System including work machine and control method for work machine

Abstract

The invention provides a system capable of increasing the loading capacity of goods into a container. A working machine is provided with a bucket (6). A system including a work machine is provided with: an information acquisition unit that acquires information relating to a bucket (301) of a dump truck into which cargo loaded on a bucket (6) is loaded; and a controller. The controller determines a loading position, which is the relative position of the bucket (6) with respect to the bucket (301) when loading the cargo into the bucket (301), on the basis of the dimension information in the width direction of the bucket (6) and the information relating to the bucket (301).

Description

Technical Field

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

[0002] Japanese Patent Application Laid-Open No. 2017-43887 (Patent Document 1) discloses a control system that divides a dump truck's bucket into a central area, a left area, and a right area, and displays loading guidance so that loading objects are loaded into each area in order.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-43887 Summary of the invention

[0006] Problems to be solved by the invention

[0007] The working machine loads the cargo into a container such as a dump truck bucket. The dump truck bucket often has a total length that is longer than the width of the working machine bucket. In order to increase the amount of cargo loaded into the dump truck, it is necessary to manage the loading position of the bucket in the front and rear directions and load the cargo.

[0008] In the present disclosure, a system including a working machine and a control method of the working machine are proposed, which are capable of increasing the amount of cargo loaded into a container.

[0009] Means for solving problems

[0010] According to one embodiment of the present disclosure, a system including a working machine is provided. The working machine has a working device. The system includes: an information acquisition unit that acquires information related to a container into which a cargo loaded on the working device is loaded; and a controller. The controller determines a relative position of the working device relative to the container when loading the cargo into the container, that is, a loading position, based on the width dimension information of the working device and the information related to the container.

[0011] According to one embodiment of the present disclosure, a control method for a working machine is provided. The control method includes: obtaining dimension information in a width direction of a working device; obtaining information related to a container into which a cargo loaded on the working device is loaded; and determining, based on the dimension information of the working device and the information related to the container, a position where the working device is moved relative to the container when loading the cargo into the container as a loading position.

[0012] According to one embodiment of the present disclosure, a system including a working machine is provided. The working machine has a working device. The system includes: an information acquisition unit that acquires information related to a container into which a cargo loaded on the working device is loaded; and a controller. The controller determines a target position toward which the working device is directed to load the cargo into the container based on the dimensional information in the width direction of the working device and the dimensional information in the front-rear direction of the container.

[0013] Effects of the Invention

[0014] According to the system including the working machine and the control method of the working machine of the present disclosure, it is possible to increase the amount of cargo loaded into the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view of a wheel loader as an example of a working machine.

[0016] Figure 2 This is a block diagram showing a schematic configuration of a control system of a wheel loader.

[0017] Figure 3 It is a top view of a wheel loader performing excavation and loading operations.

[0018] Figure 4 This is a block diagram showing the structure of an automatic control system of a wheel loader.

[0019] Figure 5 This is a schematic diagram of the dump truck bed viewed from the side.

[0020] Figure 6 This is a flowchart showing the flow of an operation of loading a load on a bucket into a container by automatic control.

[0021] Figure 7 It is a schematic diagram showing the progress of the loading operation of the cargo into the truck bed using four loads.

[0022] Figure 8 It is a schematic diagram showing a first example of the loading position.

[0023] Fig. 9 It is a schematic diagram showing a second example of the loading position.

[0024] Fig.10 It is a schematic diagram showing a third example of the loading position.

[0025] Fig.11 This is a schematic diagram showing a second example of loading operation of cargo into a truck bed using four loads.

[0026] Fig.12 This is a schematic diagram showing a third example of loading operation of cargo into a truck bed using four loads. DETAILED DESCRIPTION

[0027] 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.

[0028] <Overall structure of wheel loader 1>

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] The vehicle body frame 2 includes a front frame 2a and a rear frame 2b. The front frame 2a is arranged in front of the rear frame 2b. The front frame 2a and the rear frame 2b are mounted so as to be movable in the left-right direction relative to each other.

[0034] 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.

[0035] 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.

[0036] 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 a plurality of joints of the working device 3.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The boom cylinder 16 and the bucket cylinder 19 correspond to an example of a working machine actuator that drives the working machine 3. The travel device 4, the boom cylinder 16, and the bucket cylinder 19 correspond to an example of a “movement operation unit” that moves the working machine 3.

[0041] A cab 5 for an operator to sit on and a pair of travel wheels (rear wheels) 4b are mounted on the rear frame 2b. 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.

[0042] The cab 5 is provided with a sensing device 111. The sensing device 111 is, for example, disposed on the top plate portion of the cab 5. The sensing device 111 is, for example, mounted on the upper surface of the cab 5. The sensing device 111 is, for example, disposed at the front portion of the cab 5. The sensing device 111 is, for example, mounted on the cab 5 facing forward and can acquire information in front of the cab 5. The details of the sensing device 111 will be described later.

[0043] <System Structure>

[0044] Figure 2 This is a block diagram showing a schematic configuration of a control system for controlling the wheel loader 1 .

