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

Abstract

To avoid deterioration in work efficiency by a work machine.SOLUTION: A work machine includes: a working machine; a sensor for detecting a drill object drilled by the working machine; and a management controller for recognizing the state of the drill object, and for determining the work of the working machine. The management controller determines whether or not the work machine for executing drill work for drilling the drill object can continue the drill work properly, based on the state of the drill object. The management controller stops the drill work, when it determines that the drill work cannot be continued properly.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a work machine, a system including a work machine, and a method for controlling a work machine. [Background technology]

[0002] US Patent No. 10041229 (Patent Document 1) discloses a system for controlling the operation of a mobile machine such as a wheel loader. The system includes an imaging device and a controller in communication with the imaging device. The imaging device generates a signal indicative of a surrounding area of ​​the machine. The controller identifies a work aggregate within the surrounding area of ​​the machine. The controller recognizes the work implements of the machine and the work aggregate and performs an excavation operation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 10041229 Summary of the Invention [Problem to be solved by the invention]

[0004] 2. Description of the Related Art When a wheel loader is used to excavate material in a stockyard and load the excavated material onto a dump truck or dump it into a hopper, the efficiency of the work may decrease when excavation operations are performed continuously.

[0005] The present disclosure proposes a work machine, a system including a work machine, and a control method for a work machine that can avoid a decrease in the efficiency of work performed by the work machine. [Means for solving the problem]

[0006] A work machine and a system including a work machine according to the present disclosure include a work machine, a sensor that detects an excavation target to be excavated by the work machine, and a management controller that recognizes the state of the excavation target and determines the work of the work machine. The management controller determines whether the work machine performing excavation work to excavate the excavation target can continue the excavation work appropriately based on the state of the excavation target. If the management controller determines that the excavation work cannot be continued appropriately, it stops the excavation work.

[0007] A control method for a work machine according to the present disclosure includes the following steps. The first step is to recognize the state of the excavation target. The second step is to determine whether or not a work machine performing excavation work to excavate the excavation target can continue the excavation work appropriately based on the state of the excavation target. The third step is to stop the excavation work when it is determined that the excavation work cannot be continued appropriately. Effect of the Invention

[0008] According to the work machine, the system including the work machine, and the control method for the work machine of the present disclosure, it is possible to avoid a decrease in work efficiency. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a wheel loader as an example of a work machine. [Diagram 2] FIG. 2 is a plan view of the wheel loader shown in FIG. [Diagram 3] 1 is a block diagram showing a schematic configuration of a control system for a wheel loader. [Figure 4] FIG. 1 is a block diagram showing a configuration of an automatic control system for a wheel loader. [Diagram 5] 1 is a block diagram showing a schematic configuration of a communication system. [Figure 6] FIG. 2 is a schematic diagram showing a travel path of a wheel loader performing excavation and loading work. [Figure 7] 10 is a flowchart showing the flow of a process for generating a travel route for a wheel loader. [Figure 8] FIG. 2 is a schematic diagram showing an example of an elevation model of an excavation target. [Figure 9] 11A and 11B are diagrams illustrating a process for calculating the remaining amount of material. [Figure 10] FIG. 2 is a schematic diagram of a wheel loader moving forward empty. [Figure 11] FIG. 11 is a schematic diagram showing a state in which the wheel loader has moved to an excavation position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. It is also intended from the beginning that any configuration may be extracted from the embodiments and that they may be combined in any desired manner.

[0011] <Overall configuration of wheel loader 1> In the embodiment, a wheel loader 1 will be described as an example of a work machine. Fig. 1 is a side view of the wheel loader 1 as an example of a work machine. Fig. 2 is a plan view of the wheel loader 1 shown in Fig. 1.

[0012] As shown in Figures 1 and 2, the wheel loader 1 mainly comprises a vehicle body frame 2, a work implement 3, a traveling device 4, and a cab 5. The vehicle body of the wheel loader 1 is made up of the vehicle body frame 2, the cab 5, etc. The work implement 3 and the traveling device 4 are attached to the vehicle body of the wheel loader 1. The main body of the wheel loader 1 (work machine main body) comprises the vehicle body and the traveling device 4.

[0013] The traveling device 4 allows the body of the wheel loader 1 to travel, and includes traveling wheels 4a, 4b. The wheel loader 1 is a wheeled vehicle equipped with traveling wheels 4a, 4b on both the left and right sides of the body as rotating bodies for traveling. The wheel loader 1 is self-propelled by driving the running wheels 4a, 4b to rotate, and can perform desired work using the work machine 3.

[0014] In this specification, the direction in which the wheel loader 1 travels straight ahead is referred to as the fore-and-aft direction of the wheel loader 1. In the fore-and-aft direction of the wheel loader 1, the side where the work machine 3 is arranged with respect to the vehicle body frame 2 is referred to as the front direction, and the side opposite the front direction is referred to as the rear direction. The left-right direction of the wheel loader 1 is the direction perpendicular to the fore-and-aft direction when the wheel loader 1 is viewed in plan on a flat surface. Looking forward, the right and left sides in the left-and-right direction are the right direction and the left direction, respectively. The up-and-down direction of the wheel loader 1 is the direction perpendicular to the plane defined by the fore-and-aft direction and the left-and-right direction. In the up-and-down direction, the side with the ground is the lower side, and the side with the sky is the upper side.

[0015] The body frame 2 includes a front frame 2a and a rear frame 2b. The front frame 2a is disposed in front of the rear frame 2b. The front frame 2a and the rear frame 2b are attached to each other by a center pin 10 so as to be movable relative to each other in the left-right direction.

[0016] A pair of left and right steering cylinders 11 are attached across the front frame 2a and the rear frame 2b. The steering cylinders 11 are hydraulic cylinders. The steering cylinders 11 extend and retract using hydraulic oil from a steering pump (not shown), thereby changing the direction of travel of the wheel loader 1 to the left or right. The front frame 2a and the rear frame 2b form a vehicle body frame 2 with an articulated structure. The wheel loader 1 is an articulated work machine in which the front frame 2a and the rear frame 2b are connected so as to be able to bend.

[0017] A work implement 3 and a pair of running wheels (front wheels) 4a are attached to the front frame 2a. The work implement 3 is attached to the front of the body of the wheel loader 1. The work implement 3 is supported by the body of the wheel loader 1. Specifically, the work implement 3 is rotatably supported by the body frame 2, more particularly by the front frame 2a. The work implement 3 is disposed in front of the body frame 2.

