibration process should not start (step SC: No), the calibration process is not performed, and the action M2 away from the excavation target is performed instead.

[0179] When performing calibration, the operator operates calibration switch 26. If calibration switch 26 is operated and the job determination unit 60 determines that an excavation operation has commenced, calibration begins.

[0180] The tilt sensor 30 is used to detect the tilt angle θa of the vehicle body 2. The boom angle sensor 31 is used to detect the boom angle θb. The bucket angle sensor 32 is used to detect the crank angle θc. The weight measuring device 33 is used to measure the weight Wa of the excavated object 300 after the excavation operation. The shape sensor 34 is used to detect the shape of the surface of the excavated object 300 after the excavation operation.

[0181] like Figure 16 As shown, the angle of repose calculation unit 72 calculates the angle of repose θ2 of the excavated object 300 relative to the horizontal plane based on the detection data of the angle of the vehicle body 2 and the detection data of the second surface 320 of the excavated object 300 after the excavation operation (step SB1).

[0182] The excavated cargo angle calculation unit 73 calculates the excavated cargo angle θ1a relative to the horizontal plane based on the detection data of the angle of the vehicle body 2 and the detection data of the first surface 310 of the excavated object 300 after the excavation operation (step SB2).

[0183] The bucket angle calculation unit 74 calculates the bucket angle θbk based on the detection data of the vehicle body 2 angle, the detection data of the boom angle θb, and the detection data of the crank angle θc (step SB3).

[0184] The volume calculation unit 75 calculates the volume Va of the excavated material 300 after the excavation operation based on the repose angle θ2 calculated in step SB1, the loading angle θ1a after excavation calculated in step SB2, the bucket angle θbk calculated in step SB3, and the dimensions of the bucket 13 stored in the bucket data storage unit 130 (step SB4). The volume calculation unit 75 calculates the volume Va of the excavated material 300 after the excavation operation based on equations (1), (2), and (3).

[0185] The density calculation unit 76 calculates the density ρ of the excavated material 300 based on the measured weight Wa of the excavated material 300 after the excavation operation and the volume Va of the excavated material 300 calculated in step SB4 (step SB5). The density calculation unit 76 calculates the density ρ of the excavated material 300 based on equation (4).

[0186] The feature storage unit 120 is used to store the angle of repose θ2 calculated in step SB1 and the density ρ calculated in step SB5 (step SB6).

[0187] like Figure 15 As shown, after the action M2, which moves away from the object being excavated, is completed, loading operation M3 is performed to load the excavated material 300 held in the bucket 13 onto the dump truck body 230. The excavated material 300 held in the bucket 13 is then loaded onto the dump truck body 230.

[0188] In loading operation M3, the actual load Tp stored in the actual load storage unit 150 is updated. The calibration unit 70 sends the weight Wa of the excavated material 300 calculated in the calibration process (step SB) to the actual load storage unit 150. The actual load storage unit 150 updates the actual load Tp (step SD).

[0189] Before loading operation M3 is performed on the transport vehicle 220, the actual load Tp is equal to the weight Wa. When the dump body 230 of the transport vehicle 220 is loaded with excavated material 300 with a load Tb, the actual load Tp is updated from the load Tb to the load [Tb+Wa].

[0190] Mining methods

[0191] Figure 17 This is a flowchart illustrating the mining method involved in the implementation. Figure 17 This refers to excavation operation M1 under the second and subsequent operation modes. In excavation operation M1 under the second and subsequent operation modes, the calculation unit 80 calculates the weight Wp. The characteristic storage unit 120 stores the angle of repose θ2 and the density ρ.

[0192] The target weight setting unit 90 sets the target weight Wr based on the actual load Tp stored in the actual load storage unit 150 and the target load Tr stored in the target load storage unit 140 (step SA1).

[0193] For example, if the difference between the target load Tr and the actual load Tp is ΔT, and it is determined that there are four more loading operations M3 to reach the target load Tr, the target weight setting unit 90 sets the target weight Wr to, for example, [ΔT / 4].