[0045] The engine 21 is a driving source that generates driving force for driving the working device 3 and the travel device 4, and is, for example, 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.

[0046] 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 the 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.

[0047] A part of the driving force of the engine 21 is transmitted to the working device pump 13. The working device pump 13 is a hydraulic pump driven by the engine 21 and uses the discharged working oil to operate the working device 3. 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 through the main valve 32. The boom cylinder 16 is extended and retracted by the supply of working oil, thereby the boom 14 is raised and lowered. The bucket cylinder 19 is extended and retracted by the supply of working oil, thereby the bucket 6 is rotated up and down.

[0048] 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 .

[0049] 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 .

[0050] 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.

[0051] 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.

[0052] 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 .

[0053] 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.

[0054] The machine monitor 51 receives input of a command 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.

[0055] <Excavation and loading work>

[0056] 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 excavation 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 that performs so-called V-shaped operation.

[0057] exist Figure 3 (A) shows a wheel loader 1 that is performing so-called no-load forward movement. The wheel loader 1 moves forward along an excavation path R1 toward an excavation object 310 such as sand. The wheel loader 1 digs the bucket 6 into the excavation object 310 and stops moving forward. The bucket 6 is raised while the blade tip 6a of the bucket 6 is sunk into the excavation object 310, thereby performing an excavation operation in which the bucket 6 digs out the excavation object 310.

[0058] exist Figure 3 (B) shows the wheel loader 1 in so-called load-carrying reverse travel. The bucket 6 is loaded with an excavation object 310. The wheel loader 1 is traveling reversely along the excavation path R1 to a position where the excavation object 310 is located. Figure 3 The position where forward travel begins in (A).

[0059] 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 the excavation object 310 loaded in the bucket 6. The wheel loader 1 is moving forward from Figure 3 The wheel loader 1 moves forward along the loading path R2 toward the dump truck 300 from the position where the forward travel starts in (A). When the wheel loader 1 approaches the dump truck 300 and reaches a predetermined position, the wheel loader 1 loads the excavation object 310 in the bucket 6 into the truck bed 301. The truck bed 301 corresponds to an example of a "container" for loading the cargo loaded in the working device 3.

[0060] exist Figure 3(D) shows the wheel loader 1 in so-called no-load reverse travel. In a state where the excavated object 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.

[0061] In this way, the wheel loader 1 can repeatedly perform a series of operations including excavation, backing up, unloading and approaching, soil discharge, and backing up.

[0062] <Automatic control system of wheel loader 1>

[0063] When automating the loading operation of the wheel loader 1 into the dump truck 300 , it is desirable to reproduce the operation of the work implement 3 by an experienced operator by automatic control in order to ensure the workload and perform the loading operation more quickly without causing the bucket 6 to come into contact with the truck bed 301 . Figure 4 It is a block diagram showing the configuration of an automatic control system of the wheel loader 1 .

[0064] 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.

[0065] The sensing device 111 acquires information about the surroundings of the wheel loader 1. The sensing device 111 is attached to, for example, the front portion of the upper 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.

[0066] 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.

[0067] 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.

[0068] 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 .

[0069] 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.

[0070] 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 .

[0071] The vehicle speed sensor 122 detects the moving speed of the wheel loader 1 based on the travel device 4 by detecting the rotation speed of the output shaft of the transmission 23, for example, and generates a signal of the detected vehicle speed. The vehicle speed sensor 122 outputs the vehicle speed signal 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).

[0072] 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.

[0073] 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.

[0074] The boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a work machine posture sensor that detects the posture of the work machine 3 .

[0075] 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.

[0076] The vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100 . The automation controller 100 receives the detection values ​​of the vehicle speed sensor 122 , the boom angle sensor 123 , and the bucket angle sensor 124 via the vehicle body controller 50 .

[0077] 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 a command 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.

[0078] 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.

[0079] The transmission controller 70 includes a brake control unit 71 and an accelerator control unit 72. The brake control unit 71 outputs a command signal for controlling the operation of the brake to the brake EPC 141. The accelerator control unit 72 outputs a command signal for controlling the vehicle speed to the HMT 144.

[0080] The work implement controller 80 includes a steering control unit 81 and a work implement control unit 82. The steering control unit 81 outputs a command signal for controlling the travel direction of the wheel loader 1 to the steering EPC 142. The work implement control unit 82 outputs a command signal for controlling the operation of the work implement 3 to the work implement EPC 143.

[0081] The automation controller 100 includes a position estimating unit 101 , a path planning unit 102 , and a path following control unit 103 .

[0082] 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 shown. The position estimation unit 101 can obtain a predetermined reference point of the dump truck 300, such as the position of the upper end of the side of the truck bed 301. The sensing device 111 can identify the target position and input it to the automation controller 100, and the position estimation unit 101 can also identify the target position based on the detection result detected by the sensing device 111.

