Automatic loading system

Abstract

In the present invention, a controller (50) is mounted on a construction machine (20), and is capable of performing loading control on the basis of the detection result of a position detection unit (41). The external system (70) can be disposed outside the construction machine (20) and can communicate with the controller (50). The external system (70) is capable of outputting a load control start signal for starting load control. The controller (50) starts load control on the condition that a load control start signal is input to the controller (50) from an external system (70).

Description

Technical Field

[0001] The present invention relates to an automatic loading system for allowing a construction machine to automatically load a transport object onto a transport vehicle. Background Art

[0002] For example, a conventional automatic loading system is described in Patent Document 1. According to the technology described in the document, when a transport vehicle is detected approaching a construction machine, a controller controlling the construction machine sets the mode to a loading mode for operating the construction machine to load the transport vehicle (see claim 1 of the document).

[0003] According to the technology described in this document, even if the state is not suitable for the construction machine to load the transport vehicle, if, for example, the approach of the transport vehicle is erroneously detected, loading control (loading control) is performed.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: International Publication No. 2020 / 026505 Summary of the invention

[0007] An object of the present invention is to provide an automatic loading system that can create a space for a determination subject other than a controller to determine whether the loading control is ready to be started before the loading control is started.

[0008] The automatic loading system includes a construction machine, a position detection unit, a controller, and an external system. The construction machine performs a capturing action of capturing a transported object, and a releasing action of loading the captured transported object onto a transport vehicle. The position detection unit detects the position of the transport vehicle relative to the construction machine. The controller is mounted on the construction machine and can perform loading control based on the detection result of the position detection unit. The external system can be configured outside the construction machine and can communicate with the controller. The loading control is a control that allows the construction machine to repeatedly perform a series of actions including the capturing action and the releasing action. The external system can output a loading control start signal for starting the loading control. The controller starts the loading control on the condition that the loading control start signal is input to the controller from the external system. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a diagram showing the automatic loading system 10 and the like, and is a diagram when the transport vehicle 2 and the construction machine 20 are viewed from the side.

[0010] Figure 2 yes Figure 1A block diagram of the automatic loading system 10 is shown.

[0011] Figure 3 yes Figure 1 Flowchart of the operation of the automatic loading system 10 is shown.

[0012] Figure 4 It means that it can correctly detect Figure 1 The position of the transport vehicle 2 is shown in FIG. Figure 2 A diagram of the display unit 71 is shown.

[0013] Figure 5 is with Figure 4 The corresponding figure shows the display unit 71 when the position of the transport vehicle 2 is erroneously detected.

[0014] Figure 6 Yes means Figure 2 A diagram of the display unit 71 is shown. DETAILED DESCRIPTION

[0015] Reference Figures 1 to 3 , for loading the transported object L onto Figure 1 The automatic loading system 10 of the transport vehicle 2 shown will be described.

[0016] The transport vehicle 2 is a vehicle having a platform 5. The transport vehicle 2 is a vehicle used to transport the transported object L loaded by the construction machinery 20. The transport vehicle 2 can be a dump truck or a truck. The transport vehicle 2 includes a transport vehicle body 3 and a platform 5. The transport vehicle body 3 can move and support the platform 5. The transport vehicle body 3 includes a transport vehicle cab 3a. The platform 5 accommodates the transported object L. The transported object L accommodated by the platform 5 can be, for example, sand, stone, or waste. The platform 5 can be movable relative to the transport vehicle body 3, or can be fixed to the transport vehicle body 3.

[0017] The automatic loading system 10 is a system for causing the construction machine 20 to automatically load the transport object L onto the transport vehicle 2. The automatic loading system 10 includes the construction machine 20, a position detection unit 41, Figure 2 The indicator 42 , the controller 50 , and the external system 70 are shown.

[0018] like Figure 1 As shown, the construction machine 20 is a machine that performs work, such as a construction machine that performs construction work, such as an excavator. The construction machine 20 performs a capture action of capturing the transported object L and a release action of loading the captured transported object L onto the transport vehicle 2 (the details of the capture action and the release action will be described later). The construction machine 20 includes a lower traveling body 21, an upper rotating body 23, an auxiliary device 25, Figure 2 The drive control unit 31 and the posture detection unit 33 are shown.

[0019] The lower walking body 21 makes Figure 1 The construction machine 20 shown in the figure travels. The lower traveling body 21 includes, for example, crawler tracks. The upper revolving body 23 is mounted on the lower traveling body 21 so as to be revolvable. The upper revolving body 23 includes a construction machine cab 23a.