[0194] When excavation operation M1 begins, after at least a portion of the bucket 13 is inserted into the hill 210, the machine control unit 100 causes the bucket 13 to retract (step SA2). By retracting the bucket, the bucket angle θbk changes.

[0195] Tilt sensor 30 detects the tilt angle θa of the vehicle body 2. Boom angle sensor 31 detects the boom angle θb. Bucket angle sensor 32 detects the crank angle θc. Shape sensor 34 detects the shape of the surface of the excavated object 300 during the excavation operation.

[0196] The excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d relative to the horizontal plane based on the detection data of the angle of the vehicle body 2 and the detection data of the first surface 310 of the excavated object 300 during the excavation operation (step SA3).

[0197] The weight calculation unit 84 calculates the weight Wp of the excavated material 300 after the excavation operation based on the loading angle θ1d and bucket angle θbk calculated in step SA3, as well as the angle of repose θ2 and density ρ stored in the characteristic storage unit 120 (step SA4). The weight calculation unit 84 calculates the weight Wp based on equations (5), (6), (7) and (8).

[0198] The machine control unit 100 determines whether the difference between the weight Wp calculated in step SA4 and the target weight Wr set in step SA1 is below a preset threshold (step SA5).

[0199] In step SA5, when the difference between the determined weight Wp and the target weight Wr is below a threshold, that is, when the determined weight Wp is the same as or approximately the target weight Wr (step SA5: Yes), the machine control unit 100 pulls the bucket 13 out of the hill 210 at a bucket angle θbk that is maintained when the difference between the determined weight Wp and the target weight Wr is below the threshold (step SA6). Thus, one excavation operation M1 is completed.

[0200] In step SA5, when the difference between the determined weight Wp and the target weight Wr is not below the threshold, that is, when the determined weight Wp is different from the target weight Wr (step SA5: no), the machine control unit 100 causes the bucket 13 to continue the bucket retraction action (step SA2).

[0201] The bucket angle θbk changes due to the bucket retraction action, which in turn changes the loading angle θ1d during excavation. The loading angle calculation unit 82 calculates the changed loading angle θ1d during excavation (step SA3). The weight calculation unit 84 calculates the weight Wp of the excavated object 300 based on the changed loading angle θ1d during excavation (step SA4). The processing from steps SA2 to SA4 continues until it is determined in step SA4 that the difference between the weight Wp and the target weight Wr is below a threshold.

[0202] like Figure 15 As shown, after the excavation operation M1 ends and the action M2, which moves away from the excavated object, is completed, the loading operation M3, which loads the excavated material 300 held in the bucket 13, onto the dump truck body 230, is performed. The excavated material 300 held in the bucket 13 is then loaded onto the dump truck body 230.

[0203] In loading operation M3, the actual load Tp stored in the actual load storage unit 150 is updated. The calculation unit 80 sends the weight Wp of the excavated object 300 calculated in excavation operation M1 to the actual load storage unit 150. The actual load storage unit 150 updates the actual load Tp (step SD).

[0204] When the dump body 230 of the transport vehicle 220 is already loaded with excavated material 300 with a loading amount of Tb, the actual loading amount Tp is updated from the loading amount Tb to the loading amount [Tb+Wp].

[0205] like Figure 15 As shown, after the loading operation M3 and the action of moving away from the loading object M4 are completed, the target weight setting unit 90 determines whether the actual loading amount Tp has reached the target loading amount Tr (step SE).

[0206] In step SE, when it is determined that the actual loading amount Tp has reached the target loading amount Tr (step SE: Yes), the operation on a transport vehicle 220 ends.

[0207] In step SE, if it is determined that the actual load Tp has not reached the target load Tr (step SE: No), the operation continues until the actual load Tp reaches the target load Tr.

[0208] Furthermore, in this embodiment, calibration is performed in the first operating mode, and weight Wp is calculated in the second and subsequent operating modes. However, calibration can also be performed in multiple operating modes, and weight Wp can be calculated in the operating mode after the calibration is completed. When multiple calibration processes are performed and multiple angles of repose θ2 and densities ρ are calculated, the characteristic storage unit 120 can store the average value of the multiple angles of repose θ2, or it can store the latest angle of repose θ2. Similarly, the characteristic storage unit 120 can store the average value of multiple densities ρ, or it can store the latest density ρ.