[0083] The path planning unit 102 generates an optimal path for the wheel loader 1 when the wheel loader 1 is automatically controlled. The optimal path includes the path for the travel of the travel device 4 and the path for the operation of the work device 3. For example, the path planning unit 102 generates an optimal path for the wheel loader 1 to move forward toward the dump truck 300 with a load during the loading operation into the dump truck 300, and an optimal path for the wheel loader 1 to move backward without a load and leave the dump truck 300. The path planning unit 102 also generates an optimal path that connects the current position of the wheel loader 1 with the target position to which the wheel loader 1 will move next during the loading operation into the dump truck 300.

[0084] 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 a command 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 a command signal for causing the working device 3 to move along the optimal path to the working device control unit 82.

[0085] 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.

[0086] 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 an emergency stop of the engine 21 is required, 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.

[0087] 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. A command signal for controlling lighting of the lamp is output from the vehicle body controller 50 to the mode lamp 133 .

[0088] <Cargo 301>

[0089] Figure 5 This is a schematic diagram of a dump truck 300 as an example of a container for loading cargo loaded on the working device 3 (bucket 6) as viewed from the side. Figure 5 and subsequent Figures 7 to 12 , the schematic shape of the tank 301 as viewed from the left side of the dump truck 300 is shown. The bold line in the figure represents the schematic shape when the surface constituting the inner shape of the tank 301 is viewed from the left side of the dump truck 300.

[0090] exist Figure 5 , 7 In FIGS. 10 to 12 , the left-right direction in the figure corresponds to the front-rear direction of the dump truck 300 (the front-rear direction of the truck bed 301 ). Figure 5 , 7 The left direction in the figure in 1 to 12 is the front direction of the dump truck 300 (tank 301), and the right direction in the figure is the rear direction of the dump truck 300 (tank 301). Figure 5 , 7 In FIGS. 10 and 11 , the vertical direction of the paper corresponds to the left-right direction of the dump truck 300 (the left-right direction of the truck bed 301). Figure 5 , 7 In FIGS. 10 to 12 , the up-down direction in the figure corresponds to the up-down direction of the dump truck 300 (the up-down direction of the truck bed 301 ).

[0091] The tank 301 is provided at the rear of the dump truck 300. A cab is provided at the front of the dump truck 300, and the tank 301 is disposed behind the cab. The tank 301 is structured to be able to load heavy objects such as sand and gravel.

[0092] like Figure 5 As shown, the tank 301 has a bottom surface 302, a front wall surface 303, and a rear inclined surface 305. The bottom surface 302 has a flat shape. The bottom surface 302 has a plane shape extending in the front-rear direction and the left-right direction of the dump truck 300 (tank 301).

[0093] The front wall surface 303 has a flat shape. The front wall surface 303 extends from the front end of the bottom surface 302 toward the front and upward. The front wall surface 303 extends in a manner that inclines toward the front side as it goes upward. The front wall surface 303 constitutes the front wall surface of the bucket 301. The front wall surface of the bucket 301 inclines upward as it goes forward. The front wall surface 303 has a front upper edge 304. The front upper edge 304 extends in the left-right direction. The front upper edge 304 constitutes the front edge of the bucket 301.

[0094] The rear inclined surface 305 has a flat shape. The rear inclined surface 305 extends from the rear end of the bottom surface 302 toward the rear and upward. The rear inclined surface 305 extends in a manner that inclines toward the rear side as it goes upward. The rear inclined surface 305 inclines upward as it goes toward the rear. The rear inclined surface 305 has a rear upper edge 306. The rear upper edge 306 extends in the left-right direction. The rear upper edge 306 constitutes the rear edge of the bucket 301. The rear upper edge 306 is located at a lower position than the front upper edge 304.

[0095] exist Figure 5 3 shows the shape of the truck bed 301 without a tailgate. When the truck bed 301 has a tailgate, the tailgate is arranged to extend upward from the rear end of the rear inclined surface 305. The upper edge of the tailgate constitutes a rear upper edge 306.

[0096] <Automatic unloading and loading process>

[0097] Figure 6 This is a flowchart showing the flow of the operation of loading the cargo loaded on the bucket 6 into the container by automatically controlling the wheel loader 1. The bucket 301 of the dump truck 300 is an example of a container in which the cargo loaded on the working device 3 (bucket 6) is loaded. The container is not limited to the bucket 301 of the dump truck 300, and may be, for example, a hopper.

[0098] In step S1 , the number of loading times of a full load in the bucket 301 is calculated, which indicates how many times the wheel loader 1 performs loading work on the bucket 301 of one dump truck 300 .

[0099] For example, the shape of the dump truck 300 is acquired by the LiDAR as the sensing device 111. Laser is irradiated from the LiDAR toward the dump truck 300, and point group data indicating the three-dimensional coordinate values ​​of the measurement points on the dump truck 300 is acquired. 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. The automation controller 100 calculates the maximum load capacity of the bucket 301 based on the shape of the bucket 301, and calculates the size of the bucket 301. The sensing device 111 corresponds to an example of an “information acquisition unit” that acquires information related to the bucket 301.