[0018] The working machine 3 includes a boom 14. A base end of the boom 14 is rotatably attached to the front frame 2a by a boom pin 9. The boom 14 includes a left boom member 14L and a right boom member 14R. The left boom member 14L and the right boom member 14R are joined by a joining member extending in the left-right direction so as not to move relative to each other, forming the boom 14 of an integral structure. The boom pin 9 includes a pair of left and right boom pins 9L and 9R. The boom 14 is rotatable relative to the front frame 2a around the left boom pin 9L and the right boom pin 9R as the center of rotation. The left boom pin 9L and the right boom pin 9R support the working machine 3 rotatably relative to the vehicle body frame 2.

[0019] The work implement 3 includes a bucket 6. The bucket 6 is disposed at the tip of the work implement 3. The bucket 6 is a working tool for excavation and loading. The cutting edge 6a is the tip 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 as a flat surface. The back surface 6b extends rearward from the cutting edge 6a. The bucket 6 is rotatably attached to the boom 14 by a bucket pin 17 located at the tip of the boom 14. The bucket 6 has a left boom attachment portion to which the left boom member 14L is attached, and a right boom attachment portion to which the right boom member 14R is attached.

[0020] The work implement 3 further includes a bell crank 18 and a link 15. An approximate center portion of the bell crank 18 is rotatably supported on the boom 14 by a support pin 18a located approximately at the center of the boom 14 in the longitudinal direction. The link 15 is connected to a connecting pin 18c provided on a lower end portion (tip portion) of the bell crank 18. The link 15 connects the bell crank 18 and the bucket 6. The bell crank 18 and the link 15 are disposed between the left boom member 14L and the right boom member 14R in the left-right direction.

[0021] 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 attached to the front frame 2a. The tip of the boom cylinder 16 is attached to 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 moves up and down, the bucket 6 attached to the tip of the boom 14 also moves up and down.

[0022] The bucket cylinder 19 connects the bell crank 18 and the front frame 2a. The base end of the bucket cylinder 19 is attached to the front frame 2a. The tip of the bucket cylinder 19 is attached to a connecting pin 18b provided at the upper end (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 tool cylinder that drives the bucket 6. The bucket cylinder 19 rotates the bucket 6 around the bucket pin 17. The bucket 6 is configured to be movable relative to the boom 14. The bucket 6 is configured to be movable relative to the front frame 2a.

[0023] The boom cylinder 16 and the bucket cylinder 19 constitute a work machine actuator that drives the work machine 3.

[0024] A cab 5 in which an operator sits, and a pair of running wheels (rear wheels) 4b are attached to the rear frame 2b. The box-shaped cab 5 is disposed rearward of the boom 14. The cab 5 is mounted on the rear frame 2b. The cab 5 is placed on the vehicle body frame 2. A seat in which the operator of the wheel loader 1 sits, an operating device 8 (described later), and the like are disposed within the cab 5.

[0025] The cab 5 is provided with a perception device 111. The perception device 111 is disposed, for example, on the ceiling of the cab 5. The perception device 111 is mounted, for example, on the upper surface of the cab 5. The perception device 111 is disposed, for example, at the front of the cab 5. The perception device 111 is attached to the cab 5 facing forward, for example, and is capable of acquiring information about the front of the cab 5. Details of the perception device 111 will be described later.

[0026] Length L9 shown in Fig. 2 is the length from the left end to the right end of the bucket 6 in the left-right direction (bucket width). The widthwise center 6c of the bucket 6 is the center point of the bucket 6 in the left-right direction. Length L9 is included in the dimensions of the work machine 3. Length L9 is included in the specification values ​​of the wheel loader 1. The specification values ​​of the wheel loader 1 are values ​​unique to each individual wheel loader 1, and are stored in the vehicle body controller 50, which will be described later.

[0027] <System configuration> FIG. 3 is a block diagram showing a schematic configuration of a control system that controls the wheel loader 1. As shown in FIG.

[0028] The engine 21 is a drive source, such as a diesel engine, that generates drive force for driving the work equipment 3 and the traveling device 4. As the drive source, a motor driven by an electricity storage device 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.

[0029] 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 rotational speed. An axle 25 is connected to the output shaft of the transmission 23. The driving force changed in speed by the transmission 23 is transmitted to the axle 25. The driving force is transmitted from the axle 25 to the running wheels 4a, 4b (FIGS. 1 and 2). This causes the wheel loader 1 to travel. In the wheel loader 1 of this embodiment, both the running wheels 4a and 4b constitute driving wheels that receive the driving force and cause the wheel loader 1 to travel.

[0030] A portion of the driving force of the engine 21 is transmitted to the work implement pump 13. The work implement pump 13 is a hydraulic pump that is driven by the engine 21 and operates the work implement 3 by the hydraulic oil it discharges. The work implement 3 is driven by the hydraulic oil from the work implement pump 13. The hydraulic oil discharged from the work implement pump 13 is supplied to the boom cylinder 16 and the bucket cylinder 19 via a main valve 32. The boom cylinder 16 receives a supply of hydraulic oil and expands and contracts, causing the boom 14 to rise and fall. The bucket cylinder 19 receives a supply of hydraulic oil and expands and contracts, causing the bucket 6 to rotate up and down.

[0031] The wheel loader 1 is equipped with a vehicle body controller 50. The vehicle body controller 50 includes an engine controller 60, a transmission controller 70, and a work machine controller 80.

[0032] The vehicle body controller 50 is generally implemented by reading various programs using a CPU (Central Processing Unit). The vehicle body controller 50 has a memory (not shown). The memory functions as a work memory and stores various programs for implementing the functions of the wheel loader 1.

[0033] The operating device 8 is provided in the cab 5. The operating device 8 is operated by an operator. The operating device 8 includes multiple types of operating members that are operated by the operator to operate the wheel loader 1. The operating device 8 includes an accelerator pedal 41 and a work equipment operating lever 42. The operating device 8 may also include a steering handle, a shift lever, etc., which are not shown.

[0034] Accelerator pedal 41 is operated to set a target rotation speed of engine 21. Engine controller 60 controls the output of engine 21 based on the amount of operation of accelerator pedal 41. When the amount of operation (amount of depression) of accelerator pedal 41 is increased, the output of engine 21 increases. When the amount of operation of accelerator pedal 41 is decreased, the output of engine 21 decreases. Transmission controller 70 controls transmission 23 based on the amount of operation of accelerator pedal 41.

[0035] The work machine operation lever 42 is operated to operate the work machine 3. The work machine controller 80 controls the electromagnetic proportional control valves 35, 36 based on the amount of operation of the work machine operation lever 42. The work machine controller 80, or the vehicle body controller 50 including the work machine controller 80, corresponds to an example of a "machine controller" that controls the work machine.