[0209] Effect

[0210] As described above, in this embodiment, when the bucket 13 is digging into the hill 210, the first surface 310 of the excavated object 300 is detected by the shape sensor 34. The excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d relative to the horizontal plane based on the detection data of the vehicle body 2 angle and the detection data of the first surface 310. By calculating the excavation loading angle θ1d, the weight calculation unit 84 can estimate the weight Wp of the excavated object 300 held in the bucket 13 after the excavation operation based on the excavation loading angle θ1d. The estimation unit 80 can grasp the weight Wp of the excavated object 300 held in the bucket 13 during the excavation operation. Since the weight Wp of the excavated object 300 is grasped during the excavation operation, the machine control unit 100 can control the machine 6 during the excavation operation to reduce the difference between the weight Wp and the target weight Wr. As a result, the weight Wp of the excavated material 300 on the transport vehicle 220 is automatically adjusted, and the excavated material 300 is loaded into the transport vehicle 220 with the target loading capacity Tr. Therefore, the loading operation by the wheel loader 1 is optimized.

[0211] The first surface 310 of the excavated object 300 refers to the surface of the excavated object 300 located outside the surface 210S of the hill 210 during the excavation operation. Thus, the shape sensor 34 is able to detect the first surface 310.

[0212] In this embodiment, the first surface 310 is formed to be connected to the upper end portion 13B of the bucket 13. The second surface 320 is formed to be connected to the cutting edge end 13A of the bucket 13. Based on the upper end portion 13B and the cutting edge end 13A, the positions of the first surface 310 and the second surface 320 can be determined. Therefore, the shape sensor 34 can detect the first surface 310 and the second surface 320 respectively.

[0213] The characteristic data of the excavated object 300 is stored in the characteristic storage unit 120. As a result, the weight calculation unit 84 can calculate the weight Wp of the excavated object 300 based on the loading angle θ1d during excavation and the characteristic data of the excavated object 300.

[0214] The calibration unit 70 calculates characteristic data based on the excavated material 300 excavated in the excavation operation M1. Thus, the characteristic data is calculated while suppressing any reduction in productivity at the work site.

[0215] The angle of repose calculation unit 72 can calculate the angle of repose θ2 as a characteristic data based on the detection data of the angle of the vehicle body 2 and the detection data of the second surface 320 of the excavated object 300 after the excavation operation.

[0216] The density calculation unit 76 can calculate the density ρ as a characteristic data based on the weight Wa and volume Va of the excavated material 300 after the excavation operation.

[0217] The operation judgment unit 60 can determine whether the bucket 13 of the wheel loader 1 is in the process of digging. The calculation unit 80 can calculate the weight Wp of the excavated object 300 during the digging operation. The calibration unit 70 can calculate the characteristic data of the excavated object 300 after the digging operation.

[0218] Second Implementation Method

[0219] The second embodiment will be described. In the following description, structural elements that are the same as or equivalent to those in the above embodiment will be marked with the same symbols, and the description of these structural elements will be simplified or omitted.

[0220] In the first embodiment described above, an example of the excavation machine 6 performing excavation work in automatic excavation mode was explained. In the second embodiment, an example of the excavation machine 6 performing excavation work in manual excavation mode was explained.

[0221] control system

[0222] Figure 18 This is a functional block diagram illustrating the control system 400 of the wheel loader 1 according to the embodiment. The control system 400 further includes an output control unit 160 and an output device 170 on top of the control system 40 according to the above embodiment.

[0223] The control device 50 has an output control unit 160. The output control unit 160 causes the output device 170 to output the weight Wp of the excavated object 300 calculated by the calculation unit 80.