[0100] The wheel loader 1 and the dump truck 300 can also communicate with each other. Figure 4 In addition to the system configuration shown, a communication unit for communicating with the dump truck 300 may be provided. Information related to the bucket 301, such as the maximum load capacity of the bucket 301 and the size of the bucket 301, may be transmitted from the dump truck 300 to the wheel loader 1 through inter-vehicle communication between the communication unit of the wheel loader 1 and the communication unit of the dump truck 300. In this case, the communication unit of the wheel loader 1 corresponds to an example of an “information acquisition unit” that acquires information related to the bucket 301.

[0101] The vehicle body controller 50 stores information related to the bucket 6. The information related to the bucket 6 includes the size of the bucket 6 and the capacity of the bucket 6. The size of the bucket 6 includes the size in the width direction of the bucket 6. The width direction of the bucket 6 refers to a direction parallel to the extension direction of the bucket pin 17 connecting the bucket 6 and the boom 14. Figure 1 The direction in the middle is vertical to the paper. When the articulation angle of the wheel loader 1 is 0° and the wheel loader 1 is moving forward, the width direction of the bucket 6 is consistent with the left-right direction of the wheel loader 1. The blade tip 6a of the bucket 6 extends along the width direction of the bucket 6. The size of the bucket 6 includes the length of the blade tip 6a extending in the width direction of the bucket 6.

[0102] In the wheel loader 1 , the bucket 6 is replaceable. The vehicle body controller 50 outputs information on the bucket 6 currently mounted on the front end of the work machine 3 to the automation controller 100 .

[0103] The density of the excavation object 310 excavated by the wheel loader 1 and loaded into the bucket 301 of the dump truck 300 is also input to the automation controller 100. The density of the excavation object 310 can also be estimated by the automation controller 100 based on the detection result obtained by detecting the excavation object 310 by the sensing device 111, which is a visual sensor such as a camera. The density of the excavation object 310 can also be input by the operator through the interface 130.

[0104] The automatic controller determines the number of loading times based on the maximum load of the bucket 301, the capacity of the bucket 6, and the density of the excavation object 310. When the bucket 301 has a maximum load that can load the excavation object 310 (cargo) loaded in the bucket 6 multiple times, the number of loading times is determined to be multiple times. Hereinafter, an example in which the number of loading times is determined to be four times will be described, but the number of loading times is of course not limited to four times.

[0105] In step S2, the automation controller 100 determines the position where the working device 3 (bucket 6) is moved relative to the bucket 301 when loading the cargo loaded on the working device 3 (bucket 6) into the bucket 301 as the loading position. The loading position is the relative position of the working device 3 (bucket 6) relative to the bucket 301 when loading the cargo loaded on the working device 3 (bucket 6) into the bucket 301.

[0106] Figure 7 It is a schematic diagram showing the progress of the loading operation of the cargo loaded four times into the truck bed 301. Figure 7 (A) shows the condition in the cargo box 301 after the first loading of the cargo. Figure 7 (B) Figure 7 (C) and Figure 7 (D) respectively represents the conditions in the truck bed 301 after the second, third, and fourth loading of goods. Figure 7 (D) shows a state after the loading work into the truck bed 301 is completed.

[0107] Figure 8 It is a schematic diagram showing a first example of the loading position. Fig. 9 It is a schematic diagram showing a second example of the loading position. Fig.10 is a schematic diagram showing a third example of the loading position. Figures 8 to 10 Schematically shows the bucket 301 viewed from the left. Figures 8 to 10 , the bucket 6 is also schematically illustrated as viewed from the rear of the wheel loader 1 (viewed toward the front direction). The bucket 6 has a blade tip 6a extending in the width direction. The center point 6aC is the center point of the blade tip 6a in the width direction of the bucket 6.

[0108] The wheel loader 1 moves forward from the side (left) of the dump truck 300 toward the bucket 301 to perform loading operation. The width direction of the bucket 6 during loading operation is aligned with the front-rear direction of the dump truck 300 (bucket 301) (in the Figures 8 to 10 The left and right directions in the figure are consistent. Figures 8 to 10 As shown, the dimension of the bucket 301 in the front-rear direction is larger than the dimension of the bucket 6 in the width direction.

[0109] Figures 8 to 10 The bucket 6 is shown in a full dump position. Figures 8 to 10 The bucket 6 in the posture shown moves to the maximum extent in the unloading direction. Figures 8 to 10 In the posture shown, the cylinder stroke length of the bucket cylinder 19 is minimum.

[0110] Figure 8 The loading position A during the first loading is shown in FIG. Figure 8 The loading position B during the second loading is shown in FIG. Fig. 9 The loading position C during the third loading is shown in FIG. Fig.10 The loading position D during the fourth loading is shown in FIG.

[0111] exist Figure 7 In (A), the cargo loaded from the loading position A in the first loading is indicated by a reference symbol A. Figure 7 In (B), the cargo loaded from loading position B in the second loading is indicated by a reference symbol B above the cargo loaded in the first loading. Figure 7 In (C), the cargo loaded from the loading position C in the third loading is indicated by a reference symbol C above and behind the cargo loaded in the second loading. Figure 7 In (D), the cargo loaded from the loading position D in the fourth loading is indicated by a reference symbol D above the cargo loaded in the third loading to the third loading.