[0036] The electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 retracts and the bucket 6 moves in the dump direction (the direction in which the blade tip of the bucket 6 descends). The electromagnetic proportional control valve 35 also switches the main valve 32 so that the bucket cylinder 19 extends and the bucket 6 moves in the tilt direction (the direction in which the blade tip of the bucket 6 rises). The electromagnetic proportional control valve 36 retracts the boom cylinder 16 and switches the main valve 32 so that the boom 14 descends. The electromagnetic proportional control valve 36 also switches the main valve 32 so that the boom cylinder 16 extends and the boom 14 rises.

[0037] The machine monitor 51 displays various information upon receiving command signals from the vehicle body controller 50. The various information displayed on the machine monitor 51 may be, for example, information relating to the work performed by the wheel loader 1, vehicle body information such as the remaining fuel level, the coolant temperature, and the hydraulic oil temperature, and a surrounding image capturing an image of the surroundings of the wheel loader 1. The machine monitor 51 may be a touch panel, in which case a signal generated when the operator touches a part of the machine monitor 51 is output from the machine monitor 51 to the vehicle body controller 50.

[0038] <Automatic control system for wheel loader 1> When automating the work of the wheel loader 1, it is desirable to reproduce the operations of a skilled operator through automatic control. Figure 4 is a block diagram showing the configuration of the automatic control system for the wheel loader 1.

[0039] The automation controller 100 is configured to be able to transmit and receive signals to and from the vehicle body controller 50 described with reference to Fig. 3. The automation controller 100 is also configured to be able to transmit and receive signals to and from an external environment information acquisition unit 110. The external environment information acquisition unit 110 has a perception device 111 and a position information acquisition device 112. The perception device 111 and the position information acquisition device 112 are mounted on the wheel loader 1.

[0040] The perception device 111 acquires information about the surroundings of the wheel loader 1. The perception device 111 is attached, for example, to the front part of the top surface of the cab 5, as shown in Fig. 1. The perception device 111 detects objects at the work site where the wheel loader 1 works, for example objects around (in front of) the main body (work machine main body) of the wheel loader 1, specifically, an excavation target being excavated by the work implement 3. The perception device 111 corresponds to an example of a "sensor".

[0041] The perception 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 perception device 111 is, for example, a LiDAR (Light Detection and Ranging) that acquires information about the object by emitting laser light. The perception device 111 may be a visual sensor including a camera. The perception device 111 may be a Radar (Radio Detection and Ranging) that acquires information about the object by emitting radio waves. The perception device 111 may be an infrared sensor.

[0042] The position information acquisition device 112 acquires information on the current position of the wheel loader 1. For example, the position information acquisition device 112 utilizes a satellite positioning system to acquire position information of the wheel loader 1 in a global coordinate system based on the earth. For example, the position information acquisition device 112 uses 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 signals received by the GNSS receiver from satellites, and calculates the position of the wheel loader 1.

[0043] External environment information of the wheel loader 1 obtained by the perception device 111 and position information of the wheel loader 1 obtained by the position information acquisition device 112 are input to the automation controller 100.

[0044] The vehicle body controller 50 is configured to be able to send and receive signals to and from the vehicle information acquisition unit 120, and receives input of information about the wheel loader 1 acquired by the vehicle information acquisition unit 120. The vehicle information acquisition unit 120 is made up of various sensors mounted on the wheel loader 1. The vehicle information acquisition unit 120 has 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.

[0045] The articulation angle sensor 121 detects an articulation angle, which is an angle between the front frame 2a and the rear frame 2b, 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.

[0046] The vehicle speed sensor 122 detects the travel speed of the wheel loader 1 caused by the traveling device 4, for example, by detecting the rotational speed of the output shaft of the transmission 23, 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 progress of the traveling device 4 (traveling body).

[0047] The boom angle sensor 123 is formed, for example, by a rotary encoder provided on a boom pin 9 which is an attachment portion of the boom 14 to the vehicle body frame 2. The boom angle sensor 123 detects the angle of the boom 14 with respect to the horizontal direction (boom angle), 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.

[0048] Bucket angle sensor 124 is configured, for example, with a rotary encoder provided on support pin 18a which is the rotation shaft of bell crank 18. Bucket angle sensor 124 detects the angle of bell crank 18 with respect to boom 14 (bell crank angle), and generates a signal of the detected angle of bell crank 18. Vehicle information acquisition unit 120 or vehicle body controller 50 calculates the angle of bucket 6 with respect to boom 14 (bucket angle) from the detected angle of bell crank 18.

[0049] The boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a work machine attitude sensor that detects the attitude of the work machine 3. The boom angle sensor 123 may be a stroke sensor arranged in the boom cylinder 16. The bucket angle sensor 124 may be a potentiometer or a proximity switch attached to the bucket pin 17, or may be a stroke sensor arranged in the bucket cylinder 19.

[0050] Boom cylinder pressure sensor 125 detects the pressure on the bottom side of 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 and becomes low when it is empty. Boom cylinder pressure sensor 125 outputs the boom bottom pressure signal to vehicle body controller 50.

[0051] 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 inputs 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.

[0052] The actuator 140 is configured to be able to send and receive signals to and from the vehicle body controller 50. The actuator 140 is driven upon receiving a command signal from the vehicle body controller 50. The actuator 140 includes a brake EPC (electromagnetic proportional control valve) 141 for actuating the brakes of the traveling device 4, a steering EPC 142 for adjusting the traveling direction of the wheel loader 1, a work machine EPC 143 for operating the work machine 3, and an HMT (hydraulic mechanical transmission) 144.

[0053] The electromagnetic proportional control valves 35 and 36 shown in Fig. 3 constitute a working machine EPC 143. The transmission 23 shown in Fig. 3 is realized as an HMT 144 utilizing electronic control. The transmission 23 may be a hydrostatic transmission (HST). The power transmission device that transmits power from the engine 21 to the running wheels 4a and 4b may include an electric drive device such as a diesel-electric type, or may include any combination of an HMT, an HST, and an electric drive device.

[0054] The transmission controller 70 has 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.

[0055] The work machine controller 80 has a steering control section 81 and a work machine control section 82. The steering control section 81 outputs a command signal to the steering EPC 142 for controlling the traveling direction of the wheel loader 1. The work machine control section 82 outputs a command signal to the work machine EPC 143 for controlling the operation of the work machine 3.

[0056] The automation controller 100 corresponds to an example of a "management controller" that recognizes the state of an excavation target to be excavated by the work machine 3 and determines the work of the work machine. The automation controller 100 has a position estimation unit 101, a path planning unit 102, and a path following control unit 103.