[0224] Output device 170 outputs the output data sent from output control unit 160. Output device 170 outputs the weight Wp of excavated material 300 calculated by calculation unit 80. As an example of output device 170, a display device or a sound output device can be shown. As an example of display device, a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD) can be shown. Output device 170 is disposed inside the cab 4 of the wheel loader 1.

[0225] The work machine 6 operates based on the operation signals from the work machine operating device 25B. The work machine operating device 25B is operated by the operator. In excavation operation M1, the output control unit 160 causes the output device 170 to output the weight Wp of the excavated object 300 calculated by the calculation unit 80. In excavation operation M1, while confirming the weight Wp of the excavated object 300 output from the output device 170, the operator operates the work machine operating device 25B to make the weight Wp the target weight Wr. When the work machine operating device 25B is operated, the bucket angle θbk and the loading angle θ1d during excavation change, thus changing the weight Wp of the excavated object 300 calculated by the calculation unit 80. The output device 170 outputs the changed weight Wp of the excavated object 300 in real time. The operator can confirm the real-time change in the weight Wp of the excavated object 300 while operating the work machine operating device 25B to make the weight Wp the target weight Wr.

[0226] Mining methods

[0227] Figure 19 This is a flowchart illustrating the excavation method involved in the implementation method. According to the above implementation method, the target weight setting unit 90 sets the target weight Wr based on the actual loading amount Tp and the target loading amount Tr (step SA10).

[0228] During excavation operation M1, with at least a portion of the bucket 13 inserted into the hill 210, the operator operates the machine operating device 25B to retract the bucket 13. When the machine operating device 25B is operated, an operation signal is output from it. The machine control unit 100 receives the operation signal from the machine operating device 25B (step SA15).

[0229] The machine control unit 100, based on the operation signal from the machine operating device 25B, causes the bucket 13 inserted into the hill 210 to perform a bucket retraction action (step SA20).

[0230] According to the above-described embodiment, the excavation loading angle calculation unit 82 calculates the excavation loading angle θ1d relative to the horizontal plane based on the detection data of the angle of the vehicle body 2 and the detection data of the first surface 310 (step SA30).

[0231] According to the above-described embodiment, the weight calculation unit 84 calculates the weight Wp of the excavated object 300 based on the loading angle θ1d during excavation calculated in step SA30 (step SA40).

[0232] The output control unit 160 causes the output device 170 to output the weight Wp of the excavated object 300 calculated in step SA40 (step SA45).

[0233] The output control unit 160 determines whether the difference between the weight Wp calculated in step SA40 and the target weight Wr set in step SA10 is below a preset threshold (step SA50).

[0234] In step SA50, when it is determined that the difference between the weight Wp and the target weight Wr is below a threshold, that is, when it is determined that the weight Wp is the same as or similar to the target weight Wr (step SA50: Yes), the output control unit 160 causes the output device 170 to output notification data indicating that the difference between the weight Wp calculated by the calculation unit 80 and the target weight Wr is below the threshold (step SA55).

[0235] Since the notification data is output to the output device 170, the operator can confirm that the weight Wp is consistent with or approximately equal to the target weight Wr. To pull the bucket 13 out of the hill 210 at a bucket angle θbk that maintains the weight Wp consistent with or approximately equal to the target weight Wr, the operator operates the machine operating device 25B. Based on the operating signal from the machine operating device 25B, the machine control unit 100 pulls the bucket 13 out of the hill 210 (step SA60).

[0236] In step SA50, when the difference between the determined weight Wp and the target weight Wr is not below the threshold, that is, when the determined weight Wp is different from the target weight Wr (step SA50: No), no notification data is output. The operator operates the machine operation device 25B until the notification data is output to the output device 170.

[0237] Effect

[0238] As described above, according to the embodiment, the output control unit 160 causes the output device 170 to output the weight Wp of the excavated material 300 calculated by the calculation unit 80. By outputting the weight Wp of the excavated material 300 during the excavation operation to the output device 170, the operator can check the output device 170 while operating the work machine operation device 25B, thereby reducing the difference between the weight Wp and the target weight Wr. As a result, the excavated material 300 is loaded into the transport vehicle 220 with the target loading amount Tr.

