Work machine, system including work machine, and control method for work machine

Abstract

The work machine (3) loads the cargo (300) into the hopper (301). The work machine actuator drives the work machine (3) with respect to the main body. The automation controller (100) instructs the drive of the work machine actuator on the basis of the detected value of the position of the work machine (3) and the detected value of the position of the bucket (301) with respect to the wheel loader (1). The automation controller (100) acquires information pertaining to the loading status of the cargo (310) in the hopper (301), determines whether or not it is necessary to move the cargo (310) in the hopper (301) on the basis of the acquired information pertaining to the loading status of the cargo (310), and if it is determined that it is necessary to move the cargo (310) in the hopper (301), controls the movement of the cargo (310) in the hopper (301). The wheel loader (1) is operated so that the cargo (310) moves toward the center (CL) of the bucket (301).

Description

Technical Field

[0001] The present disclosure relates to a working machine, a system including the working machine, and a control method of the working machine. Background Art

[0002] International Publication No. 2016 / 152994 (Patent Document 1) discloses control for moving a boom and a bucket to a target position obtained based on a moving distance of a wheel loader.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2016 / 152994 Summary of the invention

[0006] Problems to be solved by the invention

[0007] When loading cargo into a loading container such as a dump truck using a working machine such as a wheel loader, multiple loading operations are usually performed. When the volume of cargo loaded into the dump truck reaches the loading capacity of the dump truck through the multiple loading operations, if the loading state (cargo posture) of the loaded cargo is not appropriate, the cargo may overflow while the dump truck is traveling.

[0008] In the present disclosure, a working machine capable of appropriately loading into a loading container, a system including the working machine, and a control method of the working machine are proposed.

[0009] Means for solving problems

[0010] A working machine and a system including the working machine according to one embodiment of the present disclosure respectively include a main body, a working device, a working device actuator, and a controller. The working device is mounted on the main body and loads cargo into a loading container. The working device actuator drives the working device relative to the main body. The controller instructs the driving of the working device actuator based on the detection value of the position of the working device and the detection value of the position of the loading container relative to the working machine. The controller obtains information related to the loading status of the cargo in the loading container, and based on the obtained information related to the loading status of the cargo, determines whether it is necessary to move the cargo in the loading container, and when it is determined that it is necessary to move the cargo in the loading container, the working machine is operated in such a way that the cargo moves toward the center of the loading container.

[0011] A control method for a working machine according to one embodiment of the present invention includes: obtaining information related to the loading status of goods in a container; determining whether it is necessary to move the goods in the container based on the obtained information related to the loading status of the goods; and if it is determined that it is necessary to move the goods in the container, operating the working machine in a manner that moves the goods toward the center of the container.

[0012] Effects of the Invention

[0013] According to the working machine, the system including the working machine, and the control method of the working machine of the present disclosure, it is possible to appropriately load the loading container. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a side view of a wheel loader as an example of a working machine.

[0015] Figure 2 This is a block diagram showing a schematic configuration of a control system of a wheel loader.

[0016] Figure 3 It is a top view of a wheel loader performing excavation and loading operations.

[0017] Figure 4 This is a block diagram showing the structure of an automatic control system of a wheel loader.

[0018] Figure 5 This is a flowchart showing the flow of an operation of loading a load loaded on a bucket into a loading target by automatic control.

[0019] Figure 6 This is a flow chart showing the automatic control of cargo pushing.

[0020] Figure 7 It is a diagram schematically showing the arrangement of the bucket and the wheel loader at the start of a dump approach.

[0021] Figure 8 The figure schematically shows the posture of the wheel loader when the blade edge of the bucket is located at the lowest position during the loading operation.

[0022] Fig. 9 The figure schematically shows the posture of the wheel loader when the load pushing starts.

[0023] Fig.10 The figure schematically shows the posture of the wheel loader when the load pushing is completed.

[0024] Fig.11 This is a graph showing changes in cylinder length during loading work.

[0025] Fig.12 It is a diagram showing changes in the posture of the cargo in the cargo bed due to the cargo pushing. DETAILED DESCRIPTION

[0026] Hereinafter, the implementation mode will be described based on the accompanying drawings. In the following description, the same reference numerals are used for the same components and constituent elements. Their names and functions are also the same. Therefore, their detailed description will not be repeated. It is also predetermined from the beginning that any structure can be extracted from the implementation mode and combined arbitrarily.

[0027] <Overall structure of wheel loader 1>

[0028] In the embodiment, a wheel loader 1 will be described as an example of a working machine. Figure 1 It is a side view of a wheel loader 1 as an example of a working machine.

[0029] like Figure 1 As shown, the wheel loader 1 includes a body frame 2, a working device 3, a traveling device 4, and a cab 5. The body frame 2, the cab 5, etc. constitute the body of the wheel loader 1. The working device 3 and the traveling device 4 are mounted on the body of the wheel loader 1. The main body of the wheel loader 1 includes the body and the traveling device 4.

[0030] The travel device 4 is a device for driving the body of the wheel loader 1, and includes travel wheels 4a, 4b. The wheel loader 1 is a wheeled vehicle having travel wheels 4a, 4b as travel rotating bodies on both sides of the body in the left and right directions. The wheel loader 1 can move by itself by driving the travel wheels 4a, 4b to rotate, and can perform desired work using the work device 3. The travel device 4 corresponds to an example of a "travel body".

[0031] In this specification, the direction in which the wheel loader 1 travels straight is referred to as the front-rear direction of the wheel loader 1. In the front-rear direction of the wheel loader 1, the side on which the working device 3 is arranged relative to the vehicle body frame 2 is set as the front direction, and the side opposite to the front direction is set as the rear direction. The left-right direction of the wheel loader 1 is a direction perpendicular to the front-rear direction when looking down at the wheel loader 1 on a flat ground. The right side and the left side of the left-right direction when observing the front direction are the right direction and the left direction, respectively. The up-down direction of the wheel loader 1 refers to a direction perpendicular to a plane defined by the front-rear direction and the left-right direction. In the up-down direction, the side where the ground is located is the lower side, and the side where the sky is located is the upper side.

[0032] The vehicle body frame 2 includes a front frame 2a and a rear frame 2b. The front frame 2a is disposed in front of the rear frame 2b. The front frame 2a and the rear frame 2b are mounted so as to be able to swing in the left-right direction relative to each other.

[0033] A pair of steering cylinders 11 are installed across the front frame 2a and the rear frame 2b. The steering cylinders 11 are hydraulic cylinders. The steering cylinders 11 are extended and retracted by the hydraulic oil from the steering pump, thereby changing the travel direction of the wheel loader 1 to the left and right. The vehicle body frame 2 of the articulated structure is formed by the front frame 2a and the rear frame 2b. The wheel loader 1 is an articulated working machine in which the front frame 2a and the rear frame 2b are connected in a manner that allows bending.

[0034] The front frame 2a is provided with a working device 3 and a pair of travel wheels (front wheels) 4a. The working device 3 is installed in front of the main body of the wheel loader 1. The working device 3 is supported by the body of the wheel loader 1. The working device 3 includes a boom 14 and a bucket 6. The bucket 6 is arranged at the front end of the working device 3. The bucket 6 is a working tool for digging / loading. The tip 6a is the front end of the bucket 6. The back surface 6b is a part of the outer surface of the bucket 6. The back surface 6b is formed by a plane. The back surface 6b extends rearward from the tip 6a.

[0035] The base end of the boom 14 is rotatably mounted to the front frame 2a via a boom pin 9. The bucket 6 is rotatably mounted to the boom 14 via a bucket pin 17 located at the front end of the boom 14. The boom pin 9 and the bucket pin 17 correspond to the “plurality of joints” of the working device 3.

[0036] The working device 3 further includes a bell crank 18 and a connecting rod 15. The bell crank 18 is rotatably supported by the boom 14 via a supporting pin 18a located substantially in the center of the boom 14. The connecting rod 15 is connected to a connecting pin 18c provided at the front end of the bell crank 18. The connecting rod 15 connects the bell crank 18 and the bucket 6.