[0057] The position estimation unit 101 estimates the self-position of the wheel loader 1 based on the position information acquired by the position information acquisition device 112. The position estimation unit 101 also recognizes the target position based on the external world information acquired by the perception device 111. The target position is, for example, an excavation position in an excavation target where the wheel loader 1 excavates the excavation target with the bucket 6. The target position is, for example, a loading position in a loading target, which is the relative position of the work machine 3 (bucket 6) with respect to the loading target when loading material into the loading target. The perception device 111 may recognize the target position and input it to the automation controller 100, or the position estimation unit 101 may recognize the target position based on the detection result detected by the perception device 111.

[0058] The path planning unit 102 generates an optimal route for the wheel loader 1 when automatically controlling the wheel loader 1. The optimal route includes a route for travel by the traveling devices 4 and a route for operation of the work equipment 3. The path planning unit 102 generates an optimal route that connects the current position of the wheel loader 1 and a target position to which the wheel loader 1 will head.

[0059] For example, the path planning unit 102 generates a travel path of the wheel loader 1 moving forward empty toward the excavation target while performing excavation and loading work. The path planning unit 102 generates a path of the operation of the work machine 3 during excavation work. The path planning unit 102 generates a travel path of the wheel loader 1 moving backwards with a load and away from the excavation target, and a path of the operation of the work machine 3 while moving backwards with a load. The path planning unit 102 generates a travel path of the wheel loader 1 moving forward with a load toward the loading target, and a path of the operation of the work machine 3 while moving forward with a load. The path planning unit 102 generates a path of the operation of the work machine 3 that unloads the material scooped up in the bucket 6 onto the loading target. The path planning unit 102 generates a travel path of the wheel loader 1 moving backwards empty and away from the loading target, and a path of the operation of the work machine 3 while moving backwards with a load.

[0060] The path following control unit 103 commands the operation of the traveling device 4 and the work machine 3. The path following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 travels following the optimal path generated by the path planning unit 102. A command signal for causing the wheel loader 1 to travel along the optimal path is output from the path following control unit 103 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 work machine 3 operates along the optimal path generated by the path planning unit 102. A command signal for causing the work machine 3 to move along the optimal path is output from the path following control unit 103 to the work machine control unit 82.

[0061] The interface 130 is configured to be able to transmit and receive signals to and from the vehicle body controller 50. The interface 130 has an automation changeover switch 131, an engine emergency stop switch 132, and a mode lamp 133.

[0062] The automation changeover switch 131 is operated by an operator. By operating the automation changeover switch 131, the operator switches between manually operating the wheel loader 1 and automatically controlling the wheel loader 1. The engine emergency stop switch 132 is operated by the operator. When an event occurs that requires an emergency stop of the engine 21, the operator operates the engine emergency stop switch 132. Signals indicating the operation of the automation changeover switch 131 and the engine emergency stop switch 132 are input to the vehicle body controller 50.

[0063] The mode lamp 133 indicates whether the wheel loader 1 is currently in a mode where it is manually operated by an operator, or in a mode where it is automatically controlled. A command signal is output from the vehicle body controller 50 to the mode lamp 133 to control the lighting of the lamp.

[0064] The automation controller 100 is also configured to be able to send and receive signals to and from the communication device 150. The automatic control system of the wheel loader 1 is configured to be able to transmit information held by the automation controller 100 to the outside via the communication device 150.

[0065] Fig. 5 is a block diagram showing a schematic configuration of the communication system. The automation controller 100 shown in Fig. 4 transmits information to an external controller 400 via a communication device 150. The external controller 400 is provided outside the wheel loader 1. The external controller 400 transmits a command signal to a communication device 350 of the transport machine 300 based on the information received from the automation controller 100. The transport machine 300 is a machine that transports materials, such as a dump truck or a belt conveyor.

[0066] The external controller 400 issues a command to operate the transport machine 300 via the communication device 350. The external controller 400 transmits a command to the transport machine 300 to replenish material to a material accumulation site, such as a stockyard, where the remaining amount of material is low and replenishment of material is required.

[0067] The external controller 400 may be disposed at the work site of the wheel loader 1, or may be disposed at a remote location away from the work site of the wheel loader 1. The external controller 400 may be a portable device. The external controller 400 may be a portable device that can be carried and used by a worker, such as a laptop computer, a tablet computer, or a smartphone.

[0068] <Travel route during excavation and loading operations> The wheel loader 1 of the embodiment performs excavation and loading work by scooping material into a bucket 6 and loading the material in the bucket 6 into a loading target such as a dump truck. The material is soil, rocks, ore, wood chips, etc. that have been excavated at a work site or transported to the work site by a transport machine such as a dump truck or a ship.

[0069] Fig. 6 is a schematic diagram showing the travel path of a wheel loader 1 performing excavation and loading work. The excavation target 200 shown in Fig. 6 is a pile of material that is excavated and scooped up by the bucket 6 of the work implement 3 of the wheel loader 1. The work site shown in Fig. 6 is provided with multiple (two) stockyards 220A, 220B. The excavation target 200 is accumulated in the stockyard 220A and the stockyard 220B. The same type of material is accumulated in the stockyard 220A and the stockyard 220B.

[0070] The excavation position PA is the position to which the widthwise center 6c (FIG. 2) of the bucket 6 should head when the wheel loader 1 excavates material in the stockyard 220A. The excavation position PB is the position to which the widthwise center 6c of the bucket 6 should head when the wheel loader 1 excavates material in the stockyard 220B. The wheel loader 1 excavating the excavation target 200 can select positions as the excavation positions PA and PB that minimize the travel distance traveled toward the excavation target 200 in order to scoop up material into the bucket 6 and load a certain amount of material onto the work machine 3, typically to fully load the bucket 6 with material.

[0071] The loading target 500 is a container into which the material loaded on the work machine 3 (bucket 6) is loaded. Examples of the loading target 500 include a vessel of a dump truck and a hopper disposed above a belt conveyor. The loading target 500 has a structure capable of receiving the material. The loading position PD is a position to which the widthwise center 6c of the bucket 6 should be directed when loading the material into the loading target 500.

[0072] As shown in Fig. 6, a travel path for the wheel loader 1 is generated so that the wheel loader 1 performing excavation and loading work travels in a V-shape. V-shape travel is a typical travel path for the wheel loader 1 when performing excavation and loading work, and the travel path of the wheel loader 1 forms a V shape. When the wheel loader 1 travels in a V-shape to perform excavation and loading work, the travel distance of the wheel loader 1 is minimized, and therefore this is considered to be an efficient travel path.