[0239] The output control unit 160 causes the output device 170 to output notification data indicating that the difference between the weight Wp calculated by the calculation unit 80 and the target weight Wr is below a threshold. Since the notification data is output to the output device 170, the operator can confirm that the weight Wp and the target weight Wr are consistent or approximately the same during the excavation operation.

[0240] Variations

[0241] Figure 20 This diagram illustrates a variation of the control system 400 of the wheel loader 1 according to the embodiment described above. In this embodiment, the output device 170 is disposed inside the cab 4 of the wheel loader 1. Figure 20 As shown, the output device 1700 can also be configured outside the wheel loader 1.

[0242] exist Figure 20 In the example shown, the control system 400 includes a remote operating system. The control system 400 remotely operates the wheel loader 1 working at the work site.

[0243] At least a portion of the control system 400 is configured in a remote operation area 600. The remote operation area 600 is located at a remote operation site, far from the work site. The control system 400 includes a remote operation device 250, an output device 1700, and a control device 500.

[0244] The remote operating device 250 is configured in the remote operating area 600. The remote operating device 250 is operated by an operator in the remote operating area 600. The operator can operate the remote operating device 250 while seated in a chair 800.

[0245] Output device 1700 is configured in remote operation area 600. Output device 1700 is a display device. Output device 1700 is used to display images of the work site. In some cases, it is difficult for the operator in remote operation area 600 to directly visually confirm the condition of the work site. The operator in remote operation area 600 can confirm the condition of the work site through output device 1700. The operator operates remote operation device 250 while visually viewing the image of the work site displayed in output device 1700. Wheel loader 1 is remotely operated by remote operation device 250. By operating remote operation device 250, the wheels 5 and the work machine 6 are moved respectively.

[0246] The control device 500 is configured in the remote operation area 600. The control device 500 includes a computer system.

[0247] The control unit 50 of the wheel loader 1 communicates with the control unit 500 of the remote operation area 600 via a communication system 700. Examples of the communication system 700 include the Internet, a local area network (LAN), a mobile phone communication network, and a satellite communication network.

[0248] The output control unit 160 of the wheel loader 1 sends the weight Wp of the excavated material 300 calculated by the calculation unit 80 to the control device 500 via the communication system 700. The control device 500 causes the output device 1700 to display the weight Wp of the excavated material 300 calculated by the calculation unit 80. The operator in the remote operation area 600 can operate the remote operation device 250 while checking the output device 1700 to reduce the difference between the weight Wp and the target weight Wr. As a result, the excavated material 300 is loaded into the transport vehicle 220 with the target loading amount Tr.

[0249] In addition, Figure 20 In the example shown, the control device 500 may also have the function of the calculation unit 80. The detection data of the shape sensor 34 on the first surface 310 is transmitted to the control device 500 via the communication system 700. The calculation unit 80 in the control device 500 can calculate the weight Wp based on the detection data of the first surface 310.

[0250] Third Implementation Method

[0251] The third embodiment will be described below. In the following description, structural elements that are the same as or equivalent to those in the above embodiments will be marked with the same symbols, and the description of the structural elements will be simplified or omitted.

[0252] In the above embodiment, the second surface 320 of the excavated object 300 is detected by the shape sensor 34. However, it is also possible that the first surface 310 is detected by the shape sensor 34, and the second surface 320 is detected by a different shape sensor than the shape sensor 34.

[0253] Figure 21 This is a diagram illustrating the shape sensor 34 and the excavated object 300 detected by the shape sensor 340 in the embodiment. (See diagram for reference.) Figure 21 As shown, after the excavation operation, the first surface 310 can be detected by the shape sensor 34 mounted on the wheel loader 1, and the second surface 320 can be detected by the shape sensor 340 disposed outside the wheel loader 1. The detection data of the second surface 320 detected by the shape sensor 340 is sent to the control device 50 of the wheel loader 1.

[0254] In this embodiment, the shape sensor 340 is mounted on a different mobile body 35 than the wheel loader 1. An example of the mobile body 35 could be an unmanned aerial vehicle (UAV).