[0037] The front frame 2a and the boom 14 are connected by a pair of boom cylinders 16. The boom cylinder 16 is a hydraulic cylinder. The boom cylinder 16 drives the boom 14 to rotate up and down around the boom pin 9. The base end of the boom cylinder 16 is mounted on the front frame 2a. The front end of the boom cylinder 16 is mounted on the boom 14. The boom cylinder 16 is a hydraulic actuator that moves the boom 14 up and down relative to the front frame 2a. As the boom 14 rises and falls, the bucket 6 mounted on the front end of the boom 14 also rises and falls.

[0038] The bucket cylinder 19 connects the bell crank 18 to the front frame 2a. The base end of the bucket cylinder 19 is mounted on the front frame 2a. The front end of the bucket cylinder 19 is mounted on the connecting pin 18b provided at the base end of the bell crank 18. The bucket cylinder 19 is a hydraulic actuator that rotates the bucket 6 up and down relative to the boom 14. The bucket cylinder 19 is a working tool cylinder that drives the bucket 6. The bucket cylinder 19 drives the bucket 6 to rotate around the bucket pin 17. The bucket 6 is configured to be able to move relative to the boom 14. The bucket 6 is configured to be able to move relative to the front frame 2a.

[0039] The boom cylinder 16 and the bucket cylinder 19 correspond to an example of a “working machine actuator” that drives the working machine 3 .

[0040] The rear frame 2b is provided with a cab 5 for the operator to sit on and a pair of travel wheels (rear wheels) 4b. The box-shaped cab 5 is arranged behind the boom 14. The cab 5 is mounted on the vehicle body frame 2. A seat for the operator of the wheel loader 1 to sit on and an operating device 8 (described later) are arranged in the cab 5. Figure 2 )wait.

[0041] <System Structure>

[0042] Figure 2 This is a block diagram showing a schematic configuration of a control system for controlling the wheel loader 1 .

[0043] like Figure 2 As shown, the engine 21 generates power for driving the working device 3 and the travel device 4 ( Figure 1 ) is a driving source of driving force, such as a diesel engine. As a driving source, a motor driven by an electric storage body may be used instead of the engine 21, or both the engine and the motor may be used. The output of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder of the engine 21.

[0044] The driving force generated by the engine 21 is transmitted to the transmission 23. The transmission 23 changes the driving force to an appropriate torque and rotation speed. The output shaft of the transmission 23 is connected to the axle 25. The driving force after the speed change by the transmission 23 is transmitted to the axle 25. From the axle 25 to the running wheels 4a, 4b ( Figure 1 ) transmits driving force. As a result, the wheel loader 1 travels. In the wheel loader 1 of this embodiment, both the traveling wheel 4a and the traveling wheel 4b constitute driving wheels that receive driving force to make the wheel loader 1 travel.

[0045] A portion of the driving force of the engine 21 is transmitted to the working device pump 13. The working device pump 13 is driven by the engine 21 and uses the discharged hydraulic oil to pump the working device 3 ( Figure 1 ) is a hydraulic pump that works. The working device 3 is driven by the working oil from the working device pump 13. The working oil discharged from the working device pump 13 is supplied to the boom cylinder 16 and the bucket cylinder 19 via the main valve 32. The boom cylinder 16 is extended and retracted under the action of the supply of working oil, thereby the boom 14 is raised and lowered. The bucket cylinder 19 is extended and retracted under the action of the supply of working oil, thereby the bucket 6 is rotated up and down.

[0046] The wheel loader 1 includes a vehicle body controller 50 . The vehicle body controller 50 includes an engine controller 60 , a transmission controller 70 , and a work implement controller 80 .

[0047] The vehicle body controller 50 is generally realized by a CPU (Central Processing Unit) reading various programs. The vehicle body controller 50 includes a memory (not shown). The memory functions as a working memory and stores various programs for realizing the functions of the wheel loader 1 .

[0048] The operating device 8 is provided in the cab 5. The operating device 8 is operated by the operator. The operating device 8 includes a plurality of operating members that the operator operates to operate the wheel loader 1. The operating device 8 includes an accelerator pedal 41 and a working device operating lever 42. The operating device 8 may also include a steering wheel, a shift lever, etc., which are not shown.

[0049] The accelerator pedal 41 is operated to set a target speed of the engine 21. The engine controller 60 controls the output of the engine 21 based on the operation amount of the accelerator pedal 41. If the operation amount (depression amount) of the accelerator pedal 41 is increased, the output of the engine 21 increases. If the operation amount of the accelerator pedal 41 is reduced, the output of the engine 21 decreases. The transmission controller 70 controls the transmission 23 based on the operation amount of the accelerator pedal 41.

[0050] The work implement operating lever 42 is operated to operate the work implement 3 . The work implement controller 80 controls the electromagnetic proportional control valves 35 and 36 based on the operation amount of the work implement operating lever 42 .

[0051] The electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 contracts and the bucket 6 moves in the unloading direction (the direction in which the blade tip of the bucket 6 is lowered). In addition, the electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 extends and the bucket 6 moves in the tilting direction (the direction in which the blade tip of the bucket 6 is raised). The electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 contracts and the boom 14 is lowered. In addition, the electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 extends and the boom 14 is raised.

[0052] The machine monitor 51 receives an input of an instruction signal from the vehicle body controller 50 and displays various information. The various information displayed on the machine monitor 51 may be, for example, information related to the work performed by the wheel loader 1, vehicle body information such as the remaining fuel level, cooling water temperature, and operating oil temperature, and a peripheral image obtained by photographing the periphery of the wheel loader 1. The machine monitor 51 may also be a touch panel, in which case a signal generated by an operator touching a part of the machine monitor 51 is output from the machine monitor 51 to the vehicle body controller 50.

[0053] <Excavation and loading work>

[0054] The wheel loader 1 of the present embodiment performs an excavation and loading operation of excavating an excavation object such as soil and earth and loading the excavated object into a loading object such as a dump truck. Figure 3 FIG. 1 is a top view of the wheel loader 1 performing excavation and loading operations. Figure 3 2 shows a wheel loader 1 which performs so-called V-type operation.

[0055] exist Figure 3 (A) shows a wheel loader 1 that is traveling forward without a load. The wheel loader 1 travels forward along an excavation path R1 toward an excavation object 310 such as soil. The wheel loader 1 digs the bucket 6 into the excavation object 310 and stops traveling forward. Figure 1 ) The bucket 6 is raised while being sunk into the excavation object 310, thereby performing an excavation operation in which the bucket 6 digs out at least a portion of the excavation object 310.

[0056] exist Figure 3 (B) shows the wheel loader 1 in so-called reverse travel with a load. The bucket 6 is loaded with an excavation object 310 as a load. The wheel loader 1 moves in reverse along the excavation path R1 to Figure 3 The position where forward travel begins in (A).

[0057] exist Figure 3 (C) shows a wheel loader 1 that is performing so-called cargo forward movement. The wheel loader 1 is moving forward toward the bucket 301 of the dump truck 300 with cargo (excavation object 310) loaded in the bucket 6. The wheel loader 1 is moving forward from Figure 3 The wheel loader 1 starts moving forward from the position in (A) toward the dump truck 300 along the loading path R2. When the wheel loader 1 approaches the dump truck 300 and reaches a predetermined position, the wheel loader 1 loads the cargo 310 in the bucket 6 into the truck bed 301. The truck bed 301 corresponds to an example of a "loading container" for loading the cargo 301 in the bucket 6.

[0058] exist Figure 3 (D) shows the wheel loader 1 in so-called unloaded reverse travel. In a state where the load 310 in the bucket 6 is completely discharged into the bucket 301 of the dump truck 300 and the bucket 6 is empty, the wheel loader 1 reverses along the loading path R2 to Figure 3 (C) The position where forward travel begins.

[0059] In this way, the wheel loader 1 can repeatedly perform a series of operations including excavation, backing up, unloading, soil discharge, and backing up.