[0073] The turning position PC is a position where the wheel loader 1 switches the traveling direction from reverse to forward. After excavating the excavation target 200, the wheel loader 1 moves backward, switches the traveling direction at the turning position PC, and moves forward toward the loading target 500. After loading the material into the loading target 500, the wheel loader 1 moves backward, switches the traveling direction at the turning position PC, and moves forward toward the stockyards 220A, 220B.

[0074] An excavation and loading operation using V-shape traveling will now be described. The wheel loader 1 moves forward empty-load along the path 250A toward an excavation position PA in the stockyard 220A. Alternatively, the wheel loader 1 moves forward empty-load along the path 250B toward an excavation position PB in the stockyard 220B. During the empty-load forward movement, the boom cylinder 16 and the bucket cylinder 19 operate to place the work implement 3 in an excavation position with the tip of the boom 14 in a low position and the bucket 6 facing horizontally.

[0075] The wheel loader 1 plunges the blade tip 6a of the bucket 6 into the excavation target 200 and stops forward travel. This excavation (plunging) operation causes the blade tip 6a of the bucket 6 to dig into the excavation target 200. In this state, the boom 14 and the bucket 6 rise and the bucket 6 tilts back. This excavation (scooping) operation scoops the excavation target 200 into the bucket 6. In this manner, the wheel loader 1 performs the excavation operation.

[0076] The wheel loader 1 performs loaded reverse travel, in which the wheel loader 1 moves backward with the excavation target 200 loaded in the bucket 6. The wheel loader 1 moves backward from the excavation position PA to the turning position PC along the path 250A. Alternatively, the wheel loader 1 moves backward from the excavation position PB to the turning position PC along the path 250B. The wheel loader 1 may raise the bucket 6 while moving backward.

[0077] The wheel loader 1 switches its traveling direction from reverse to forward at the turning position PC, and moves forward with the excavation target 200 loaded in the bucket 6, carrying the load. The wheel loader 1 travels forward along the route 550 from the turning position PC to the loading position PD. The wheel loader 1 travels forward toward the loading target 500 while lifting the bucket 6 or while maintaining the bucket 6 in a lifted state. The wheel loader 1 approaches the loading target 500 until the bucket 6 reaches a predetermined position located almost directly above the bed of the loading target 500.

[0078] When the wheel loader 1 approaches the loading target 500 and reaches a predetermined position, it dumps the bucket 6 and loads the material in the bucket 6 onto the loading target 500. Thereafter, the wheel loader 1 moves backward along the path 550 to the turning position PC while lowering the boom 14 to return the work implement 3 to the excavation position.

[0079] The above is a typical operation that constitutes one cycle of excavation and loading work. The wheel loader 1 excavates the excavation target 200 and loads the excavated material into the loading target 500 by repeating the above-mentioned operations in sequence.

[0080] When the wheel loader 1 excavates the excavation target 200, the front frame 2a and the rear frame 2b are in a straight-advance position without bending relative to each other. When the wheel loader 1 loads the material in the bucket 6 onto the loading target 500, the front frame 2a and the rear frame 2b are in a straight-advance position without bending relative to each other.

[0081] <Route generation process> The process of generating a travel route for the wheel loader 1 when the excavation and loading work described with reference to Fig. 6 is automatically controlled will be described below. Fig. 7 is a flow chart showing the flow of the process of generating a travel route for the wheel loader 1. In the example described below, it is assumed that at the time of "start" in Fig. 7, the wheel loader 1 is excavating the excavation target 200 accumulated in stockyard 220A of stockyards 220A, 220B shown in Fig. 6. Stockyard 220A corresponds to an example of a "first stockyard".

[0082] In step S1, the perception device 111 mounted on the wheel loader 1 detects a pile of material in the stockyard 220A, which is the excavation target 200. The perception device 111 is, for example, a LiDAR, and inputs a point cloud indicating the detection result of the excavation target 200 to the position estimation unit 101 of the automation controller 100. The position estimation unit 101 creates an elevation model of the excavation target 200 in the stockyard 220A from the point cloud detected by the LiDAR.

[0083] Fig. 8 is a schematic diagram showing an example of an elevation model of an excavation target 200, which is a material accumulation. The excavation target 200 shown in Fig. 8 is accumulated in a stockyard 220, which is an example of a material accumulation site. Fig. 8 shows a schematic diagram of the stockyard 220 and the excavation target 200 accumulated in the stockyard 220, viewed from above.

[0084] The stockyard 220 has a left side wall 221, a right side wall 222, and a back wall 223. The left side wall 221, the right side wall 222, and the back wall 223 are flat walls. The left side wall 221 and the right side wall 222 are arranged parallel to each other. The left side wall 221 and the right side wall 222 extend perpendicular to the back wall 223. The left side wall 221 is connected to one end of the back wall 223, and the right side wall 222 is connected to the other end of the back wall 223. The stockyard 220 has a three-sided frame shape in a plan view. The stockyard 220 is open on the lower side in FIG. 8. Through the opening, the wheel loader 1 can load materials in the stockyard 220 and excavate the excavation target 200 in the stockyard 220.

[0085] The direction in which the left side wall 221 and the right side wall 222 extend (the up-down direction in FIG. 8) is the direction in which the wheel loader 1 travels straight toward the excavation target 200 when excavating the excavation target 200. The back wall 223 extends in a direction perpendicular to the traveling direction (the left-right direction in FIG. 8; hereinafter referred to as the perpendicular direction).

[0086] The point cloud data acquired by the LiDAR includes three-dimensional position information of each reflection point where the laser light is reflected. The elevation model shown in FIG. 8 is generated using height information at each point in the stockyard 220 viewed in a plan view as shown in FIG. 8. The position estimation unit 101 recognizes the position and shape of the excavation target 200 based on the elevation model. The position and shape of the excavation target 200 are included in the appearance characteristics of the excavation target 200. The appearance characteristics of the excavation target 200 are included in the state of the excavation target 200.

[0087] The excavation target 200 has a peak 201 which has the highest mountain height, and a foot 202 on the front side (the side where the wheel loader 1 excavates the excavation target 200; the lower side in FIG. 8). The mountain height of the excavation target 200 is not uniform, but gradually decreases from the peak 201 to the foot 202. The foot 202 is illustrated diagrammatically as a straight line. The excavation target 200 has, near the foot 202, a low-peak region 203 where the amount of accumulated material is small and the mountain height is low, and an accumulation region 204 where the amount of accumulated material is greater than in the low-peak region 203 and the mountain height is higher than in the low-peak region 203.