[0020] The attachment 25 is mounted on the upper rotating body 23 so as to be able to rise and fall. The attachment 25 is a device for capturing, moving and releasing the transported object L. The attachment 25 includes a boom 25a, an arm 25b and a distal attachment 25c. The boom 25a is mounted on the upper rotating body 23 so as to be able to rise and fall (swing up and down). The arm 25b is mounted on the boom 25a so as to be able to swing (flex and extend). The distal attachment 25c is provided at the distal end of the attachment 25 and is mounted on the arm 25b so as to be able to swing. The distal attachment 25c can be either a bucket for scooping up the transported object L (such as sand and soil) or a device for clamping and grabbing the transported object L (such as a grab bucket).

[0021] The drive control unit 31 (see Figure 2 ) controls the actuators (shown in the figure) that drive the construction machine 20. More specifically, the drive control unit 31 controls the motor that causes the lower traveling body 21 to travel, and the motor that causes the upper rotating body 23 to rotate relative to the lower traveling body 21. The drive control unit 31 controls the cylinder that causes the boom 25a to rise and fall relative to the upper rotating body 23, the cylinder that causes the arm 25b to swing relative to the boom 25a, and the cylinder that causes the remote attachment 25c to swing relative to the arm 25b. When the remote attachment 25c itself moves (for example, opens and closes), the drive control unit 31 controls the actuator that causes the remote attachment 25c to operate.

[0022] In order to perform the standby control C1 ( Figure 3 Step S12) and loading control C2 ( Figure 3 Step S32), the posture detection unit 33 (refer to Figure 2 ) detects the posture of the construction machine 20. More specifically, the posture detection unit 33 detects the rotation angle of the upper rotating body 23 relative to the lower traveling body 21. The posture detection unit 33 detects the swing angle (heaving angle) of the boom 25a relative to the upper rotating body 23, the swing angle of the arm 25b relative to the boom 25a, and the swing angle of the remote attachment 25c relative to the arm 25b. The posture detection unit 33 may include, for example, an angle sensor for detecting the rotation angle and a plurality of angle sensors for detecting the swing angle.

[0023] The position detection unit 41 detects the position of the transport vehicle 2 relative to the construction machine 20. More specifically, the position detection unit 41 detects the three-dimensional position information of the transport vehicle 2 and detects the three-dimensional shape information of the transport vehicle 2. The position detection unit 41 may detect the position of the transport vehicle 2 based on the three-dimensional information and the two-dimensional information (image). The position detection unit 41 may detect only the position of a part of the transport vehicle 2 or may detect only the position of the platform 5 in the transport vehicle 2, for example.

[0024] The position detection unit 41 may be provided with only one or more. The position detection unit 41 may be mounted on the construction machine 20 or may be arranged outside the construction machine 20 (e.g., at a work site). When the position detection unit 41 is arranged outside the construction machine 20, it may sometimes be possible to detect a position that cannot be detected when the position detection unit 41 is only mounted on the construction machine 20 (e.g., a portion blocked by the auxiliary equipment 25, etc.). In addition, even when the position detection unit 41 is arranged outside the construction machine 20 and the position detection unit 41 is not mounted on the construction machine 20, the automatic loading system 10 of this embodiment can be applied.

[0025] The position detection unit 41 may include a device that detects three-dimensional information using lasers, such as a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or a TOF (Time Of Flight) sensor. The position detection unit 41 may include a device that detects three-dimensional information using radio waves (such as a millimeter wave radar, etc.). The position detection unit 41 may include a stereo camera. In the case where the position detection unit 41 detects the position of the transport vehicle 2 based on three-dimensional information and two-dimensional information, the position detection unit 41 may include a camera that can detect two-dimensional images.

[0026] Instruction unit 42 (see Figure 2 ) to make the instructions described later. The indication unit 42 can make instructions that can be perceived by the operator (person), and can also output instructions based on electrical signals (such as instructions for control, etc.). In the case where the indication unit 42 makes instructions that can be perceived by the operator, the indication unit 42 outputs at least one of sound, light and vibration to the operator. The indication unit 42 can be mounted on the construction machinery 20, and can also be configured outside the construction machinery 20. The indication unit 42 can be set in the external system 70. The indication unit 42 can be a speaker (such as a speaker mounted on the construction machinery 20, etc.), a loudspeaker, a lighting, or a display device (monitor, etc.).

[0027] The controller 50 is a computer that performs signal input and output, determination or calculation, and information storage. The controller 50 is mounted on the construction machine 20. The controller 50 can perform the standby control C1 ( Figure 3 Step S12) and loading control C2 ( Figure 3 The controller 50 controls the drive control unit 31 (see step S32). Figure 2 ) outputs instructions to control the movement of the construction machinery 20.

[0028] The external system 70 is a computer that is separately provided from the controller 50. The external system 70 is capable of communicating with the controller 50. The external system 70 can be arranged outside the construction machine 20. The external system 70 can be, for example, a system (server, etc.) arranged outside the construction machine 20, or a portable device (mobile terminal, tablet terminal, etc.). In addition, as long as the external system 70 can be arranged outside the construction machine 20, it can be arranged inside the construction machine 20 (for example, inside the construction machine cab 23a). The communication between the external system 70 and the controller 50 can be wireless communication or wired communication. Figure 2 As shown, the external system 70 includes a display unit 71, a standby control start instruction unit 73, a loading control start instruction unit 75, and an interrupt instruction unit 77. The external system 70 may include an automatic determination unit 79.