[0255] Alternatively, the shape sensor 340 may not be mounted on the moving body 35. For example, the shape sensor 340 may also be mounted on the ground 200.

[0256] Furthermore, the shape sensor 34 can also be configured on the exterior of the wheel loader 1. The first surface 310 can be detected by the shape sensor 34 configured on the exterior of the wheel loader 1, and the second surface 320 can be detected by the shape sensor 340.

[0257] Alternatively, the shape sensor 34 can be omitted. Both the first surface 310 and the second surface 320 can be detected by the shape sensor 340, which is located outside the wheel loader 1.

[0258] Other implementation methods

[0259] In the above embodiment, the weight Wa of the excavated object 300 is measured by a weight measuring device 33 installed on the wheel loader 1. However, the weight Wa of the excavated object 300 can also be measured by a weight measuring device installed on the transport vehicle 220. The excavated object 300 is loaded into the dump truck body 230 via the bucket 13, thus changing the load applied to the transport vehicle 220. The weight measuring device installed on the transport vehicle 220 measures the first load applied to the transport vehicle 220 before the excavated object 300 is loaded into the dump truck body 230, and the second load applied to the transport vehicle 220 after the excavated object 300 is loaded into the dump truck body 230. The measurement data from the weight measuring device installed on the transport vehicle 220 is sent to the control device 50 of the wheel loader 1. The weight Wa of the excavated object 300 held in the bucket 13 is equivalent to the difference between the first load and the second load. The density calculation unit 76 can calculate the density ρ based on the weight Wa of the excavated object 300 and the volume Va of the excavated object 300, wherein the weight Wa of the excavated object 300 is calculated based on the difference between the first load and the second load.

[0260] In the above implementation, the calibration process (step SB) is performed in some operating modes. However, the calibration process can also be performed separately from the operating mode.

[0261] In the above-described embodiment, characteristic data of the excavated object 300 is calculated based on the excavated object 300 after the excavation operation. The characteristic data of the excavated object 300 can also be calculated based on the excavated object 300 not held in the bucket 13. For example, the characteristic data of the excavated object 300 can be calculated in experimental or evaluation equipment. Furthermore, if the characteristic data of the excavated object 300 is known, the process of calculating the characteristic data of the excavated object 300 can be omitted. This can be achieved simply by storing the characteristic data of the excavated object 300 (hill 210) in the characteristic storage unit 120 before the excavation operation M1.

[0262] In the above embodiment, the excavation object is hill 210. However, the excavation object may not be hill 210. For example, the excavation object could be a rocky hill, coal, feed, or a wall. A rocky hill refers to a hill composed of rocks or stones.

[0263] In the above embodiment, the loading object is the transport vehicle 220. However, the loading object may not be the transport vehicle 220. Examples of loading objects include at least one of a hopper, a belt conveyor, and a crusher.

[0264] In the above-described embodiment, the loading machine 1 is a wheel loader. However, the loading machine 1 can also be a hydraulic excavator with a front-end loading arm. The loading machine 1 can also be a hydraulic excavator with a backhoe loading arm that faces the rear during excavation operations.