[0088] The position estimation unit 101 calculates the remaining amount of material in the stockyard 220A. The remaining amount of material (excavation target 200) is included in the state of the excavation target 200. The remaining amount of material is calculated from an elevation model. Figure 9 is a diagram for explaining the process of calculating the remaining amount of material.

[0089] As shown in Fig. 9, the position estimation unit 101 virtually divides the elevation model of the excavation target 200 in the stockyard 220A into equal intervals in the above-mentioned traveling direction and perpendicular direction. The position estimation unit 101 obtains the height of each divided section. The height of the section may be the height of the center point of the section. The average value of the heights of each point included in the section may be the height of the section.

[0090] The position estimation unit 101 calculates the volume of the material in a section based on the area of ​​the section when the stockyard 220A is viewed in a plane and the height of the section. The position estimation unit 101 calculates the remaining amount of material in the stockyard 220A by adding up the values ​​of the volumes of the material in all the sections.

[0091] Returning to Fig. 7, in step S2, the path planning unit 102 of the automation controller 100 determines whether the remaining amount of material in the stockyard 220A is less than a specified value. The specified value may be, for example, the capacity of the bucket 6 of the wheel loader 1. The capacity of the bucket 6 is included in the specifications of the work machine 3.

[0092] The default value for the remaining amount of material is stored in the memory of the automation controller 100 or in another storage device. The path planning unit 102 reads out the default value for the remaining amount of material and compares the remaining amount of material calculated in step S1 with the default value to determine whether the remaining amount of material in the stockyard 220A is less than the specified value.

[0093] If the remaining amount of material in the stockyard 220A is equal to or greater than the specified amount (NO in step S2), the wheel loader 1 excavating the excavation target 200 in the stockyard 220A can load the bucket 6 with material in one excavation operation, and can continue the excavation operation properly. In this case, one excavation operation refers to the operation of the wheel loader 1 traveling forward toward the excavation target 200, excavating the excavation target 200, and starting to move backward. In step S3, the excavation operation in the stockyard 220A continues. The process returns to step S1.

[0094] Figure 10 is a schematic diagram of a wheel loader 1 moving forward empty toward an excavation target 200 in a stockyard 220. Figure 10(A) shows a state in which the remaining amount of material (excavation target 200) in the stockyard 220 is sufficiently greater than a specified value. In the state shown in Figure 10(A), it is easy to scoop up the excavation target 200 that is equal to or greater than the specified value into the bucket 6 of the wheel loader 1 and fill the bucket 6 with material.

[0095] If the remaining amount of material in the stockyard 220A is less than the specified value (YES in the determination in step S2), the wheel loader 1 excavating the excavation target 200 in the stockyard 220A cannot load the bucket 6 with material in one excavation operation, and it is determined that the excavation operation cannot be continued properly. Determining whether the remaining amount of material is less than the specified value corresponds to an example of determining "whether the excavation operation can be continued properly or not." The determination of whether the excavation operation can be continued properly or not is made based on the remaining amount of material and the capacity of the bucket 6.

[0096] FIG. 10(B) shows a state in which the remaining amount of material (excavation target 200) in the stockyard 220 falls below a specified value. When the remaining amount of material in the stockyard 220 decreases as shown in FIG. 10(B), it becomes difficult to fully load the bucket 6 with material when the wheel loader 1 performs excavation work, and the filling rate of material in the bucket 6 decreases. Even if excavation work is performed with a low filling rate, the amount of work cannot be secured and work efficiency decreases. Therefore, when the path planning unit 102 determines that the remaining amount of material has decreased to such an extent that the bucket 6 cannot scoop up a specified amount of material (excavation target 200) or more in one excavation work, it determines that the excavation work cannot be continued appropriately.

[0097] If the dimension of the stockyard 220 in the orthogonal direction is greater than the width of the bucket 6 (length L9 shown in FIG. 2), the path planning unit 102 judges whether the remaining amount of material in the stockyard 220 is less than a specified value in units of the width of the bucket 6. Even if the remaining amount of material in the stockyard 220 as a whole is equal to or greater than the specified value, if the remaining amount of material in a section that is a virtual division of the stockyard 220 in the orthogonal direction in units of the width of the bucket 6 is less than the specified value, the bucket 6 cannot scoop up more than the specified amount of material in one excavation operation. Therefore, in this case, the path planning unit 102 judges that the excavation operation cannot be continued appropriately.

[0098] In step S4, the path planning unit 102 stops the excavation work in the stockyard 220A. A command signal is sent from the path following control unit 103 of the automation controller 100 to the vehicle body controller 50. The vehicle body controller 50, which receives the signal, controls the actuator 140 to stop the excavation work in the stockyard 220A.

[0099] In step S5, the automation controller 100 transmits information to the external controller 400 (FIG. 5) via the communication device 150. The external controller 400 is a computer accessible to a manager who manages the work site, or a computer that constitutes a control system for the work site.

[0100] The information transmitted by the wheel loader 1 to the external controller 400 includes position information of the stockyard 220 currently being worked on. In other words, it includes information indicating where in the work site the stockyard 220 in which the wheel loader 1 is performing excavation work is located. Typically, it includes information indicating in which of the stockyards 220A and 220B shown in Fig. 6 the wheel loader 1 is performing excavation work.

[0101] The information transmitted by the wheel loader 1 to the external controller 400 includes the remaining amount of material in the currently working stockyard 220. In other words, the information includes information indicating how much material remains in the stockyard 220 where the wheel loader 1 is performing excavation work.

[0102] The information transmitted by the wheel loader 1 to the external controller 400 includes a report that the remaining amount of material in the currently working stockyard 220 has fallen below a specified value. In other words, a notice is given that sufficient excavation cannot be performed because the remaining amount of material in the stockyard 220 where excavation work is currently being performed is low.

[0103] In step S6, the manager or control system of the work site instructs the wheel loader 1 from the external controller 400 via the communication device 150 to move from the stockyard 220A where the excavation work has been performed to the stockyard 220B. The stockyard 220B corresponds to an example of a "second stockyard." The excavation targets 200 accumulated in the stockyard 220B correspond to an example of an "other excavation target."

[0104] In step S7, the wheel loader 1 moves to the stockyard 220B and starts excavating the excavation target 200 accumulated in the stockyard 220B. A command signal is sent from the path following control unit 103 of the automation controller 100 to the vehicle body controller 50. The vehicle body controller 50, which has received the signal, controls the actuator 140 to perform excavation work in the stockyard 220B and load the excavated material into the loading target 500.

[0105] In step S8, a manager or a control system at the work site issues a command from the external controller 400 via the communication device 350 (FIG. 5) to the transport machine 300 to replenish the material to the original stockyard 220 (in this example, the stockyard 220A).