[0029] The display unit 71 displays various information. The display unit 71 is used to allow the operator to determine whether the controller 50 is ready to start automatic control (specifically, Figure 3 The status of the standby control C1 and the loading control (22) is shown (refer to Figures 4 to 6 ).

[0030] The standby control start instruction unit 73 causes the external system 70 to output a standby control start signal 73s. The standby control start signal 73s is for causing the controller 50 to start the standby control C1 (see Figure 3 The standby control start instruction unit 73 causes the external system 70 to output a standby control start signal 73s according to the operator's operation. The operator's operation on the standby control start instruction unit 73 may be, for example, an operation on a touch screen, an operation on a physical switch, or an audio operation.

[0031] The loading control start instruction unit 75 causes the external system 70 to output a loading control start signal 75s. The loading control start signal 75s is used to cause the controller 50 to start the loading control C2 (see Figure 3The loading control start instruction unit 75 causes the external system 70 to output a loading control start signal 75s according to the operation of the operator. The operation of the loading control start instruction unit 75 by the operator may be, for example, an operation of a touch screen, an operation of a physical switch, or an audio operation.

[0032] The interruption instruction unit 77 causes the external system 70 to output an interruption signal 77s for causing the controller 50 to interrupt the automatic control. The interruption instruction unit 77 causes the external system 70 to output an interruption signal 77s according to the operation of the operator. The operation of the interruption instruction unit 77 by the operator may be, for example, an operation of a touch screen, an operation of a physical switch, or an operation by voice. The interruption instruction unit 77 may also cause the external system 70 to output an interruption signal 77s for causing the controller 50 to interrupt the standby control C1 (see Figure 3 The interruption instruction unit 77 may also cause the external system 70 to output a signal for causing the controller 50 to interrupt the loading control C2 (see Figure 3 ) of the automatic determination unit 79. The automatic determination unit 79 will be described later.

[0033] (Operation of the construction machine 20)

[0034] Figure 1 The illustrated construction machine 20 performs a capturing action, a lifting movement action, a releasing action, and a returning movement action.

[0035] The capture action is an action in which the remote attachment 25c captures the transported object L. For example, the capture action may be an action in which the remote attachment 25c, i.e., a bucket, digs and scoops up the transported object L, i.e., soil (digging action). For example, the capture action may also be an action in which the remote attachment 25c clamps and grabs the transported object L.

[0036] The lifting movement operation is an operation in which the remote attachment 25c moves from the position where the capturing operation is performed to the position where the releasing operation is performed (moving the transported object L). The lifting movement operation is an operation in which the remote attachment 25c moves along the target trajectory (see Figure 6 Specifically, for example, the lifting movement action is an action (lifting rotation action) including the following actions, namely: the upper rotating body 23 rotates relative to the lower walking body 21; the remote attachment 25c moves relative to the upper rotating body 23 (for example, moves upward, etc.).

[0037] The release action is an action in which the remote attachment 25c releases the object L on the transport vehicle 2 (more specifically, the platform 5) and loads the object L onto the transport vehicle 2. For example, the release action may be an action in which the remote attachment 25c, i.e., a bucket, causes the object L, i.e., sand and soil, to fall onto the platform 5 (soil discharge action). For example, the release action may be an action in which the remote attachment 25c releases the gripped or grasped object L and causes it to fall onto the platform 5.

[0038] The return movement action is an action in which the remote attachment 25c moves (resets) from the position where the release action is performed to the position where the capture action is performed. The return movement action is an action in which the remote attachment 25c moves (resets) along the target trajectory (refer to Figure 6 Specifically, for example, the return movement action is an action (return rotation action) including the following actions: the upper rotating body 23 rotates relative to the lower walking body 21; and the remote attachment 25c moves relative to the upper rotating body 23 (for example, moves downward, etc.).

[0039] (Automatic control by controller 50)

[0040] The controller 50 performs control (automatic control) to automatically operate the construction machine 20. The automatic control performed by the controller 50 includes: a standby control C1 (see Figure 3 Step S12 shown); Loading control C2 (refer to Figure 3 In the following, regarding the construction machine 20, mainly refer to Figure 1 For explanation, for each step of the flowchart, the standby control C1, and the loading control C2, refer to Figure 3 to explain.