[0060] <Automatic control system of wheel loader 1>

[0061] When automating the loading operation of the wheel loader 1 into the dump truck 300 , it is desirable to reproduce the operation of the working device 3 by a skilled operator during the loading operation by automatic control in order to suppress the cargo 310 loaded into the tank 301 from spilling out of the tank 301 . Figure 4 It is a block diagram showing the configuration of an automatic control system of the wheel loader 1 .

[0062] The automation controller 100 is configured to be able to Figure 2 The automatic controller 100 is also configured to be able to transmit and receive signals with an external information acquisition unit 110. The external information acquisition unit 110 includes a sensing device 111 and a position information acquisition device 112. The sensing device 111 and the position information acquisition device 112 are mounted on the wheel loader 1.

[0063] The sensing device 111 obtains information about the surroundings of the wheel loader 1. Figure 1 As shown, the sensing device 111 is attached to, for example, the upper front surface of the cab 5. The sensing device 111 is an example of an “object sensor” that detects an object around the main body of the wheel loader 1.

[0064] The sensing device 111 detects the direction of an object outside the wheel loader 1 and the distance to the object in a non-contact manner. The sensing device 111 is, for example, a LiDAR (Light Detection and Ranging) that emits laser light to obtain information about the object. The sensing device 111 may also be a visual sensor including a camera. The sensing device 111 may also be a Radar (Radio Detection and Ranging) that obtains information about the object by emitting radio waves. The sensing device 111 may also be an infrared sensor.

[0065] The position information acquisition device 112 acquires information about the current position of the wheel loader 1. The position information acquisition device 112 acquires the position information of the wheel loader 1 in a global coordinate system based on the earth using, for example, a satellite positioning system. The position information acquisition device 112 uses, for example, a GNSS (Global Navigation Satellite Systems) and has a GNSS receiver. The satellite positioning system calculates the position of the antenna of the GNSS receiver based on the positioning signal received by the GNSS receiver from the satellite, and calculates the position of the wheel loader 1.

[0066] The external information of the wheel loader 1 by the sensing device 111 and the position information of the wheel loader 1 by the position information acquiring device 112 are input to the automation controller 100 .

[0067] The vehicle body controller 50 is configured to be able to transmit and receive signals with the vehicle information acquisition unit 120, and receives input of information of the wheel loader 1 acquired by the vehicle information acquisition unit 120. The vehicle information acquisition unit 120 is configured by various sensors mounted on the wheel loader 1. The vehicle information acquisition unit 120 includes an articulation angle sensor 121, a vehicle speed sensor 122, a boom angle sensor 123, a bucket angle sensor 124, and a boom cylinder pressure sensor 125.

[0068] The articulation angle sensor 121 detects the articulation angle, which is the angle between the front frame 2 a and the rear frame 2 b , and generates a signal of the detected articulation angle. The articulation angle sensor 121 outputs the signal of the articulation angle to the vehicle body controller 50 .

[0069] The vehicle speed sensor 122 detects the speed of the transmission 23 ( Figure 2 ) is detected by the rotation speed of the output shaft of the travel device 4 ( Figure 1 ) of the wheel loader 1, and generates a signal of the detected vehicle speed. The vehicle speed sensor 122 outputs the signal of the vehicle speed to the vehicle body controller 50. The vehicle speed sensor 122 corresponds to an example of a "travel sensor" that detects the travel condition of the travel device 4 (travel body).

[0070] The boom angle sensor 123 is composed of, for example, a rotary encoder provided on the boom pin 9 as a mounting portion of the boom 14 with respect to the vehicle body frame 2. The boom angle sensor 123 detects the angle of the boom 14 with respect to the horizontal direction and generates a signal of the detected angle of the boom 14. The boom angle sensor 123 outputs the signal of the angle of the boom 14 to the vehicle body controller 50.

[0071] The bucket angle sensor 124 is composed of, for example, a rotary encoder provided on the support pin 18a, which is the rotating shaft of the bell crank 18. The bucket angle sensor 124 detects the angle of the bucket 6 relative to the boom 14 and generates a signal of the detected angle of the bucket 6. The bucket angle sensor 124 outputs the signal of the angle of the bucket 6 to the vehicle body controller 50.

[0072] The boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a "work device posture sensor" that detects the posture of the work device 3. Instead of or in addition to the boom angle sensor 123 and the bucket angle sensor 124, the work device posture sensor may be an angle sensor that detects the angle of the bell crank 18 and an angle sensor that detects the angle of the connecting rod 15. In addition, the work device posture sensor is not limited to the above-mentioned rotary encoder, and may also be a stroke sensor, IMU (Inertial Measurement Unit), potentiometer, visual sensor, etc.

[0073] When a stroke sensor is used as the work machine posture sensor, for example, the stroke sensor is mounted on each of the boom cylinder 16 and the bucket cylinder 19. The stroke sensor can detect the stroke amount of each cylinder 16 and 19. The posture of each of the boom 14 and the bucket 6 can be detected by the stroke amount.

[0074] When an IMU is used as a working device posture sensor, for example, an IMU is installed on each of the boom 14 and the bucket 6. Each IMU detects a three-axis angle (or angular velocity) and acceleration. The postures of the boom 14 and the bucket 6 can be detected by the three-axis angle (or angular velocity) and acceleration detected by the IMU.

[0075] When a potentiometer is used as the working device posture sensor, for example, a potentiometer is installed near the end of the boom cylinder 16 on the boom 14 side and near the end of the bucket cylinder 19 on the bell crank 18 side. The potentiometers can detect the rotation angle of the boom 14 relative to the body of the wheel loader 1 and the rotation angle of the bucket 6 relative to the boom 14. The posture of the working device 3 can be detected based on these rotation angles.

[0076] When a visual sensor is used as the work machine posture sensor, the visual sensor captures images of the states of the boom 14 and the bucket 6. The postures of the boom 14 and the bucket 6 can be detected based on the image information captured by the visual sensor. The visual sensor is, for example, an image capturing device such as a camera.

[0077] The boom cylinder pressure sensor 125 detects the pressure on the bottom side of the boom cylinder 16 (boom bottom pressure) and generates a signal of the detected boom bottom pressure. The boom bottom pressure becomes high when the bucket 6 is loaded with cargo and becomes low when it is empty. The boom cylinder pressure sensor 125 outputs the signal of the boom bottom pressure to the vehicle body controller 50.

[0078] The vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100 . The detection values ​​of the vehicle speed sensor 122 , the boom angle sensor 123 , and the bucket angle sensor 124 are input to the automation controller 100 via the vehicle body controller 50 .

[0079] The actuator 140 is configured to be able to transmit and receive signals with the vehicle body controller 50. The actuator 140 is driven by receiving an instruction signal from the vehicle body controller 50. The actuator 140 includes a brake EPC (electromagnetic proportional control valve) 141 for operating the brake of the travel device 4, a steering EPC 142 for adjusting the travel direction of the wheel loader 1, a work device EPC 143 for operating the work device 3, and an HMT (Hydraulic Mechanical Transmission) 144.

[0080] Figure 2 The electromagnetic proportional control valves 35 and 36 shown constitute the working device EPC143. Figure 2 The transmission 23 shown is realized as an HMT 144 that effectively utilizes electronic control. The transmission 23 may also be an HST (Hydro-Static Transmission). The power transmission device that transmits power from the engine 21 to the running wheels 4a, 4b may include an electric drive device such as a diesel / electric method, or may include any combination of HMT, HST, and electric drive devices.

[0081] The vehicle body controller 50 includes a transmission controller 70 and a working machine controller 80. The transmission controller 70 includes a brake control unit 71 and an accelerator control unit 72. The brake control unit 71 outputs an instruction signal for controlling the operation of the brake to the brake EPC 141. The accelerator control unit 72 outputs an instruction signal for controlling the vehicle speed to the HMT 144.

[0082] The work implement controller 80 includes a steering control unit 81 and a work implement control unit 82. The steering control unit 81 outputs an instruction signal for controlling the travel direction of the wheel loader 1 to the steering EPC 142. The work implement control unit 82 outputs an instruction signal for controlling the operation of the work implement 3 to the work implement EPC 143.