[0112] The automation controller 100 determines the positions where the working device 3 (bucket 6) does not interfere when loading the cargo into the bucket 301 as loading position A, loading position B, and loading position D. The loading position A, loading position B, and loading position D are set to positions where the left end of the bucket 6 is separated by a predetermined distance from the front wall 303 of the bucket 301 when the bucket in the full dump posture is viewed from the rear of the wheel loader 1 (viewed toward the front).

[0113] The relative position of the left end of the bucket 6 with respect to the center point 6aC of the blade edge 6a is calculated based on the width dimension of the bucket 6. When the bucket 6 is located at the loading position A, the loading position B, and the loading position D, the left end of the bucket 6 is separated from the front wall surface 303 by a predetermined distance in the front-rear direction of the dump truck 300. When the bucket 6 is located at the loading position A, the loading position B, and the loading position D, a gap in the front-rear direction of the dump truck 300 is provided between the left end of the bucket 6 and the front wall surface 303 of the dump truck 300.

[0114] The automated controller 100 determines the position where the cargo loaded into the bucket 301 does not overflow from the bucket 301 as the loading position C. The loading position C is set to a position where the right end of the bucket 6 is separated from the rear upper edge 306 of the bucket 301 by a predetermined distance when the bucket 6 in the full dump posture is viewed from the rear of the wheel loader 1 (viewed toward the front direction). The relative position of the right end of the bucket 6 with respect to the center point 6aC of the blade tip 6a is calculated based on the width dimension of the bucket 6. When the bucket 6 is located at the loading position C, the right end of the bucket 6 is separated from the rear upper edge 306 to the front by a predetermined distance in the front-rear direction of the dump truck 300.

[0115] The height of the blade tip 6a of the bucket 6 at the loading position A, loading position B, loading position C, and loading position D is determined by the capacity of the bucket 6, the capacity of the bucket 301, the number of loading times (four times), and the height of the cargo in the bucket 301 estimated from the history of the loading positions. The history of the loading positions indicates the number of times the current loading is performed and the history of which positions and in which order the loading was performed until the last time. The loading posture in the bucket 301 is estimated based on the history of the loading positions. The loading posture in the bucket 301 can also be said to be the filling rate of the cargo in the bucket 301. As the loading into the bucket 301 continues, the height of the cargo in the bucket 301 changes. The height of the blade tip 6a at the time of this loading is determined in accordance with the height of the cargo loaded into the bucket 301 in the previous loading.

[0116] like Figure 8 , 9 As shown, the height of the shovel tip 6a at the third loading position C is higher than the height of the shovel tip 6a at the first loading position A and the second loading position B. Fig. 9 , 10 As shown, the height of the blade tip 6a at the fourth loading position D is made higher than the height of the blade tip 6a at the third loading position C. As the loading operation of the cargo into the bucket 301 progresses, the height of the blade tip 6a is gradually increased so that the movement of the bucket 6 is not hindered by the loaded cargo.

[0117] The front wall surface 303 of the truck bed 301 is inclined relative to the front-rear direction and the left-right direction of the dump truck 300. The front wall surface 303 is inclined obliquely forward and upward so as to be located forward as it goes upward. The loading position is determined in accordance with the inclination of the front wall surface 303 of the truck bed 301. Figure 8 , 10 As shown, the loading position D is arranged in front of the dump truck 300 rather than the loading position A and the loading position B. The loading position is determined by the angle of the front wall surface 303 .

[0118] The front upper edge 304 and the rear upper edge 306 of the truck bed 301 are at different heights, and the front upper edge 304 is located at a higher position than the rear upper edge 306. More cargo is loaded on the front side of the truck bed 301. Figure 7 As shown in (D), the loading position is determined so that the cargo reaches the front upper edge 304 along the front wall 303. The loading position is determined by the height of the front wall 303.

[0119] The loading position C is determined to be a position where the cargo does not overflow from the truck bed 301 when the cargo forms the repose angle and is loaded into the truck bed 301. For example, using the repose angle of sand of 30°, the loading position is determined so that the angle formed by the cargo at the rear upper edge 306 with respect to the front-rear direction of the dump truck 300 becomes 30° or less.

[0120] return Figure 6 Then, in step S3, the automation controller 100 identifies the position of the wheel loader 1. 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 identify 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.

[0121] Alternatively, the sensing device 111 may be used to obtain the direction and distance of the bucket 301 of the dump truck 300 relative to the arrangement position of the sensing device 111 , thereby calculating the current relative position of the blade edge 6 a of the bucket 6 relative to the bucket 301 .

[0122] The automation controller 100 identifies the target location. Figure 7 In the case of the loading operation using four loadings shown, it is identified which loading this time is. If it is the first loading, the target position is identified as loading position A. If it is the second loading, the target position is identified as loading position B. If it is the third loading, the target position is identified as loading position C. If it is the fourth loading, the target position is identified as loading position D.