[0041] Standby control C1 (refer to Figure 3 Step S12) shown in FIG. Figure 1 After the engineering machine 20 shown has performed a capturing action, the engineering machine 20 is controlled to stand by in a standby posture. In more detail, the standby control C1 is a control to make the engineering machine 20 perform a capturing action (such as excavation) and a lifting and moving action (such as rotation, etc.) and stand by in a standby posture. The above-mentioned "standby posture" is a posture for loading the captured transported object L onto the transport vehicle 2, and is a posture for standing by for the release action (preliminary preparation posture). The standby posture is a posture in which the engineering machine 20 can immediately perform the release action as long as the controller 50 outputs an instruction to perform a release action. Specifically, for example, the standby posture is a posture in which the remote attachment 25c (such as a bucket with sand and soil) that has captured the transported object L stops at a predetermined position (in the air) for performing a release action (such as a soil discharge standby posture). Figure 1The posture of the construction machine 20 shown is an example of a standby posture.

[0042] Loading Control C2 (Refer to Figure 3 Step S32 shown in the figure is to control the construction machine 20 to repeatedly perform a series of actions including a capturing action and a releasing action. In more detail, the loading control C2 is to control the construction machine 20 to repeatedly perform a series of actions in the order of a releasing action (e.g., soil discharge), a returning movement action (e.g., rotation), a capturing action (e.g., digging), and a lifting movement action (e.g., rotation). The loading control C2 is performed based on the detection result of the position detection unit 41. At least a part of each action of the loading action (releasing action, returning movement action, capturing action, lifting movement action) is performed based on the detection result of the position detection unit 41. Specifically, for example, the releasing action is performed as follows. The controller 50 calculates the three-dimensional position and shape of the carrier 5 based on the detection result of the position detection unit 41. Moreover, the controller 50 causes the remote attachment 25c to release the transported object L at a specific position on the carrier 5. Specifically, for example, the capturing action is performed as follows. The controller 50 calculates, for example, based on the detection result of the position detection unit 41. Figure 6 The controller 50 controls the remote attachment 25c to move the transport object L (e.g., a pile of sand or soil) before capture in a three-dimensional position and shape. Figure 6 The transported object L is captured at the point Qc shown in the figure.

[0043] The controller 50 controls C2 (refer to Figure 3 ) determines whether the action at the start of loading control C2 is a release action, a return movement action, a capture action, or a lifting movement action. For example, based on the standby control C1 (refer to Figure 3 ) and the loading control C2 is started in a state where the construction machine 20 is stopped in a standby posture, the controller 50 starts the loading control C2 from a release action. For example, when the loading control C2 is started in a state where the remote attachment 25c has not captured the transported object L (for example, a state where the bucket is empty), the controller 50 may start the loading control C2 from a return movement action or a capture action.

[0044] (Automatic control start conditions, etc.)

[0045] The controller 50 is Figure 2 The controller 50 starts the standby control C1 when the external system 70 inputs the standby control start signal 73s to the controller 50. The controller 50 starts the loading control C2 when the external system 70 inputs the loading control start signal 75s to the controller 50. Figure 3The operation of the automatic loading system 10 is described with reference to the flowchart shown.

[0046] (Confirmation of the validity of the start of standby control C1)

[0047] Before the controller 50 starts the standby control C1, the operator checks whether the standby control C1 is in a state (validity) in which the operator can start the standby control C1. For example, the operator can check Figure 1 For example, the operator can check whether there are any obstacles around the position where the construction machine 20 is working. Figure 6 For example, the operator can confirm the position of the transported object L before being captured, or the presence or amount of the transported object L. For example, the operator can confirm the presence or absence of the transported object L transported from a conveyor belt (not shown) or a machine other than the construction machine 20. Figure 6 As shown, the external system 70 can output (for example, display on the display unit 71) information for the operator to determine whether the standby control C1 is in a state where it is possible to start (for specific examples, refer to [Example B] to [Example E] described later).

[0048] The operator determines that the standby control C1 (refer to Figure 3 ) in the case of Figure 2 The standby control start instruction unit 73 shown in FIG. 1 outputs a standby control start signal 73s from the external system 70 to the controller 50. When the operator determines that the standby control C1 is not in a startable state, the operator does not output the standby control start signal 73s from the external system 70 to the controller 50.

[0049] (Operation of controller 50, etc.)

[0050] The controller 50 determines whether the standby control start signal 73s ( Figure 3 The controller 50 starts the standby control C1 (step S11 shown in FIG. 1 ) on the condition that the standby control start signal 73s is input to the controller 50 from the external system 70. Figure 3 The above-mentioned "condition" may be a necessary condition or a sufficient condition. The controller 50 may also start the standby control C1 when a condition different from the input standby control start signal 73s is further satisfied. The controller 50 starts Figure 3 The condition of the standby control C1 shown in step S12 includes input of a standby control start signal 73 s from the external system 70 to the controller 50 .