[0083] The automation controller 100 includes a position estimating unit 101 , a route planning unit 102 , a route following control unit 103 , and a cargo pressing determining unit 104 .

[0084] The position estimating unit 101 estimates the position of the wheel loader 1 based on the position information acquired by the position information acquiring device 112. In addition, the position estimating unit 101 recognizes the target position based on the external information acquired by the sensing device 111. The target position is, for example, Figure 3 The position of the excavation object 310 or the dump truck 300 is shown. The sensing device 111 can recognize the target position and input it to the automation controller 100, and the position estimation unit 101 can also recognize the target position based on the detection result detected by the sensing device 111.

[0085] The path planning unit 102 generates an optimal path connecting the own position of the wheel loader 1 and the target position. The optimal path includes a path based on the travel of the travel device 4 and a path based on the operation of the work device 3.

[0086] The path following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 travels along the optimal path generated by the path planning unit 102. The path following control unit 103 outputs an instruction signal for causing the wheel loader 1 to travel along the optimal path to the brake control unit 71, the accelerator control unit 72, and the steering control unit 81. The path following control unit 103 controls the boom cylinder 16 and the bucket cylinder 19 so that the working device 3 moves along the optimal path generated by the path planning unit 102. The path following control unit 103 outputs an instruction signal for causing the working device 3 to move along the optimal path to the working device control unit 82.

[0087] The interface 130 is configured to be able to transmit and receive signals with the vehicle body controller 50. The interface 130 includes an automation changeover switch 131, an engine emergency stop switch 132, and a mode lamp 133.

[0088] The automation changeover switch 131 is operated by an operator. The operator switches between manual operation of the wheel loader 1 and automatic control of the wheel loader 1 by operating the automation changeover switch 131. The engine emergency stop switch 132 is operated by an operator. When a phenomenon requiring emergency stop of the engine 21 occurs, the operator operates the engine emergency stop switch 132. Signals of the operation of the automation changeover switch 131 and the engine emergency stop switch 132 are input to the vehicle body controller 50.

[0089] The mode lamp 133 indicates whether the wheel loader 1 is currently in a manual operation mode by an operator or an automatic control mode. An instruction signal for controlling lighting of the lamp is outputted from the vehicle body controller 50 to the mode lamp 133 .

[0090] The automatic control system of the wheel loader 1 acquires information on the loading status of the cargo in the bucket 301 (e.g., cargo posture) when automating cargo pushing in the loading operation. In addition, the automatic control system of the wheel loader 1 detects information on the loading status of the cargo in the bucket 301. In addition, the automatic control system of the wheel loader 1 moves the cargo in the bucket 301 (cargo pushing) by operating the wheel loader 1 based on the detected information. Therefore, the automatic control system of the wheel loader 1 has a "cargo sensor" that detects information on the loading status of the cargo in the bucket 301.

[0091] The above-mentioned "cargo sensor" detects information related to the loading status of the cargo 310 in the truck bed 301. The cargo sensor may include, for example, at least one of the above-mentioned "object sensor" and "working device posture sensor". That is, the cargo sensor may be a single "object sensor" or a single "working device posture sensor", or may include both an "object sensor" and a "working device posture sensor".

[0092] When the cargo sensor is an object sensor, the signal indicating the loading status of the cargo 310 in the tank 301 detected by the object sensor becomes information related to the loading status of the cargo 310 in the tank 301. In this case, the loading status of the cargo 310 in the tank 301 is detected by the sensing device 111 as an example of the object sensor. Specifically, the loading status of the cargo 310 in the tank 301 is detected by any one or any combination of LiDAR, visual sensor, Radar, infrared sensor, etc. as an example of the sensing device 111.

[0093] When the cargo sensor is a work device posture sensor, the signal indicating the posture of the work device 3 detected by the work device posture sensor becomes information related to the loading status of the cargo 310 in the truck bed 301. In this case, the signal indicating the posture of the work device 3 is detected by any one or any combination of a rotary encoder, a stroke sensor, an IMU, a potentiometer, a visual sensor, etc., which are examples of the work device posture sensor.

[0094] The automatic control system of the wheel loader 1 includes a cargo pressing determination unit 104 for determining whether cargo pressing of the cargo 310 in the cargo box 301 is necessary based on information on the loading status of the cargo 310 in the cargo box 301. The cargo pressing determination unit 104 is included in the automatic controller 100.

[0095] The cargo pressing determination unit 104 determines whether it is necessary to press the cargo 310 in the cargo box 301 based on the information detected by the cargo sensor. When the object sensor unit detects information related to the loading status, the cargo pressing determination unit 104 determines whether it is necessary to press the cargo 310 in the cargo box 301 based on information related to the loading status of the cargo 310 in the cargo box 301 obtained by the sensing device 111, for example.

[0096] In this case, the automation controller 100 stores, for example, relationship data indicating the relationship between the loading status of the cargo 310 in the cargo box 301 and whether the cargo needs to be pushed. The cargo pushing determination unit 104 compares the relationship data with the information related to the loading status of the cargo 310 in the cargo box 301 acquired by the sensing device 111, and determines whether the cargo 310 in the cargo box 301 needs to be moved.

[0097] In addition, when the work device posture sensor alone detects information related to the loading status, the cargo pressing determination unit 104 calculates the number of loading times of the cargo 310 loaded by the work device 3 into the vessel 301, for example, based on the signal indicating the posture of the work device 3 obtained by the work device posture sensor. When the calculated number of loading times is equal to or greater than a predetermined number of times (for example, 2 times), the cargo pressing determination unit 104 determines that it is necessary to perform cargo pressing on the cargo 310 in the vessel 301. In this case, the signal indicating the number of loading times corresponds to information related to the loading status of the cargo 310 in the vessel 301.

[0098] It should be noted that the information related to the loading status may be detected by both the object sensor and the working device posture sensor. In this case, it is determined whether the cargo 310 in the truck bed 301 needs to be pushed based on both the information related to the loading status detected by the object sensor and the information related to the loading status detected by the working device posture sensor.

[0099] When the cargo pressing determination unit 104 determines that the cargo 310 in the vessel 301 needs to be pressed, the automated controller 100 operates the wheel loader 1 so as to press the cargo 310 toward the center CL of the vessel 301 .

[0100] Specifically, when the cargo pressing determination unit 104 determines that the cargo 310 in the cargo box 301 needs to be pressed, the path planning unit 102 generates a path for moving the wheel loader 1 so that the cargo 310 moves toward the center CL of the cargo box 301. Furthermore, the path following control unit 103 controls the accelerator, brake, steering, boom cylinder 16, and bucket cylinder 19 so that the wheel loader 1 travels following the path generated by the path planning unit 102 and the work implement 3 is operated.

[0101] <Automatic unloading and loading process>

[0102] Figure 5 This is a flowchart showing the flow of an operation of loading the load loaded on the bucket 6 into the loading destination by automatically controlling the wheel loader 1 .

[0103] like Figure 5As shown, first, as a preliminary preparation, before starting the loading operation, in step S100, the shape of the bucket 301 of the dump truck 300 as the loading target is recognized. For example, the shape of the dump truck 300 is acquired by the LiDAR as the sensing device 111. Laser is irradiated to the dump truck 300 from the LiDAR to acquire point group data representing the three-dimensional coordinate values ​​of the measurement points on the dump truck 300. The dump truck 300 can be detected from the front, rear, right and left directions, and the shape of the bucket 301 can be recognized based on the information of the point group. The recognized shape of the bucket 301 is input to the automation controller 100.

[0104] In step S101, the sensing device 111 recognizes the reference point P ( Figure 7 ). For example, the LiDAR as the sensing device 111 detects the dump truck 300. The automated controller 100 compares the point group detected by the sensing device 111 with the main point group representing the shape of the bucket 301, and identifies the position of the bucket 301. The automated controller 100 sets the upper end of the side of the bucket 301 of the dump truck 300 identified by the LiDAR as the sensing device 111 as the reference point P.