[0265] Symbol Explanation

[0266] 1…Wheel loader (loading machinery); 2…Body; 2F…Front of the body; 2R…Rear of the body; 3…Articulation mechanism; 4…Cockpit; 5…Wheel; 5F…Front wheel; 5R…Rear wheel; 6…Working machine; 11…Articulation cylinder; 12…Boom; 13…Bucket; 13A…Cutting edge; 13B…Upper end; 13C…Right end; 13D…Left end; 14…Crank; 15…Bucket connecting rod; 16…Bracket; 17…Bracket; 18…Lifting cylinder; 19…Bucket cylinder; 20…Power source; 21…PTO; 22…Transmission device; 23…Hydraulic pump; 24…Control valve; 25…Operating device; 25A…Drive system operating device; 25B…Working machine operating device; 26…Calibration switch; 30…Tilt sensor; 31… …Boom angle sensor; 32…Bill angle sensor; 33…Weight measuring device; 34…Shape sensor; 35…Moving body; 40…Control system; 50…Control device; 51…Processor; 52…Main memory; 53…Memory; 54…Interface; 60…Work judgment unit; 70…Calibration unit; 71…Shape acquisition unit; 72…Angle of repose calculation unit; 73…Loading angle calculation unit after excavation; 74…Bill angle calculation unit; 75…Volume calculation unit; 76…Density calculation unit; 80…Calculation unit; 81…Shape acquisition unit; 82…Loading angle calculation unit during excavation; 83…Bill angle monitoring unit; 84…Weight calculation unit; 90…Target weight setting unit; 100…Machine control unit; 120…Characteristic storage unit; 130…Number of buckets 131…Storage section; 132…Back plate section; 133…Top plate section; 134…Right plate section; 135…Left plate section; 136…Opening section; 140…Target loading capacity storage section; 150…Actual loading capacity storage section; 160…Output control section; 170…Output device; 200…Ground; 210…Hill (excavation object); 210S…Surface; 220…Transport vehicle; 230…Dumping vehicle (loading object); 250…Remote operating device; 253…Forward and reverse operating device; 254…Boom operating section; 255…Bug operating section; 300…Excavated material; 310…First surface; 320…Second surface; 330…Exposed part; 340…Shape sensor; 400…Control system; 500… …Control device; 600…Remote operation area; 700…Communication system; 800…Seat; 1700…Output device; A1…Cross-sectional area; A2…Cross-sectional area; A3…Cross-sectional area; Aa…Cross-sectional area; Ad…Cross-sectional area; AXa…Rotation axis; AXb…Rotation axis; AXc…Rotation axis; AXd…Rotation axis; AXe…Rotation axis; AXf…Rotation axis; CXf…Rotation axis; CXr…Rotation axis; E1…Line; E2…Line; H…Width; L…Length; M1…Excavation operation; M2…Movement away from excavation object; M3…Loading operation; M4…Movement away from loading object; Tb…Loading capacity; Tp…Actual loading capacity; Tr…Target loading capacity; Va…Volume; Vp…Volume; Wa…Weight; Wp…Weight;Wr…Target weight; θ1…Loading angle; θ1a…Loading angle after excavation; θ1d…Loading angle during excavation; θ2…Angle of repose; θ3…Opening angle; θa…Body tilt angle; θb…Boom angle; θbk…Bucket angle; θbk1…First angle; θbk2…Second angle; θc…Crank angle; ρ…Density.

Claims

1. A control system for loading machinery, which is a control system for loading machinery having a work machine including a bucket, characterized in that, Equipped with a control device, The control device detects the first surface of the excavated material through the bucket during the excavation operation; and... Based on the detection data of the first surface, the loading angle during excavation is calculated, where the loading angle during excavation represents the angle of the first surface relative to the horizontal plane; and... Based on the loading angle during excavation, the weight of the excavated object is estimated. The control device stores the characteristic data of the excavated object and calculates the weight of the excavated object based on the loading angle during excavation and the characteristic data. The characteristic data includes the angle of repose of the excavated object. The control device detects the second surface of the excavated material held in the bucket after the excavation operation; and... Based on the detection data of the second surface, the angle of repose relative to the horizontal plane is calculated. The characteristic data includes the density of the excavated material. The control device detects the first surface of the excavated material held in the bucket after the excavation operation; and... Based on the detection data of the first surface, the loading angle after excavation is calculated, where the loading angle after excavation represents the angle of the first surface relative to the horizontal plane; and... Based on the detection data of the angle of the loading machinery body supporting the working machine and the detection data of the angle of the working machine, the bucket angle is calculated, whereby the bucket angle represents the angle of the bucket relative to the horizontal plane; and... Based on the angle of repose, the post-excavation loading angle, the bucket angle, and the dimensions of the bucket, the volume of the excavated material held in the bucket is calculated; and... The density is calculated based on the weight and volume of the excavated material held in the bucket.