[0051] The controller 50 performs the following operations on the transport vehicle 2 relative to the Figure 1The determination of the position of the construction machine 20 shown in FIG. Figure 3 Step S21 shown). For example, the controller 50 determines whether the position of the transport vehicle 2 relative to the construction machinery 20 is within a specified range. The "specified range" is set in advance (before the determination of step S21) in the controller 50. For example, the controller 50 determines whether the distance from the construction machinery 20 to the transport vehicle 2 is below a threshold. The "threshold" is set in advance (before the determination of step S21) in the controller 50. The position and distance of the transport vehicle 2 relative to the construction machinery 20 are detected by the position detection unit 41. When the position of the transport vehicle 2 relative to the construction machinery 20 is within the specified range (for example, the distance is below the threshold), the process enters step S22. When the position of the transport vehicle 2 relative to the construction machinery 20 is not within the specified range (for example, the distance exceeds the threshold), the controller 50 continues to determine the position of the transport vehicle 2 relative to the construction machinery 20 ( Figure 3 In addition, Figure 3 The determination of step S21 shown may be performed after the standby control C1 (step S12), before the standby control C1, or simultaneously with the standby control C1. The determination of step S21 is performed before the loading control C2 (step S32).

[0052] When performing the determination in step S21, there may be Figure 1 The transport vehicle 2 shown in FIG. 2 is moving toward the construction machine 20. In this case, when the position of the transport vehicle 2 relative to the construction machine 20 is within a specified range (for example, the distance is less than a threshold value) ( Figure 3 When the step S21 shown in FIG. 1 is YES, the controller 50 causes the instruction unit 42 (see Figure 2 ) to give a stop instruction. The above-mentioned "stop instruction" is an instruction for stopping the transport vehicle 2 moving toward the construction machine 20. For example, in the case where the instruction unit 42 gives a stop instruction that can be perceived by a person, the driver in the transport vehicle cab 3a who perceives the stop instruction (such as the sound of a horn, etc.) stops the transport vehicle 2. For example, in the case where the instruction unit 42 outputs a stop instruction based on an electrical signal, the transport vehicle 2 that receives the stop instruction can stop automatically.

[0053] (Confirm the validity of the start of loading control C2)

[0054] The controller 50 starts loading control C2 (refer to Figure 3 ), the operator confirms whether the loading control C2 is ready to start (validity). At this time, the operator can also confirm the validity of the detection result of the position detection unit 41. The operator can confirm the validity of the position of the transport vehicle 2 relative to the construction machine 20. The operator can also confirm the transported object L before capture (refer to Figure 6 ) relative to the position of the construction machine 20. The operator can also confirm the target trajectory Qa (refer to Figure 6 ) and target location (e.g. Figure 6 The validity of at least one of the points Qc, Qb, etc. shown.

[0055] like Figure 6 As shown, the external system 70 outputs information for the operator to confirm whether the loading control C2 is ready to start, for example, displayed on the display unit 71 ( Figure 3 Specific examples of the output in the external system 70 and the confirmation by the operator are shown in the following [Example A] to [Example E].

[0056] [Example A] For example, Figure 1 The external system 70 shown is more detailed. Figure 4 The display unit 71 shown in FIG. 4 can display information about the position of the transport vehicle 2 (eg, the platform 5) relative to the construction machine 20 detected by the position detection unit 41 (detected position information of the transport vehicle 2). Figure 4 As shown, the detection position information of the transport vehicle 2 displayed by the external system 70 may be, for example, a point indicating a specific position of the platform 5, or a straight line or a figure indicating the range of the platform 5. The point indicating the specific position of the platform 5 may include, for example, four points P5a, P5b, P5c, and P5d indicating the four corners of the platform 5. The external system 70 may also display the value of the detection position information of the transport vehicle 2. The value of the detection position information of the transport vehicle 2 may include, for example, at least one of the coordinates and the distance of the transport vehicle 2 relative to the construction machinery 20. The external system 70 superimposes the detection position information of the transport vehicle 2 and the two-dimensional image of the transport vehicle 2 (for example, the image of the platform 5) and displays it. The operator who observes the display determines the validity of the detection position information by comparing the detection position information of the transport vehicle 2 and the two-dimensional image. Specifically, for example, the operator confirms whether the detected position information of the transport vehicle 2 (e.g., the four points P5a, P5b, P5c, and P5d) and the portion of the two-dimensional image of the transport vehicle 2 corresponding to the detected position information (e.g., the positions of the four corners of the stage 5) are consistent or approximately consistent. If they are consistent or approximately consistent, the operator can determine whether the detected position information of the transport vehicle 2 is consistent or approximately consistent. Figure 1 The detection result of the position detection unit 41 shown is valid. Figure 5 ), the operator can determine that the detection result of the position detection unit 41 is invalid.