[0105] In step S102, the automation controller 100 sets target positions c, d, and e ( Figure 7 ) is the coordinate relative to the reference point P. The blade tip 6a of the bucket 6 corresponds to an example of a "feature point" set on the working device 3. It should be noted that the feature point is not limited to the blade tip 6a of the bucket 6, and other points of the working device 3 can also be set as feature points.

[0106] Here, the reference point P and the target positions c, d, and e are described. Figure 7 3 is a diagram schematically showing the arrangement of the bucket 301 and the wheel loader 1 when unloading is about to start. Figure 7 and subsequent Figure 8 to Figure 10 , the bucket 301 viewed from the front-rear direction of the dump truck 300 is schematically shown, and a portion of the front side of the wheel loader 1 approaching the bucket 301 from the left or right side of the dump truck 300 is schematically shown.

[0107] The target position c is set to a position where the blade tip 6a of the bucket 6 passes when the wheel loader 1 is traveling forward toward the dump truck 300. During the forward travel of the wheel loader 1, the working device 3 moves the bucket 6 in the unloading direction in order to load the cargo 310 in the bucket 6 into the truck 301. The position where the blade tip 6a of the unloading bucket 6 is located at the lowest position during the loading operation is the target position c.

[0108] The target position d is set to the position where the blade tip 6a of the bucket 6 passes after passing the target position c. The target position d is set closer to the reference point P than the target position c. The target position d is the position where the movement of the bucket 6 in the unloading direction is stopped. When the blade tip 6a of the bucket 6 is at the target position d, the bucket 6 is, for example, in a full unloading state. When the blade tip 6a of the bucket 6 is at the target position d, the length of the bucket cylinder 19 is the smallest. The target position d is located above the bucket 301.

[0109] When the cargo pressing determination unit 104 determines that cargo pressing of the cargo 310 loaded in the bucket 301 is necessary, the target position d is the position for starting cargo pressing. The target position d is the position for stopping the operation of the working device 3 while the bucket 6 is maintained in the full dump state, for example.

[0110] The target position e is set to the position where the blade tip 6a of the bucket 6 passes after passing the target position d. The target position e is set to be farther from the reference point P than the target position d. From the target position d to the target position e, the bucket 6 is maintained in a state where the operation of the working device 3 is stopped, for example, in the full dump state, and the forward travel of the wheel loader 1 is continued. The target position e is located above the bucket 301.

[0111] like Figure 7 As shown, an xy coordinate system is set with the reference point P as the origin. The x-axis is the left-right direction of the dump truck 300 passing through the reference point P. The direction away from the truck bed 301 based on the reference point P is the +x direction. The y-axis is the up-down direction passing through the reference point P. The upward direction from the reference point P is the +y direction.

[0112] Figure 7 The bucket angle θ shown is an angle formed between the ground and the back surface 6b of the bucket 6. The bucket angle θ may be an angle formed between the back surface 6b of the bucket 6 and a horizontal plane based on the vehicle body.

[0113] The target positions c, d, and e are determined by assigning the horizontal and vertical positions of the blade tip 6a of the bucket 6 with reference to the reference point P, that is, the x-coordinate and the y-coordinate. The target position c is set to the position where the height position of the blade tip 6a is the lowest (the y-coordinate becomes the minimum value) in the soil discharged from the load 310 in the bucket 6. The target position c is set to the position on the negative side of the y-coordinate. The target positions d and e are set to the positions on the positive side of the y-coordinate.

[0114] The target positions c, d, and e are set to positions on the negative side of the x coordinate. The target positions d and e are set to the same y coordinate, for example. It should be noted that at the target positions d and e, the bucket 6 may not be in a fully unloaded state, as long as it is in an unloaded state such as loading the cargo 310 in the bucket 6 into the truck 301. In addition, the target positions d and e may not be the same y coordinates, and the target position e may be a position lower than the target position d (position in the -y direction).

[0115] The bucket angle θ when the blade tip 6a of the bucket 6 is located at each target position is also set. The posture of the working device 3 when the blade tip 6a of the bucket 6 is located at each target position is determined based on the x-coordinate and y-coordinate of each target position and the bucket angle θ at each target position. The automation controller 100 stores the posture (target posture) of the working device 3 when the blade tip 6a of the bucket 6 is located at each target position. Based on the target posture when the blade tip 6a of the bucket 6 is located at each target position, the length of the boom cylinder 16 and the length of the bucket cylinder 19 when the blade tip 6a of the bucket 6 is located at each target position are determined.

[0116] The x-coordinate and y-coordinate of each target position and the bucket angle θ at each target position can be determined by analyzing the trajectory of the blade edge 6a when a skilled operator performs loading work to extract characteristic positions and extracting the posture of the work machine 3 at the characteristic positions.

[0117] Figure 8 This is a diagram schematically showing the posture of the wheel loader when the blade edge of the bucket is located at the lowest position during the loading operation. Fig. 9 The figure schematically shows the posture of the wheel loader when the load pushing starts. Fig.10 2 is a diagram schematically showing the posture of the wheel loader when the cargo pushing is completed. Figure 8 In the embodiment, the blade tip 6a of the bucket 6 is located at the target position c. Fig. 9 In the embodiment, the blade tip 6a is located at the target position d. Fig.10 In the embodiment, the blade tip 6a is located at the target position e.

[0118] Fig.11 This is a graph showing changes in cylinder length during loading work. Fig.11 The horizontal axis of represents the passage of time, and auxiliary lines are drawn at the time when the blade edge 6a passes through the target positions c, d, and e. Fig.11 The vertical axis represents the lengths of the boom cylinder 16 and the bucket cylinder 19 .

[0119] like Fig.11 and Figure 7 , 8As shown, before the blade tip 6a reaches the target position c, the wheel loader 1 is moving forward. The length of the boom cylinder 16 increases, so the boom 14 rises. The length of the boom cylinder 16 increases, so the boom 14 rises. The length of the bucket cylinder 19 continues to decrease, so the bucket 6 continues to move in the unloading direction. At the moment when the blade tip 6a reaches the target position c, the blade tip 6a is located at the bottom during the loading operation.

[0120] like Fig.11 and Figure 8 , 9 As shown, while the blade tip 6a moves from the target position c to the target position d, the wheel loader 1 continues to move forward. The length of the boom cylinder 16 continues to increase, and the boom 14 continues to rise. The length of the bucket cylinder 19 continues to decrease, so the bucket 6 continues to move in the unloading direction. When the blade tip 6a reaches the target position d, the bucket 6 is in a full unloading posture. When the blade tip 6a reaches the target position d, the length of the bucket cylinder 19 is the smallest.

[0121] like Fig.11 and Fig. 9 , 10 As shown in FIG. 1 , the wheel loader 1 continues to move forward while the blade tip 6a moves from the target position d to the target position e. The operation of the working device 3 is stopped while the blade tip 6a moves from the target position d to the target position e. Therefore, the lengths of the arm cylinder 16 and the bucket cylinder 19 are the same as the lengths of the arm cylinder 16 and the bucket cylinder 19 at the target position d. Therefore, when the blade tip 6a reaches the target position e, the bucket 6 maintains the full discharge posture, and the length of the bucket cylinder 19 is the minimum.

[0122] like Fig.11 As shown in FIG. 1 , when the blade tip 6a reaches the target position e, the wheel loader 1 switches from forward travel to reverse travel. During the movement of the blade tip 6a after reaching the target position e, the operation of the working device 3 may be stopped for a predetermined time. In this case, during the predetermined time after reaching the target position e, the lengths of the boom cylinder 16 and the bucket cylinder 19 are the same as the lengths of the boom cylinder 16 and the bucket cylinder 19 at the target position e.

[0123] Alternatively, after a predetermined time has passed since the target position e was reached, the wheel loader 1 may continue to travel backward, the length of the boom cylinder 16 may be reduced (the boom 14 may be lowered), and the length of the bucket cylinder 19 may be increased (the bucket 6 may be tilted).