2. The control system for the loading machinery according to claim 1, characterized in that, In the excavation operation, the first surface is located outside the surface of the object being excavated.

3. The control system for the loading machinery according to claim 1, characterized in that, The bucket includes: a cutting edge, an upper end opposite to the cutting edge, and an opening defined between the cutting edge and the upper end. The first surface is formed to be connected to the upper end.

4. The control system for the loading machinery according to claim 2, characterized in that, The bucket includes: a cutting edge, an upper end opposite to the cutting edge, and an opening defined between the cutting edge and the upper end. The first surface is formed to be connected to the upper end.

5. The control system for the loading machinery according to claim 2, characterized in that, The control device stores the characteristic data of the excavated object and calculates the weight of the excavated object based on the loading angle during excavation and the characteristic data.

6. The control system for the loading machinery according to claim 3, characterized in that, The control device stores the characteristic data of the excavated object and calculates the weight of the excavated object based on the loading angle during excavation and the characteristic data.

7. The control system for the loading machinery according to claim 4, characterized in that, The control device stores the characteristic data of the excavated object and calculates the weight of the excavated object based on the loading angle during excavation and the characteristic data.

8. The control system of the loading machinery according to any one of claims 5 to 7, characterized in that, The control device calculates the characteristic data based on the excavated material held in the bucket after the excavation operation; and... Store the calculated characteristic data.

9. The control system of the loading machinery according to any one of claims 1 to 7, characterized in that, It is equipped with a work determination unit, which determines whether the bucket is in the process of digging based on the direction of travel of the loading machinery and the posture of the working machine.

10. The control system of the loading machinery according to any one of claims 1 to 7, characterized in that, The control device controls the attitude of the bucket so that the calculated weight becomes the target weight.

11. The control system for the loading machinery according to claim 10, characterized in that, The attitude of the bucket includes the bucket angle, which represents the angle of the bucket relative to the horizontal plane.

12. The control system for the loading machinery according to claim 10, characterized in that, The control device stores the target load of the excavated material for the loading target; and... Based on the target loading capacity, the target weight is set.

13. The control system of the loading machinery according to any one of claims 1 to 7, characterized in that, The control device outputs the calculated weight to the output device.

14. The control system for the loading machinery according to claim 13, characterized in that, The control device outputs notification data indicating that the difference between the calculated weight and the target weight is below a threshold.

15. The control system for the loading machinery according to claim 13, characterized in that, The output device is located in the cab of the loading machinery.

16. A loading machine, characterized in that, The control system of the loading machinery as described in any one of claims 1 to 15.

17. A control method for loading machinery, It is a control method for loading machinery having a work machine including a bucket, characterized in that, include: The first surface of the excavated material excavated by the bucket during the excavation operation is inspected; Based on the detection data of the first surface, the loading angle during excavation is calculated, where the loading angle during excavation represents the angle of the first surface relative to the horizontal plane; The weight of the excavated object is estimated based on the loading angle during the excavation. as well as Output the calculated weight. The system stores the characteristic data of the excavated object and, based on the loading angle during excavation and the characteristic data, calculates the weight of the excavated object. The characteristic data includes the angle of repose of the excavated object. The second surface of the excavated material remaining in the bucket after the excavation operation is inspected; and... Based on the detection data of the second surface, the angle of repose relative to the horizontal plane is calculated. The characteristic data includes the density of the excavated material. The first surface of the excavated material remaining in the bucket after the excavation operation is inspected; and... Based on the detection data of the first surface, the loading angle after excavation is calculated, where the loading angle after excavation represents the angle of the first surface relative to the horizontal plane; and... Based on the detection data of the angle of the loading machinery body supporting the working machine and the detection data of the angle of the working machine, the bucket angle is calculated, whereby the bucket angle represents the angle of the bucket relative to the horizontal plane; and... Based on the angle of repose, the post-excavation loading angle, the bucket angle, and the dimensions of the bucket, the volume of the excavated material held in the bucket is calculated; and... The density is calculated based on the weight and volume of the excavated material held in the bucket.

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