[0057] [Example B] For example, the external system 70 may display the position detection unit 41 (refer to Figure 1) about the position of the transported object L relative to the construction machine 20 (detected position information of the transported object L). For example, the external system 70 can display information about the position of the transported object L (such as a pile of sand and soil) before being captured by the construction machine 20. The detected position information of the transported object L displayed by the external system 70 can be, for example, a point indicating a specific position of the transported object L, or a graphic indicating the range of the transported object L. The point indicating the specific position of the transported object L can include, for example, a point Ra indicating a vertex. The external system 70 can display the value of the detected position information about the transported object L. The value of the detected position information about the transported object L can include at least one of the coordinates and the distance of the transported object L relative to the construction machine 20. Similar to the above-mentioned [Example A], the external system 70 superimposes the detected position information of the transported object L and the two-dimensional image of the transported object L and displays it. The operator who observes this display can judge the validity of the detection result of the position detection unit 41.

[0058] [Example C] For example, Figure 6 As shown, the external system 70 can display information about the loading control C2 (refer to Figure 3 ). The target trajectory Qa is a trajectory that is a target of the remote attachment 25c between the position (point Qc) where the capturing action is performed and the position (point Qb) where the releasing action is performed, and is calculated by the controller 50. The external system 70 can display information about the target trajectory Qa in the lifting movement action, and can also display information about the target trajectory Qa in the returning movement action. In the case where the target trajectory Qa is automatically corrected based on the position of the transport vehicle 2 detected by the position detection unit 41, or in the case where the target trajectory Qa is manually corrected, the external system 70 can also display the correction result of the target trajectory Qa. The external system 70 displays the information about the target trajectory Qa superimposed on the two-dimensional image of the position where the attachment 25 is expected to pass. As in the above-mentioned [Example A], the operator who observes this display can judge the validity of the information about the target trajectory Qa.

[0059] [Example D] For example, the external system 70 may display information about the target loading position (point Qb) in the loading control C2. The target loading position (point Qb) is Figure 1 The target position of the engineering machine 20 for the release action shown in FIG. 1 is calculated by the controller 50. Figure 6As shown, the external system 70 can display the target loading position (point Qb). When the target loading position (point Qb) is automatically corrected based on the position of the transport vehicle 2 detected by the position detection unit 41, or when the target loading position (point Qb) is manually corrected, the external system 70 can display the correction result of the target loading position (point Qb). The external system 70 can display the information about the target loading position (point Qb) superimposed with the two-dimensional image of the transport vehicle 2 (for example, the platform 5). The operator who observes the display can determine whether the target loading position (point Qb) is valid (for example, whether it is an appropriate position on the platform 5, etc.).

[0060] [Example E] The external system 70 may display information about the target capture position (point Qc) in the loading control C2. The target capture position (point Qc) is Figure 1 The target position of the capture action of the engineering machine 20 shown in FIG. 1 is calculated by the controller 50. Figure 6 As shown, the external system 70 can display the target capture position (point Qc). When the target capture position (point Qc) is automatically corrected based on the position of the conveyed object L detected by the position detection unit 41, or when the target capture position (point Qc) is manually corrected, the external system 70 can display the correction result of the target capture position (point Qc). The external system 70 can display the information about the target capture position (point Qc) superimposed with the two-dimensional image of the conveyed object L before capture. The operator who observes this display can determine whether the target capture position (point Qc) is valid (for example, whether it is an appropriate position in the conveyed object L before capture, etc.).

[0061] The operator determines that it is possible to start Figure 3 In the case of the loading control C2 (step S32) shown in FIG. Figure 2 The loading control start instruction unit 75 shown in FIG. 1 outputs a loading control start signal 75s from the external system 70 to the controller 50. When the operator determines that the loading control C2 is not in a state where it is possible to start, the operator does not output the loading control start signal 75s from the external system 70 to the controller 50.

[0062] (Operation of controller 50, etc.)

[0063] The controller 50 determines whether the loading control start signal 75s is input ( Figure 3 The controller 50 starts the loading control C2 (step S31 shown in FIG. 1 ) on the condition that a loading control start signal 75s is input to the controller 50 from the external system 70. Figure 3The above-mentioned "condition" may be a necessary condition or a sufficient condition. The controller 50 may also start the loading control C2 when a condition (additional condition) different from the input loading control start signal 75s is further satisfied. The controller 50 starts the loading control C2 ( Figure 3 The condition of step S32) shown in FIG. 1 includes that a loading control start signal 75s is input to the controller 50 from the external system 70. The above-mentioned "additional condition" may be, for example, that the transport vehicle 2 is relative to Figure 1 The position of the engineering machine 20 shown is within the specified range (within Figure 3 The step S21 shown is YES.) An additional condition may be that the stop instruction to the transport vehicle 2 is completed ( Figure 3 Step S22 shown).