[0123] The automation controller 100 generates an optimal path connecting the current position of the bucket 6 and the target position to which the bucket 6 will move after loading the cargo into the vessel 301. As described above, the optimal path includes the path of travel of the travel device 4 and the path of operation of the work device 3.

[0124] Next, in step S4, the automation controller 100 causes the wheel loader 1 to travel along the optimal path, and causes the working device 3 to operate to load the designated portion of the bucket 301. The automation controller 100 outputs a command to cause the travel device 4 to travel along the optimal path to the brake control unit 71, the accelerator control unit 72, and the steering control unit 81 of the vehicle body controller 50. The travel device 4 operates upon receiving the command signal. In addition, the automation controller 100 outputs a command to cause the boom cylinder 16 and the bucket cylinder 19 to extend and retract to the working device control unit 82 of the working device controller 80. Upon receiving the command signal, the boom cylinder 16 and the bucket cylinder 19 operate.

[0125] In step S5, the automation controller 100 determines whether the number of loading times has reached the specified amount. Since the number of loading times is determined to be four times, the specified amount has not been reached at the time when the first, second, and third loadings are completed. If it is determined that the specified amount has not been reached (No in step S5), the process returns to step S3, generates the best path to the next target location, and repeatedly loads the cargo into the truck bed 301.

[0126] If it is determined that the fourth loading is completed and the number of loading times has reached the specified amount (Yes in step S5), the process is completed ( Figure 6 of "Finish").

[0127] <Other examples of loading work>

[0128] Fig.11 2 is a schematic diagram showing a second example of loading operation into the truck bed 301 using four loads of cargo. Fig.11 In (A), the cargo loaded from the loading position C in the first loading is indicated by a reference symbol C. Fig.11 In (B), the cargo loaded from the loading position A in the second loading is indicated by a reference symbol A above and in front of the cargo loaded in the first loading. Fig.11 In (C), the cargo loaded from the loading position B in the third loading is indicated by a reference symbol B above the cargo loaded in the second loading up to the second loading. Fig.11 In (D), the cargo loaded from the loading position D in the fourth loading is indicated by a reference symbol D above the cargo loaded in the third loading to the third loading.

[0129] exist Fig.11 In the loading operation shown in FIG. 1 , the positions of loading positions A to D in the front-rear direction of the dump truck 300 are Figures 8 to 10 On the other hand, the height direction of the loading position is the same as Figures 8 to 10 The height of the blade tip 6a at the first loading position C becomes Figure 8The height of the blade tip 6a at the third loading position B becomes Fig.10 The height of the blade tip 6a is shown.

[0130] Fig.12 3 is a schematic diagram showing a third example of loading operation into the truck bed 301 using four loads of cargo. Fig.12 In (A), the cargo loaded from the loading position A in the first loading is indicated by a reference symbol A. Fig.12 In (B), the cargo loaded from the loading position C in the second loading is indicated by a reference symbol C above and behind the cargo loaded in the first loading. Fig.12 In (C), the cargo loaded from the loading position B in the third loading is indicated by a reference symbol B above the cargo loaded in the second loading up to the second loading. Fig.12 In (D), the cargo loaded from the loading position D in the fourth loading is indicated by a reference symbol D above the cargo loaded in the third loading to the third loading.

[0131] exist Fig.12 In the loading operation shown in FIG. 1 , the positions of loading positions A to D in the front-rear direction of the dump truck 300 are Figures 8 to 10 On the other hand, the height direction of the loading position is the same as Figures 8 to 10 The height of the blade tip 6a at the second loading position C becomes Figure 8 The height of the blade tip 6a at the third loading position B becomes Fig.10 The height of the blade tip 6a is shown.

[0132] <Function and Effect>

[0133] Although some descriptions overlap with the above descriptions, the characteristic configurations and effects of the present embodiment are summarized as follows.

[0134] like Figure 6 , 8 As shown in FIGS. 10 to 10 , the automation controller 100 determines the loading position based on the dimensional information of the bucket 6 in the width direction and the information related to the bucket 301. The loading position is the relative position of the bucket 6 with respect to the bucket 301 when loading the cargo into the bucket 301.

[0135] When the wheel loader 1 loads the cargo into the bucket 301 having a total length longer than the width of the bucket 6, the loading position of the bucket 301 in the front-rear direction can be appropriately managed, and the bucket 6 can be prevented from contacting the bucket 301 or spilling the cargo from the bucket 301 during the loading process. Therefore, the amount of cargo loaded into the bucket 301 can be increased.

[0136] like Figure 7 , 11 As shown in Figures 1 to 12, the bucket 301 has a maximum load capacity that can be loaded with goods multiple times. The automated controller 100 determines the loading position at each loading. When a dump truck 300 is loaded multiple times, the loading position can be appropriately selected and the order of loading to the loading position can be specified. By changing the loading position to the bucket 301 according to the number of loading times, it is possible to suppress the overflow of goods during loading and increase the loading capacity to the bucket 301.