[0106] FIG. 11 is a schematic diagram showing a state in which the wheel loader 1 has moved to the excavation position. The wheel loader 1 shown in FIG. 11 advances along the path 250B toward the excavation position PB of the stockyard 220B, and scoops up the excavation target 200 in the stockyard 220B into the bucket 6. The wheel loader 1 moves backward along the path 250B, and switches the traveling direction at the turning position PC. The wheel loader 1 moves forward along the path 550 toward the loading position PD of the loading target 500, and loads the material loaded in the bucket 6 into the loading target 500. The wheel loader 1 moves backward along the path 550, and switches the traveling direction at the turning position PC. In this way, the wheel loader 1 performs the work of excavating and loading the material in the stockyard 220B.

[0107] The transport machine 300 shown in FIG. 11 is a dump truck and has a vessel 301. The transport machine 300 travels through a work site with materials loaded on the vessel 301, thereby transporting the materials at the work site. The transport machine 300 approaches the stockyard 220A. The transport machine 300 travels along a route that does not interfere with the routes 250B, 550 of the wheel loader 1, and reaches a position for unloading materials into the stockyard 220A. The transport machine 300 unloads the materials in the vessel 301 into the stockyard 220A. In this manner, the transport machine 300 replenishes materials to the stockyard 220A.

[0108] In this way, the series of processes for generating a travel route for the wheel loader 1 is completed ("End" in FIG. 7).

[0109] <Action and Effects> Although some of the description herein overlaps with the above description, the characteristic configuration and effects of this embodiment can be summarized as follows.

[0110] 7, the automation controller 100 judges whether the wheel loader 1 performing the excavation work can continue the excavation work properly based on the state of the excavation target 200. When the automation controller 100 judges that the excavation work cannot be continued properly, it stops excavation of the excavation target 200.

[0111] When the wheel loader 1 performs continuous excavation work, if the excavation work cannot be continued properly, the work efficiency will decrease. If it is determined that the excavation work of the excavation target 200 cannot be continued properly, the excavation of the excavation target 200 is stopped, so that the efficiency of the excavation work by the wheel loader 1 can be prevented from decreasing.

[0112] 7 and 11, when the automation controller 100 determines that the excavation work cannot be continued appropriately, it may move the wheel loader 1 to another excavation target 200. When it determines that the excavation work of the excavation target 200 cannot be continued appropriately, the excavation of the excavation target 200 is stopped and the other excavation target 200 is excavated, so that the excavation work by the wheel loader 1 can be continued.

[0113] 6 and 11, the excavation target 200 may be accumulated in a stockyard 220A, and other excavation targets 200 may be accumulated in a stockyard 220B. When it is determined that the excavation work of the excavation targets 200 accumulated in the stockyard 220A cannot be continued appropriately, the excavation of the excavation target 200 in the stockyard 220A is stopped, and the other excavation targets 200 accumulated in the stockyard 220B are excavated, so that the excavation work by the wheel loader 1 can be continued.

[0114] As shown in Figs. 7 and 11, when the automation controller 100 determines that the excavation work cannot be continued properly, it may command the replenishing of the excavation target 200. The wheel loader 1 is moved to continue the excavation work of the other excavation target 200, while replenishing the excavation target 200 for the original excavation target 200. When the excavation work of the other excavation target 200 cannot be continued properly due to the continuous execution of the excavation work of the other excavation target 200, the excavation work of the other excavation target 200 is stopped, and the wheel loader 1 can be moved to excavate the replenishing original excavation target 200. This allows the excavation work by the wheel loader 1 to be continued.

[0115] 1 and 2, the work machine 3 has a bucket at its tip, and the automation controller 100 determines whether the wheel loader 1 can continue excavation work appropriately based on the state of the excavation target 200 and the specifications of the work machine 3, and the specifications of the work machine 3 may include the capacity of the bucket 6. The automation controller 100 can determine whether the wheel loader 1 can continue excavation work appropriately based on the capacity of the bucket 6.

[0116] 8 and 9, the automation controller 100 recognizes the shape of the excavation target 200 based on the detection result of the perception device 111, and the state of the excavation target 200 may include the remaining amount of the excavation target 200 calculated from the shape of the excavation target 200. The automation controller 100 can determine whether or not the wheel loader 1 can properly continue the excavation work based on the remaining amount of the excavation target 200.

[0117] 7 and 10, the automation controller 100 may determine that the excavation work cannot be continued properly if the bucket 6 cannot scoop a specified amount or more of the excavation target 200 in one excavation operation. If the excavation work is performed with a low filling rate of the bucket 6 with the excavation target 200, the amount of work cannot be secured and the work efficiency decreases. In such a case, if it is determined that the excavation work cannot be continued properly and the excavation is stopped, the decrease in the efficiency of the excavation work can be avoided.

[0118] In the above embodiment, the automation controller 100 mounted on the wheel loader 1 recognized the state of the excavation target 200 and determined the work of the wheel loader 1. Also, in the embodiment, the perception device 111 mounted on the wheel loader 1 detected the excavation target 200. This example is not limiting, and a system may be configured in which either or both of a sensor that detects the excavation target 200 and a management controller that determines the work of the work machine are provided outside the work machine.

[0119] An external controller 400 that is provided outside the wheel loader 1 and capable of communicating with the wheel loader 1 may determine the work of the wheel loader 1. The external controller 400 may receive an input of the detection result of the excavation target 200 to recognize the state of the excavation target 200, read out the specifications of the work machine 3 of the wheel loader 1, and determine whether the excavation work can be continued appropriately based on the state of the excavation target 200 and the specifications of the work machine 3.

[0120] The sensor that detects the excavation target 200 excavated by the work machine 3 does not necessarily have to be mounted on the wheel loader 1. The sensor may be disposed outside the work machine. The sensor may be mounted on another work machine, or on an unmanned aerial vehicle such as a drone. The sensor may be disposed at a predetermined point on the work site. For example, a sensor may be disposed on the upper part of a wall of the stockyard 220 to detect the excavation target 200 in the stockyard 220.

[0121] The state of the excavation target 200 that is used as a basis for determining whether the excavation work can be continued appropriately is not limited to the remaining amount of the excavation target 200. For example, whether the excavation work can be continued appropriately may be determined based on the shape of the excavation target 200. If it is determined that the shape of the excavation target 200 after continuous excavation has become such that the filling rate of the material in the bucket 6 would decrease if the excavation work were continued, it may be determined that the excavation work cannot be continued appropriately.