[0064] When the controller 50 performs the loading control C2, it determines whether to terminate the loading control C2 ( Figure 3 For example, when the amount of the transported objects L loaded on the transport vehicle 2 exceeds a specified amount, the controller 50 ends the loading control C2. The amount of the transported objects L loaded on the transport vehicle 2 may be detected by the position detection unit 41 or by a sensor other than the position detection unit 41. For example, the controller 50 may detect the amount of the transported objects L loaded on the transport vehicle 2 by detecting the position of the transported objects L. Figure 2 When the external system 70 shown in the figure inputs the interrupt signal 77s, the loading control C2 is interrupted. When the controller 50 determines that the loading control C2 is not to be ended, the loading control C2 is continued. When the controller 50 interrupts the loading control C2 and receives a signal to restart the loading control C2 (for example, the loading control start signal 75s), the loading control C2 can be restarted.

[0065] The controller 50 completes the loading control C2 (at Figure 3 When the step S41 shown in FIG. 1 is YES, the controller 50 notifies that the loading control C2 has ended (this notification is referred to as an end notification). The controller 50 causes the indicator 42 to output the end notification. For example, when the indicator 42 is an indicator that can be perceived by a human (such as a speaker), Figure 1 The driver of the transport vehicle 2 shown perceives the end notification (for example, hears the sound of the horn) and can make the transport vehicle 2 travel (start). For example, in the case where the indicator unit 42 is an indicator unit that outputs the end notification based on an electrical signal, the transport vehicle 2 that receives the end notification can automatically travel (start). For example, the external system 70 receives the end notification from the controller 50 and can output the fact that the loading is completed. For example, the display unit 71 can also display that the loading is completed. In addition, a stop instruction (see Figure 3 The instruction unit 42 of step S22 shown in FIG. 1 and the end notification (see FIG. 1 ) are executed. Figure 3The indicating unit 42 in step S42) shown in the figure may be used for both or not.

[0066] (Variation Example)

[0067] In the above example, the operator confirmed that the automatic control ( Figure 3 The effectiveness of the start of the standby control C1 and the loading control C2 shown in FIG. Figure 2 As shown, the external system 70 may include an automatic determination unit 79 that automatically determines the validity of the start of the automatic control. In this case, the automatic determination unit 79 determines the validity of the start of the automatic control using, for example, AI (Artificial Intelligence). When the automatic determination unit 79 determines that the start of the standby control C1 is valid, the external system 70 outputs the standby control start signal 73s. When the automatic determination unit 79 determines that the start of the standby control C1 is not valid, the external system 70 is not allowed to output the standby control start signal 73s. When the automatic determination unit 79 determines that the start of the loading control C2 is valid, the external system 70 outputs the loading control start signal 75s. When the automatic determination unit 79 determines that the start of the loading control C2 is not valid, the external system 70 is not allowed to output the loading control start signal 75s.

[0068] Specifically, in the above [Example A], the operator will Figure 4 The detected position information of the transport vehicle 2 (e.g., four points P5a to P5d) shown in FIG. 1 is compared with the portion of the two-dimensional image of the transport vehicle 2 corresponding to the detected position information (e.g., the positions of the four corners of the stage 5). On the other hand, in this modified example, the automatic determination unit 79 (see FIG. 14 ) Figure 2 ) For example, the comparison is automatically performed by image processing. Moreover, when the automatic determination unit 79 determines that the start of the loading control C2 is valid, the external system 70 outputs the loading control start signal 75s. The same is true for the above-mentioned [Example B] to [Example E]. In addition, the automatic determination unit 79 may also be omitted.

[0069] (Effect of the First Invention)

[0070] Figure 1 The effects produced by the automatic loading system 10 shown are as follows. The automatic loading system 10 includes a construction machine 20, a position detection unit 41, a controller 50, and an external system 70. The construction machine 20 performs a capture operation of capturing the transported object L and a release operation of loading the captured transported object L onto the transport vehicle 2. The position detection unit 41 detects the position of the transport vehicle 2 relative to the construction machine 20. The controller 50 is mounted on the construction machine 20 and can perform loading control C2 (see FIG. 2 ) based on the detection result of the position detection unit 41. Figure 3The external system 70 can be arranged outside the construction machine 20 and can communicate with the controller 50. The loading control C2 is a control for causing the construction machine 20 to repeatedly perform a series of operations including a capturing operation and a releasing operation.

[0071] [Constitution 1] Figure 2 As shown, the external system 70 can output a loading control start signal 75s for starting the loading control C2. The controller 50 starts the loading control C2 on the condition that the loading control start signal 75s is input to the controller 50 from the external system 70.

[0072] In the above-mentioned [Configuration 1], loading control C2 does not start unless loading control start signal 75s is input to controller 50 from external system 70. Thus, before loading control C2 starts, a decision subject other than controller 50 can be provided to determine whether the loading control C2 is ready to start.

[0073] For example, when the loading control C2 is performed based on the detection result of the position detection unit 41, a determination subject other than the controller 50 can determine the validity of the detection result of the position detection unit 41. The determination subject other than the controller 50 can include at least one of an operator (human) and an automatic determination unit 79 (e.g., AI).