[0124] As described above, by moving the blade tip 6a of the bucket 6 so as to sequentially pass through the target positions c and d, the cargo 310 in the bucket 6 can be discharged into the bucket 301. In addition, by moving the blade tip 6a of the bucket 6 so as to sequentially pass through the target positions d and e, the bucket 6 can be used to push the cargo 310 in the bucket 301. For example, the bucket 6 can be used to push the cargo 310 in the bucket 301 toward the center CL of the bucket 301. By applying the automatic control of moving the bucket 6 in this way to the wheel loader 1, the operation of the wheel loader 1 including the discharge operation and the cargo pushing operation equivalent to the operation of a skilled operator can be realized.

[0125] return Figure 5 , the loading operation based on automatic control is further described. In step S103, the automation controller 100 recognizes the current positions of the wheel loader 1 and the working device 3. The current position of the body of the wheel loader 1 is obtained by the position information acquisition device 112, and the posture of the working device relative to the body is obtained by the boom angle sensor 123 and the bucket angle sensor 124, thereby being able to recognize the current positions of the wheel loader 1 and the working device 3 in the global coordinate system. Based on the current positions of the wheel loader 1 and the working device 3 in the global coordinate system and the current position of the dump truck 300, the relative position of the blade tip 6a of the bucket 6 relative to the bucket 301 of the dump truck 300 can be calculated.

[0126] Alternatively, the sensing device 111 may be used to obtain the direction and distance of the reference point P of the bucket 301 of the dump truck 300 relative to the configuration position of the sensing device 111, thereby calculating the current relative position of the blade edge 6a of the bucket 6 relative to the reference point P.

[0127] Based on the current position of the working device 3, it is identified where the blade tip 6a of the bucket 6 is located relative to each target position c~e. For example, it is identified that the blade tip 6a has not yet reached the target position c, the blade tip 6a has passed the target position c and is located between the target position c and the target position d, the blade tip 6a has passed the target position d and is located between the target position d and the target position e, etc. Furthermore, the target position to which the blade tip 6a will go next is identified. For example, if the blade tip 6a has not yet reached the target position c, it is identified that the target position to which it will go next is the target position c, if the blade tip 6a is between the target position c and the target position d, it is identified that the target position to which it will go next is the target position d, and if the blade tip 6a is between the target position d and the target position e, it is identified that the target position to which it will go next is the target position e, etc.

[0128] In step S104, the automation controller 100 recognizes the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position. The angle of the boom 14 is detected by the boom angle sensor 123. The angle of the bucket 6 is detected by the bucket angle sensor 124. The posture of the working device 3 is determined based on the angle of the boom 14 and the angle of the bucket 6. Based on the posture of the working device 3, the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position are recognized.

[0129] An angle sensor for detecting the angle of the bell crank 18 and an angle sensor for detecting the angle of the connecting rod 15 may be provided in place of or in addition to the boom angle sensor 123 and the bucket angle sensor 124. In addition, the posture of the working device 3 may be detected by a stroke sensor, an IMU, a potentiometer, a visual sensor, etc., in place of or in addition to the above-mentioned angle sensors.

[0130] In step S105, the automation controller 100 calculates the difference between the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position identified in step S104 and the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the target position to which the blade tip 6a will next move (hereinafter referred to as the target cylinder length). The automation controller 100 calculates how much the cylinders 16 and 19 should be moved before the blade tip 6a reaches the next target position.

[0131] In step S106, the automation controller 100 refers to the current vehicle speed and determines a target cylinder stroke speed that becomes a target cylinder length when the blade tip 6a reaches the next target position. When the blade tip 6a reaches the next target position, the automation controller 100 controls the boom cylinder 16 and the bucket cylinder 19 so that the working device 3 takes a target posture corresponding to the target position. The current vehicle speed is obtained by the vehicle speed sensor 122. The time until the next target position is reached is calculated based on the current position of the blade tip 6a and the current vehicle speed. The target cylinder stroke speed is determined by dividing the difference in cylinder length calculated in step S105 by the time until the next target position is reached.

[0132] Alternatively, the cylinder stroke amount during which the wheel loader 1 travels a unit distance may be determined. The unit distance traveled by the wheel loader 1 may be obtained from the vehicle speed or may be detected by the sensing device 111.

[0133] In step S107, the automation controller 100 outputs an instruction current corresponding to the target cylinder stroke speed to the vehicle body controller 50. The automation controller 100 outputs an instruction to extend and retract the boom cylinder 16 and the bucket cylinder 19 at the target cylinder stroke speed to the work implement control unit 82 of the work implement controller 80. The instruction to extend and retract the boom cylinder 16 and the bucket cylinder 19 at the target cylinder stroke speed is output from the work implement control unit 82 to the work implement EPC 143.

[0134] In step S108, the working device EPC 143 that has received the instruction signal adjusts the opening degree, thereby supplying appropriate hydraulic oil to the boom cylinder 16 and the bucket cylinder 19. As a result, the boom cylinder 16 and the bucket cylinder 19 are operated.

[0135] In step S109, the automation controller 100 recognizes the current lengths of the boom cylinder 16 and the bucket cylinder 19 in the same manner as in step S104. The automation controller 100 determines whether the current lengths of the boom cylinder 16 and the bucket cylinder 19 have reached the target cylinder lengths.

[0136] If it is determined in step S109 that the target cylinder length has been reached (Yes in step S109 ), the process proceeds to step S110 , where the automation controller 100 determines whether there is a next target position.

[0137] If it is determined in step S109 that the target cylinder length has not been reached (No in step S109), and if it is determined in step S110 that there is a next target position (Yes in step S110), the process returns to step S103, and the process of extending and retracting the boom cylinder 16 and the bucket cylinder 19 based on the current position of the work machine 3 is repeated. The cylinder speed is sequentially changed according to the current position of the blade tip 6a of the bucket 6. When the current position of the blade tip 6a deviates from the position based on the cylinder speed set in the previous process, the cylinder speed is adjusted.

[0138] If it is determined in step S110 that there is no next target position (No in step S110), the loading operation is terminated. In this embodiment, the next target position is not set after the completion of the target position d.

[0139] <Automatic control flow of cargo pushing>

[0140] Next, use Figure 6 etc. to explain the automatic control process of cargo pushing.

[0141] Figure 6 This is a flow chart showing the automatic control of cargo pushing. Figure 5 The automatic control of automatic unloading and loading is shown, such as Fig. 9 As shown, the blade tip 6a of the bucket 6 reaches the target position d. As to whether the blade tip 6a reaches the target position d, the automation controller 100 determines whether the blade tip 6a reaches the target position d. Figure 5 The automatic control process is judged by whether the length of the boom cylinder 16 and the bucket cylinder 19 reaches the target length of the target position d. At the moment of reaching the target position d, the bucket 6 becomes a fully unloaded state. Therefore, the loading operation of the cargo 310 in the bucket 6 into the truck bucket 301 is completed (step S201: Figure 6 ).

[0142] The automated controller 100 obtains information related to the loading status of the cargo 310 in the bucket 301. When the blade tip 6a of the bucket 6 reaches the target position d, the automated controller 100 determines whether to perform cargo pushing on the cargo 310 in the bucket 301 (step S202: Figure 6 The cargo pressing determination unit 104 of the automation controller 100 acquires the information related to the loading status and determines whether cargo pressing is necessary.

[0143] The cargo pressing determination unit 104 determines whether it is necessary to press the cargo 310 in the cargo box 301 based on the information related to the loading status of the cargo 310 in the cargo box 301. The cargo pressing determination unit 104 determines whether it is necessary to press the cargo 310 in the cargo box 301 based on the information related to the loading status of the cargo 310 in the cargo box 301 obtained by the sensing device 111, for example.

[0144] In this case, the automated controller 100 stores relationship data indicating the relationship between the loading status of the cargo 310 in the cargo box 301 and whether cargo pressing is required. The cargo pressing determination unit 104 compares the relationship data with the information on the loading status of the cargo 310 in the cargo box 301 acquired by the sensing device 111, thereby determining whether cargo pressing of the cargo 310 in the cargo box 301 is required.