[0122] The specifications of the work machine 3 that are used as a basis for determining whether or not excavation work can be continued appropriately are not limited to the capacity of the bucket 6. For example, whether or not excavation work can be continued appropriately may be determined based on the type of attachment at the end of the work machine 3. If it is determined that the currently attached attachment is not an appropriate type of attachment for excavating the excavation target 200, it may be determined that excavation work cannot be continued appropriately.

[0123] The excavation target 200 described in the embodiment is accumulated in a stockyard 220 having a wall as shown in Fig. 8, but is not limited to this example. The excavation target 200 may be a pile of materials accumulated on the ground at a work site. The excavation target 200 may be formed by unloading the materials at an appropriate position at the work site using a transport machine and shaping the materials using a work machine such as a wheel loader or a shovel.

[0124] In the embodiment, a determination is made as to whether or not the work machine excavating the excavation target 200 can properly continue the work of excavating the excavation target 200. This example is not limiting, and in a case where there are multiple piles of material at a work site and the work machine is about to start excavating one of the piles of material, a determination may be made as to which pile to excavate based on the state of the piles and the specifications of the work machine 3. For example, if the current shape of a certain pile is one that would be better adjusted by raking work to make it easier to perform excavation work, a determination may be made not to select that pile as an excavation target, and a determination may be made to select a pile that has already been raked as an excavation target.

[0125] In the embodiment, the wheel loader 1 is provided with a cab 5, and an example has been described in which the wheel loader 1 is a manned vehicle in which an operator rides in the cab 5. The wheel loader 1 may be an unmanned vehicle. The wheel loader 1 does not have to be provided with a cab 5 for an operator to ride and operate. The wheel loader 1 does not have to be equipped with a steering function by an operator on board. The wheel loader 1 may be a work machine dedicated to remote control. The wheel loader 1 may be controlled by a wireless signal from a remote control device.

[0126] <Additional Notes> The above description includes the following additional features.

[0127] (Appendix 1) A work machine, comprising: A working machine, A sensor for detecting an excavation target excavated by the working machine; a management controller that recognizes a state of the excavation target and determines an operation of the work machine, The management controller determines whether the work machine performing excavation work to excavate the excavation target can continue the excavation work properly based on the state of the excavation target, and stops the excavation work if it determines that the excavation work cannot be continued properly.

[0128] (Appendix 2) The work machine according to claim 1, wherein the management controller, when determining that the excavation work cannot be continued properly, moves the work machine to another excavation target.

[0129] (Appendix 3) 3. The work machine according to claim 2, wherein the excavation targets are accumulated in a first stockyard, and the other excavation targets are accumulated in a second stockyard.

[0130] (Appendix 4) 4. The work machine according to claim 1, wherein the management controller issues a command to replenish the excavation target when it determines that the excavation work cannot be continued properly.

[0131] (Appendix 5) The work machine has a bucket at a tip, the management controller determines whether the work machine can properly continue the excavation work based on a state of the excavation target and a specification of the work machine; 5. The work machine according to any one of Supplementary Note 1 to Supplementary Note 4, wherein the specifications of the work machine include a capacity of the bucket.

[0132] (Appendix 6) The management controller recognizes a shape of the excavation target based on a detection result of the sensor, 6. The work machine according to claim 1, wherein the state of the excavation target includes a remaining amount of the excavation target calculated from a shape of the excavation target.

[0133] (Appendix 7) The work machine has a bucket at a tip, and the excavation work is a work of scooping up the excavation target into the bucket, The work machine according to claim 6, wherein the management controller determines that the excavation work cannot be continued properly if the bucket is unable to scoop up a specified value or more of the excavation target in one excavation work.

[0134] The embodiments disclosed herein are illustrative in all respects and should not be considered as limiting. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0135] 1 wheel loader, 2 vehicle frame, 3 work machine, 4 travel device, 6 bucket, 6a cutting edge, 6c width direction center, 14 boom, 50 vehicle controller, 60 engine controller, 70 transmission controller, 80 work machine controller, 100 automation controller, 101 position estimation unit, 102 path planning unit, 103 path following control unit, 110 external information acquisition unit, 111 perception device, 120 vehicle information acquisition unit, 150, 350 communication device, 200 excavation target, 201 mountain top, 202 foothills, 203 low mountain area, 204 accumulation area, 220, 220A, 220B stockyard, 221 left side wall, 222 right side wall, 223 back wall, 250A, 250B, 550 route, 300 transport machine, 301 Vessel, 400 external controller, 500 loading target, PA,PB digging position, PC turning position, PD loading position.

Claims

1. A work machine, comprising: A working machine, A sensor for detecting an excavation target excavated by the working machine; a management controller that recognizes a state of the excavation target and determines an operation of the work machine, The management controller determines whether the work machine performing excavation work to excavate the excavation target can continue the excavation work properly based on a state of the excavation target, and stops the excavation work when it determines that the excavation work cannot be continued properly.

2. The work machine according to claim 1 , wherein the management controller, when determining that the excavation work cannot be continued appropriately, moves the work machine to another excavation target.

3. The work machine according to claim 2 , wherein the excavation targets are stored in a first stockyard, and the other excavation targets are stored in a second stockyard.

4. The work machine according to claim 1 , wherein the management controller issues a command to replenish the excavation target when it is determined that the excavation work cannot be continued appropriately.

5. The work machine has a bucket at a tip, the management controller determines whether the work machine can properly continue the excavation work based on a state of the excavation target and a specification of the work machine; The work machine according to claim 1 , wherein the specifications of the work machine include a capacity of the bucket.

6. The management controller recognizes a shape of the excavation target based on a detection result of the sensor, The work machine according to claim 1 , wherein the state of the excavation target includes a remaining amount of the excavation target calculated from a shape of the excavation target.

7. The work machine has a bucket at a tip, and the excavation work is a work of scooping up the excavation target into the bucket, The work machine according to claim 6 , wherein the management controller determines that the excavation work cannot be continued appropriately if the bucket is unable to scoop up a specified value or more of the excavation target in one excavation work.

8. 1. A system including a work machine, comprising: A working machine, A sensor for detecting an excavation target excavated by the working machine; a management controller that recognizes a state of the excavation target and determines an operation of the work machine, The management controller determines whether the work machine performing excavation work to excavate the excavation target can continue the excavation work properly based on the state of the excavation target, and stops the excavation work if it determines that the excavation work cannot be continued properly.

9. Recognizing the state of the excavation target; determining whether a work machine performing an excavation operation for excavating the excavation target can properly continue the excavation operation based on a state of the excavation target; and stopping the excavation work when it is determined that the excavation work cannot be continued properly.

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