[0074] (Effect of the Second Invention)

[0075] The controller 50 can perform the standby control C1 (refer to Figure 3 The standby control C1 is as follows: Figure 1 The construction machine 20 shown performs a collecting operation and is placed on standby in a specific posture for loading the collected transported objects L onto the transport vehicle 2 .

[0076] [Constitution 2] Figure 2 As shown, the external system 70 can output a standby control start signal 73s for starting the standby control C1. The controller 50 starts the standby control C1 on the condition that the standby control start signal 73s is input to the controller 50 from the external system 70.

[0077] In the above-mentioned [Configuration 2], the standby control C1 is not started unless the standby control start signal 73s is input from the external system 70 to the controller 50. Figure 3 Before the standby control C1 starts, it is possible to create Figure 2 There is room for a determination subject other than the controller 50 shown to determine whether the situation is such that the standby control C1 can be started.

[0078] In the above-mentioned [Configuration 1] and [Configuration 2], the external system 70 outputs different types of signals (standby control start signal 73s and loading control start signal 75s). Thus, by changing the type of signal output by the external system 70, the external system 70 can instruct the controller 50 to perform multiple types of automatic control (specifically, Figure 3 The start of the standby control C1 and the loading control C2) shown.

[0079] (Effect of the third invention)

[0080] [Constitution 3] Figure 4 As shown, the external system 70 displays information about the position detection unit 41 (refer to Figure 1 ) Information on the position of the transport vehicle 2 detected.

[0081] According to the above-mentioned [Configuration 3], the external system 70 allows the operator to confirm the validity of the information about the position of the transport vehicle 2 detected by the position detection unit 41. As a result, the operator can easily determine whether the automatic control ( Figure 3 The status of standby control C1 or loading control C2) is shown.

[0082] (Effect of the Fourth Invention)

[0083] [Constitution 4] Figure 6 As shown, the external system 70 displays information on the position (loading position (point Qb)) where the construction machine 20 loads the transport object L onto the transport vehicle 2 .

[0084] According to the above-mentioned [Configuration 4], the external system 70 allows the operator to confirm the validity of the information about the loading position (point Qb) of the conveyed object L. As a result, the operator can easily determine whether the automatic control ( Figure 3 The status of standby control C1 or loading control C2) is shown.

[0085] (Effect of the Fifth Invention)

[0086] [Constitution 5] Figure 1 As shown, the construction machine 20 is equipped with a remote attachment 25c for collecting, moving, and releasing the transported object L. Figure 6 As shown, the external system 70 displays information about the target trajectory Qa of the remote attachment device 25c between the position where the capturing action is performed and the position where the releasing action is performed.

[0087] According to the above-mentioned [Configuration 5], the external system 70 allows the operator to confirm the information about the target trajectory Qa of the auxiliary equipment 25. As a result, the operator can easily determine whether the automatic control can be started ( Figure 3 The status of standby control C1 or loading control C2) is shown.

[0088] (Other Modifications)

[0089] The above-mentioned embodiments can be modified in various ways. For example, the configuration, shape, connection, etc. of each structural element of the above-mentioned embodiments can be changed. Figure 3 The order of the steps in the flowchart shown may not be performed. For example, thresholds and ranges (for example, refer to step S21) may be constant, may be changed by manual operation, or may be changed automatically based on certain conditions. For example, the number of structural elements may be changed, and some structural elements may not be provided. For example, what is described as multiple different parts may also be one part. For example, what is described as one part may also be divided into multiple different parts. For example, the external system 70 may be one part, or may be divided into multiple parts. Specifically, for example, the external system 70 may be divided into: a part (for example, a tablet terminal) having a display unit 71, a standby control start indication unit 73, a loading control start indication unit 75, and an interrupt indication unit 77; an automatic judgment unit 79 (for example, a server).

Claims

1. A construction machinery, characterized in that include: Upper rotating body; Ancillary equipment can be installed on the upper rotating body in an up-and-down manner, including a remote auxiliary equipment for capturing, moving and releasing the transported objects; An actuator to drive the engineering machinery; as well as The controller calculates the target trajectory of the remote attachment device between the position of the capture action and the position of the release action, and performs loading control, wherein the capture action is the action of capturing the transported object, and the release action is the action of loading the captured transported object onto the transport vehicle, wherein The loading control is a control for causing the construction machine to repeatedly perform a series of actions including the capturing action and the releasing action. The controller communicates with an external system, which may be arranged outside the construction machine and displays information about the target trajectory. The controller starts the loading control on the condition that a loading control start signal is input from the external system to the controller.

2. The construction machine according to claim 1, characterized in that Also includes: The instruction unit outputs a termination notification, wherein: When the loading control is finished, the controller notifies that the loading control is finished, and causes the instruction unit to output the finish notification.

3. The construction machine according to claim 1, characterized in that: The controller causes the external system to receive a termination notification indicating that the loading control has been terminated, and causes the external system to output the termination notification.

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