[0137] like Figure 7 , 12 As shown, the automation controller 100 sets the end of the bucket 6 in the width direction to a position that is a predetermined distance away from the front wall 303 of the bucket 301 to the first loading position. By determining the first loading position in this way, the bucket 6 can be prevented from contacting the front wall 303 of the bucket 301.

[0138] like Figure 7 , 12 As shown, the automation controller 100 determines that the end of the bucket 6 in the width direction is separated from the front wall 303 of the bucket 301 by a predetermined distance to the rear, as a distance for preventing the bucket 6 from interfering with the bucket 301 when loading the cargo into the bucket 301. By determining the predetermined distance during the first loading in this way, the contact between the bucket 6 and the front wall 303 of the bucket 301 can be suppressed.

[0139] like Fig.11 As shown, the automation controller 100 sets the position where the end of the bucket 6 in the width direction is a predetermined distance forward from the rear upper edge 306 of the bucket 301 as the first loading position. By determining the first loading position in this way, the cargo overflowing from the bucket 301 can be suppressed.

[0140] like Fig.11 As shown, the automation controller 100 determines the predetermined distance that the end of the bucket 6 in the width direction is separated forward from the rear upper edge 306 of the bucket 301 as a distance for preventing the cargo loaded into the bucket 301 from overflowing from the bucket 301. For example, the predetermined distance can be determined in consideration of the repose angle of the cargo loaded into the bucket 301. By adopting such a first loading position, the cargo can be prevented from overflowing from the bucket 301.

[0141] like Figure 5 As shown, the rear upper edge 306 of the bucket 301 is located at a position lower than the front upper edge 304 of the bucket 301. When loading cargo into the bucket 301 having such a shape, it is required that the cargo does not overflow from the rear upper edge 306. By determining the position where the end of the bucket 6 in the width direction is separated from the rear upper edge 306 of the bucket 301 by a predetermined distance forward as the loading position, the cargo can be suppressed from overflowing from the bucket 301.

[0142] like Figures 8 to 10 As shown, the automation controller 100 determines the relative position of the blade tip 6a of the bucket 6 with respect to the bucket 301 when the bucket 6 is in the full unloading posture. By defining the position of the bucket 6 when the bucket 6 is in the full unloading posture at the loading position, it is possible to avoid the bucket 6 from contacting the side of the bucket 301. By changing the height of the blade tip 6a according to the number of loadings, it is also possible to avoid the bucket 6 from contacting the already loaded cargo.

[0143] like Figure 1 As shown, the wheel loader 1 includes a travel device 4, an arm cylinder 16, and a bucket cylinder 19. The travel device 4, the arm cylinder 16, and the bucket cylinder 19 can move the working device 3 relative to the bucket 301. When loading the cargo loaded on the bucket 6 into the bucket 301, the travel device 4, the arm cylinder 16, and the bucket cylinder 19 can be appropriately operated to reliably move the bucket 6 to the loading position.

[0144] The automation controller 100 constituting the automatic control system of the wheel loader 1 described in the above embodiment does not necessarily need to be mounted on the wheel loader 1. A controller external to the wheel loader 1 may constitute the system constituting the automation controller 100. The external controller may determine the relative position of the bucket 6 with respect to the bucket 301, that is, the loading positions A to D, based on the dimensional information in the width direction of the bucket 6 and the information related to the bucket 301.

[0145] The external controller may be arranged at the working site of the wheel loader 1 or may be arranged at a distance from the working site of the wheel loader 1. The external controller may also be a mobile device. The external controller may also be a portable device such as a notebook computer, a tablet computer, or a smart phone that an operator can carry and use.

[0146] In the embodiment, the wheel loader 1 is provided with a cab 5, and an example of a manned vehicle in which an operator rides in the cab 5 is described. The wheel loader 1 may also be an unmanned vehicle. The wheel loader 1 may not be provided with a cab 5 for an operator to ride in and operate. The wheel loader 1 may not be provided with a control function for an operator to ride in. The wheel loader 1 may also be a working machine dedicated to remote control. The wheel loader 1 may also be controlled by a wireless signal from a remote control device.

[0147] In the embodiment, an example is described in which the automation controller 100 performs machine control to automate the loading operation of the wheel loader 1 on the dump truck 300. It is also possible to realize a machine guidance function in which the loading position determined by the controller is displayed on a display in front of the driver's seat of the operator who operates the wheel loader 1, and the operator performs the loading operation according to the loading position.

[0148] In the embodiment, a wheel loader 1 is cited as an example of a working machine, but it can also be applied to other types of loading machines. The loading machine may also be a crawler loader. The loading machine may also be an excavator. The excavator may also be a hydraulic excavator, a mechanical rope excavator, or a hybrid excavator. The excavator may be a backhoe excavator or a loading bucket excavator. The loading machine may also be a bucket crane. In the case where the loading machine has a working device, a rotating body supporting the working device, and a rotating action part for rotating the rotating body, the rotating action part is included in the "moving action part". The rotating action part is, for example, a rotating motor. The rotating motor may be a hydraulic motor or an electric motor.