[0145] In addition, the cargo pressing determination unit 104 calculates the number of times the work device 3 loads the cargo 310 into the cargo box 301, based on a signal indicating the posture of the work device 3 obtained by the work device posture sensor, for example. When the calculated number of loading times is equal to or greater than a predetermined number of times (e.g., 2 times), the cargo pressing determination unit 104 determines that cargo pressing of the cargo 310 in the cargo box 301 is necessary.

[0146] When the cargo pressing determination unit 104 determines in step S202 that the cargo 310 in the vessel 301 needs to be pressed, the path planning unit 102 generates a path for operating the wheel loader 1 to move the blade edge 6a from the target position d to the target position e.

[0147] The path following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 travels along the path generated by the path planning unit 102. The path following control unit 103 outputs an instruction signal for causing the wheel loader 1 to travel along the optimal path to the brake control unit 71, the accelerator control unit 72, and the steering control unit 81. Thus, the wheel loader 1 is controlled by the path following control unit 103 to travel from the target position d to the target position e.

[0148] In addition, the path following control unit 103 controls the boom cylinder 16 and the bucket cylinder 19 so that the working device 3 moves along the optimal path generated by the path planning unit 102. An instruction signal for moving the working device 3 along the optimal path is output from the path following control unit 103 to the working device control unit 82. As a result, the working device 3 is controlled by the path following control unit 103 to stop the movement from the target position d to the target position e.

[0149] Through the above, the wheel loader 1 travels forward from the target position d to the target position e, and the path following control unit 103 controls the working device 3 to stop the operation (step S203: Figure 6 ). Thus, the wheel loader 1 operates in a manner to push the cargo 310 in the bucket 301 toward the center CL of the bucket 301. Then, when the blade tip 6a reaches the target position e, the cargo pushing control ends.

[0150] In addition, when the cargo pressing determination unit 104 determines in step S202 that cargo pressing of the cargo 310 in the vessel 301 is unnecessary, the cargo pressing control ends.

[0151] <Movement of cargo in the vessel 301 by cargo pushing>

[0152] Next, use Fig.12 (A)~ Fig.12 (C) will explain the movement of the cargo in the cargo box 301 based on the above-mentioned cargo push.

[0153] like Fig.12 As shown in (A), the cargo 310A is loaded into the vessel 301 by the first loading, and the cargo 310B is loaded into the vessel 301 by the second loading. For example, at the time when the second loading is completed, the cargo 310 may be loaded eccentrically in the vessel 301.

[0154] When the loading condition (cargo posture) of the cargo 310 in the bucket 301 is inappropriate, the cargo 310 may overflow from the bucket 301 while the dump truck 300 is traveling. In order to suppress the cargo 310 from overflowing from the bucket 301, in the present embodiment, the bucket 6 moves the cargo 310 in the bucket 301 toward the center CL of the bucket 301. Thus, in the present embodiment, for example, after the second loading of the cargo 310B is completed, the cargo pressing control by the bucket 6 is performed.

[0155] like Fig.12 As shown in (B) of FIG. 1 , the cargo pushing is performed by moving the blade edge 6 a of the bucket 6 from the end of the vessel 301 toward the center CL. As a result, the cargo 310 in the vessel 301 is pressed by the bucket 6 and moves toward the center CL of the vessel 301 .

[0156] like Fig.12 As shown in (C), when the blade edge 6a reaches the target position e, the offset of the cargo 310 in the tank 301 is improved. This can prevent the cargo 310 from spilling out of the tank 301 while the dump truck 300 is traveling.

[0157] After the blade edge 6a reaches the target position e, the wheel loader 1 travels in reverse. As a result, the bucket 6 moves rearward while forming the top of the cargo 310 and moves away from the dump truck 300 .

[0158] It should be noted that the center CL of the bucket 301 refers to a viewpoint ( Fig.12 The center of the truck bed 301 in the width direction when observing the cross sections shown in (A) to (C).

[0159] <Function and Effect>

[0160] Although some descriptions overlap with the above descriptions, the characteristic configurations and effects of the present embodiment are summarized as follows.

[0161] In this embodiment, Figure 4 The automated controller 100 (cargo pressing determination unit 104) shown in the figure obtains information on the loading status of the cargo 310 in the cargo box 301. In addition, the automated controller 100 (cargo pressing determination unit 104) determines whether it is necessary to push the cargo 310 in the cargo box 301 based on the information on the loading status of the cargo 310 in the cargo box 301. In addition, when it is determined that it is necessary to move the cargo 310 in the cargo box 301, the automated controller 100 (cargo pressing determination unit 104) operates the wheel loader 1 so that the cargo 310 moves toward the center CL of the cargo box 301.

[0162] In this way, the cargo 310 is pushed toward the center CL of the tank 301 based on the loading condition of the cargo 310 in the tank 301. Therefore, the imbalance of the cargo 310 in the tank 301 is improved. Thus, it is possible to suppress the cargo 310 from spilling out of the tank 301 while the dump truck 300 is traveling.

[0163] In this embodiment, Figure 4 The automated controller 100 (cargo pressing determination unit 104) shown in the figure, when determining that the cargo 310 needs to be moved in the vessel 301, causes the travel device 4 to travel forward, thereby operating the wheel loader 1 in such a manner as to move the cargo 310 toward the center CL of the vessel 301. Thus, the bucket 6 can press the cargo 310 in the bucket 301 toward the center CL of the vessel 301.

[0164] In this embodiment, Figure 4 The automated controller 100 (cargo pressing determination unit 104) shown in the figure, when determining that the cargo 310 needs to be moved in the cargo box 301, stops driving of the working device actuator and drives the travel device 4 forward, thereby operating the wheel loader 1 so as to move the cargo 310 toward the center CL of the cargo box 301. This eliminates the need to perform operation control of the working device actuator when the cargo is pressed, and simplifies the operation control.

[0165] In this embodiment, Figure 4 The automated controller 100 (cargo pressing determination unit 104) shown in the figure, when determining that the cargo 310 needs to be moved in the vessel 301, causes the travel device 4 to travel forward while maintaining the height of the bucket 6, thereby operating the wheel loader 1 so as to move the cargo 310 toward the center CL of the vessel 301. This eliminates the need to control the height of the bucket 6 when the cargo is pressed, and simplifies the motion control.

[0166] In this embodiment, Figure 4 The automated controller 100 (cargo pushing determination unit 104) shown calculates the number of loading times of the work device 3 into the cargo box 301 based on the posture of the work device 3 detected by the work device posture sensor, and determines whether it is necessary to move the cargo 310 in the cargo box 301 based on the calculated number of loading times. In this way, it is possible to easily determine whether cargo pushing is necessary based on the number of loading times.

[0167] In this embodiment, Figure 4 The automated controller 100 (cargo pressing determination unit 104) shown in the figure determines whether the cargo 310 needs to be moved in the vessel 301 based on the loading status of the cargo 310 detected by the object sensor. Thus, it is possible to determine whether the cargo pressing is necessary based on the actual loading status of the cargo 310 in the vessel 301. Therefore, it is possible to more accurately suppress the cargo 310 from spilling out of the vessel 301 while the dump truck 300 is traveling.

[0168] <Note>

[0169] The above description includes the following additional features.

[0170] (Note 1)

[0171] A working machine, wherein

[0172] The working machine comprises:

[0173] main body;

[0174] a working device installed on the main body and used to load cargo into the loading container;

[0175] a working device actuator that drives the working device relative to the main body; and

[0176] a controller for instructing driving of the working device actuator based on a detected value of the position of the working device and a detected value of the position of the loading container relative to the working machine,

[0177] The controller obtains information related to the loading status of the goods in the loading container, and determines whether the goods need to be moved in the loading container based on the obtained information related to the loading status of the goods. If it is determined that the goods need to be moved in the loading container, the operating machine is operated in a manner that moves the goods toward the center of the loading container.

[0178] (Note 2)

[0179] The working machine according to Supplementary Note 1, wherein:

[0180] The main body has a traveling body.