[0149] <Note>

[0150] The above description includes the following additional features.

[0151] (Note 1)

[0152] A system comprising a work machine, wherein:

[0153] The working machine has a working device.

[0154] The system has:

[0155] an information acquisition unit that acquires information related to a container into which a cargo loaded on the working device is loaded; and

[0156] A controller determines a relative position of the working device with respect to the container, that is, a loading position when loading the cargo into the container, based on the dimension information of the working device in the width direction and the information related to the container.

[0157] (Note 2)

[0158] A system according to Appendix 1, wherein:

[0159] The controller is provided on the working machine.

[0160] (Note 3)

[0161] The system according to Note 1 or Note 2, wherein:

[0162] The container has a maximum loading capacity capable of loading the goods multiple times,

[0163] The controller determines the loading position at each loading.

[0164] (Note 4)

[0165] A system according to Appendix 3, wherein:

[0166] The controller sets a position where the end of the working device in the width direction is spaced a predetermined distance rearward from a front wall surface of the container as the first loading position.

[0167] (Note 5)

[0168] A system according to Appendix 4, wherein:

[0169] The controller determines the predetermined distance as a distance for preventing the working device from interfering with the container when the cargo is loaded into the container.

[0170] (Note 6)

[0171] A system according to Appendix 3, wherein:

[0172] The controller sets a position where the end of the working device in the width direction is spaced forward by a predetermined distance from the rear edge of the container as the first loading position.

[0173] (Note 7)

[0174] A system according to Appendix 6, wherein:

[0175] The controller determines the prescribed distance as a distance for preventing the cargo loaded into the container from overflowing from the container.

[0176] (Note 8)

[0177] A system according to Note 6 or Note 7, wherein:

[0178] The rear edge of the container is located at a lower position than the front edge of the container.

[0179] (Note 9)

[0180] A system according to any one of Notes 4 to 8, wherein:

[0181] The working device has a bucket at the front end.

[0182] The controller determines a relative position of a front end portion of the bucket with respect to the container when the bucket is in a full dump posture.

[0183] (Note 10)

[0184] A system according to any one of Notes 1 to 9, wherein:

[0185] The system further includes a moving operation unit that moves the working device relative to the container.

[0186] The embodiments disclosed this time should be considered as 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.

[0187] Description of reference numerals:

[0188] 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; 6aC Center point; 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; 110 External information acquisition unit; 111 Sensing device; 112 Position information acquisition device; 120 Vehicle body 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 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; 302 Bottom surface; 303 Front wall surface; 304 Front upper edge; 305 Rear inclined surface; 306 Posterior upper edge.

Claims

1. A system comprising a working machine, wherein: The working machine has a working device. The system has: an information acquisition unit that acquires information related to a container into which the cargo loaded on the working device is loaded; as well as A controller determines a relative position of the working device with respect to the container, that is, a loading position when loading the cargo into the container, based on the dimension information of the working device in the width direction and the information related to the container.

2. The system according to claim 1, wherein: The controller is provided on the working machine.

3. The system according to claim 1, wherein: The container has a maximum loading capacity capable of loading the goods multiple times, The controller determines the loading position at each loading.

4. The system according to claim 3, wherein: The controller sets a position where the end of the working device in the width direction is spaced a predetermined distance rearward from a front wall surface of the container as the first loading position.

5. The system according to claim 4, wherein: The controller determines the predetermined distance as a distance for preventing the working device from interfering with the container when the cargo is loaded into the container.

6. The system according to claim 3, wherein: The controller sets a position where the end of the working device in the width direction is spaced forward by a predetermined distance from the rear edge of the container as the first loading position.

7. The system according to claim 6, wherein: The controller determines the prescribed distance as a distance for preventing the cargo loaded into the container from overflowing from the container.

8. The system according to claim 7, wherein: The rear edge of the container is located at a lower position than the front edge of the container.

9. The system according to claim 4 or 6, wherein: The working device has a bucket at the front end. The controller determines a relative position of a front end portion of the bucket with respect to the container when the bucket is in a full dump posture.

10. The system according to claim 1 or 2, wherein: The system further includes a moving operation unit that moves the working device relative to the container.

11. A method for controlling a working machine, wherein: The control method of the working machine comprises: Obtaining the dimension information of the working device in the width direction; obtaining information related to a container into which cargo to be loaded on the working device is to be loaded; and Based on the size information of the working device and the information related to the container, a position where the working device is moved relative to the container when loading the cargo into the container is determined as a loading position.

12. A system comprising a work machine, wherein: The working machine has a working device. The system has: an information acquisition unit that acquires information related to a container into which the cargo loaded on the working device is loaded; as well as A controller determines a target position toward which the working device is directed for loading the cargo into the container based on dimensional information in the width direction of the working device and dimensional information in the front-rear direction of the container.

13. The system according to claim 12, wherein: The controller is provided on the working machine.

Images