[0181] The working machine further includes a travel sensor for detecting a travel state of the travel body.

[0182] The controller instructs driving of the working implement actuator based on a detection value of the travel sensor and a detection value of a position of the loading container relative to the working machine.

[0183] (Note 3)

[0184] The working machine according to Supplementary Note 2, wherein:

[0185] When determining that the load needs to be moved in the loading container, the controller causes the traveling body to travel forward, thereby operating the working machine so that the load moves toward the center of the loading container.

[0186] (Note 4)

[0187] The working machine according to Supplementary Note 3, wherein:

[0188] When determining that the load needs to be moved in the loading container, the controller stops driving of the work implement actuator and causes the travel body to travel forward, thereby operating the work machine so that the load moves toward the center of the loading container.

[0189] (Note 5)

[0190] The working machine according to Supplement 3 or Supplement 4, wherein:

[0191] The working device has a bucket,

[0192] When the controller determines that the load needs to be moved in the loading container, the controller causes the traveling body to travel forward while maintaining the height of the bucket, thereby operating the working machine so that the load moves toward the center of the loading container.

[0193] (Note 6)

[0194] The working machine according to any one of Supplementary Notes 1 to 5, wherein:

[0195] In order to determine the loading status of the cargo, the working machine further includes a working device posture sensor for detecting the posture of the working device.

[0196] The controller calculates a loading frequency of the working device into the loading container based on the posture of the working device detected by the working device posture sensor, and determines whether it is necessary to move the cargo in the loading container based on the calculated loading frequency.

[0197] (Note 7)

[0198] The working machine according to any one of Supplementary Notes 1 to 5, wherein:

[0199] In order to determine the loading status of the cargo, the working machine further includes an object sensor for detecting the loading status of the cargo loaded into the loading container.

[0200] The controller determines whether it is necessary to move the cargo in the loading container based on the loading status of the cargo detected by the object sensor.

[0201] (Note 8)

[0202] A system comprising a work machine, wherein:

[0203] The system has:

[0204] The main body of the operating machine;

[0205] A working device installed on the working machine body and configured to load cargo into the loading container;

[0206] a working device actuator that drives the working device relative to the working machine body; and

[0207] a controller for instructing driving of the working device actuator based on a detected value of the position of the working device and a detected value of the position of the loading container relative to the working machine,

[0208] The controller obtains information related to the loading status of the cargo in the loading container, determines whether the cargo needs to be moved in the loading container based on the obtained information related to the loading status of the cargo, and operates the working machine in a manner to move the cargo toward the center of the loading container when it is determined that the cargo needs to be moved in the loading container.

[0209] (Note 9)

[0210] A control method for an operating machine, wherein:

[0211] The control method of the working machine comprises:

[0212] obtaining information related to the loading status of the cargo loaded into the container;

[0213] Determining whether it is necessary to move the cargo within the loading container based on the acquired information related to the loading status of the cargo; and

[0214] When it is determined that the cargo needs to be moved in the loading container, the working machine is operated so that the cargo moves toward the center of the loading container.

[0215] The embodiments disclosed this time should be considered to be illustrative in all aspects and not restrictive. The scope of the present invention is indicated by the technical claims rather than the above description, and is intended to include all modifications within the meaning and scope equivalent to the technical claims.

[0216] Description of reference numerals:

[0217] 1 Wheel loader; 2 Body frame; 2a Front frame; 2b Rear frame; 3 Work equipment; 4 Travel equipment; 4a, 4b Travel wheels; 5 Cab; 6 Bucket; 6a Tip of shovel; 6b Back; 8 Operating device; 9 Boom pin; 11 Steering cylinder; 13 Work equipment pump; 14 Boom; 15 Connecting rod; 16 Boom cylinder; 17 Bucket pin; 18 Bell crank; 18a Support pin; 18b, 18c Connecting pin; 19 Bucket cylinder; 21 Engine; 23 Transmission; 25 Axle; 32 Main valve; 35, 36 Solenoid proportional control valve; 41 Accelerator pedal; 42 Work equipment operating lever; 50 Body controller; 51 Machine monitor; 60 Engine controller; 70 Transmission controller; 71 Brake control unit; 72 Accelerator control unit; 80 Work equipment controller; 81 Steering control unit; 82 Work equipment control unit; 100 Automation controller; 101 Position estimation unit; 102 Path planning unit; 103 Path following control unit; 104 Determination unit; 110 External information acquisition unit; 111 Sensing device; 112 Position information acquisition device; 120 Vehicle information acquisition unit; 121 Articulation angle sensor; 122 Vehicle speed sensor; 123 Boom angle sensor; 124 Bucket angle sensor; 125 Boom cylinder pressure sensor; 130 Interface; 131 Automation changeover switch; 132 Engine emergency stop switch; 133 Mode lamp; 140 Actuator; 141 Brake EPC; 142 Steering EPC; 143 Work equipment EPC; 144 HMT; 300 Dump truck; 301 Truck bucket; 310 Cargo (excavation object).

Claims

1. A working machine, wherein: The working machine comprises: main body; a working device installed on the main body and used to load cargo into the loading container; a working device actuator that drives the working device relative to the main body; as well as a controller for instructing driving of the working device actuator based on a detected value of the position of the working device and a detected value of the position of the loading container relative to the working machine, The controller obtains information related to the loading status of the goods in the loading container, and determines whether the goods need to be moved in the loading container based on the obtained information related to the loading status of the goods. If it is determined that the goods need to be moved in the loading container, the operating machine is operated in a manner that moves the goods toward the center of the loading container.

2. The working machine according to claim 1, wherein: The main body has a running body. The working machine further includes a travel sensor for detecting a travel state of the travel body. The controller instructs driving of the working implement actuator based on a detection value of the travel sensor and a detection value of a position of the loading container relative to the working machine.

3. The working machine according to claim 2, wherein: When determining that the load needs to be moved in the loading container, the controller causes the traveling body to travel forward, thereby operating the working machine so that the load moves toward the center of the loading container.

4. The working machine according to claim 3, wherein: When determining that the load needs to be moved in the loading container, the controller stops driving of the work implement actuator and causes the travel body to travel forward, thereby operating the work machine so that the load moves toward the center of the loading container.

5. The working machine according to claim 3, wherein: The working device has a bucket, When the controller determines that the load needs to be moved in the loading container, the controller causes the traveling body to travel forward while maintaining the height of the bucket, thereby operating the working machine so that the load moves toward the center of the loading container.

6. The working machine according to claim 1, wherein: In order to determine the loading status of the cargo, the working machine further includes a working device posture sensor for detecting the posture of the working device. The controller calculates a loading frequency of the working device into the loading container based on the posture of the working device detected by the working device posture sensor, and determines whether it is necessary to move the cargo in the loading container based on the calculated loading frequency.

7. The working machine according to claim 1, wherein: In order to determine the loading status of the cargo, the working machine further includes an object sensor for detecting the loading status of the cargo loaded into the loading container. The controller determines whether it is necessary to move the cargo in the loading container based on the loading status of the cargo detected by the object sensor.

8. A system comprising a work machine, wherein: The system has: The main body of the operating machine; A working device installed on the working machine body and configured to load cargo into the loading container; a working device actuator that drives the working device relative to the working machine body; as well as a controller for instructing driving of the working device actuator based on a detected value of the position of the working device and a detected value of the position of the loading container relative to the working machine, The controller obtains information related to the loading status of the goods in the loading container, and determines whether the goods need to be moved in the loading container based on the obtained information related to the loading status of the goods. If it is determined that the goods need to be moved in the loading container, the operating machine is operated in a manner that moves the goods toward the center of the loading container.

9. A method for controlling a working machine, wherein: The control method of the working machine comprises: Obtaining information related to the loading status of goods loaded into the container; Based on the acquired information related to the loading status of the cargo, determining whether it is necessary to move the cargo in the loading container; and When it is determined that the cargo needs to be moved in the loading container, the working machine is operated so that the cargo moves toward the center of the loading container.

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