Work machine

Abstract

To provide a work machine capable of accurately recognizing an obstacle or the like even if the obstacle or the like moves.SOLUTION: A work machine 1 of the present invention comprises an arm 13 extending forward from a body section 11 on the front side, an attachment provided at an end on the front side of the arm 13, and a status detection unit provided on a front outer surface of the body section 11 for detecting the front state of the front side. The status detection unit is provided on a vertical lower side of the front outer surface where a forward field of vision can be secured when the attachment is positioned at an upper side within a range that does not interfere with the movement of the work machine 1.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a work machine.

Background Art

[0002] Patent Document 1 discloses an excavator such as a wheel loader or a power shovel that can automatically perform the operation of loading from excavation to a dump truck. The movement of the excavator to the excavation target and the movement to the dump truck are performed by recognizing the front with a pair of cameras (the left camera on the left side and the right camera on the right side) provided on the left and right of the excavator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, work machines such as wheel loaders and bulldozers have an arm extending forward from a main body having a moving mechanism (for example, wheels or a caterpillar), and an attachment (for example, a bucket or a blade) is provided at the front end of the arm. The front side is difficult to check.

[0005] Therefore, when there is some obstacle on the front side, although it can be recognized from a distance, as it approaches the obstacle, the obstacle is hidden by the bucket and cannot be confirmed.

[0006] For this reason, the operation of bypassing the obstacle is a predicted avoidance based on detection at a distance, and there is a problem that when the obstacle moves after being hidden by the bucket, an appropriate avoidance operation cannot be performed.

[0007] The present invention has been made in view of such circumstances, and an object thereof is to provide a working machine that can accurately recognize an obstacle or the like even when the obstacle or the like has moved.

Means for Solving the Problems

[0008] The present invention is grasped by the following configuration in order to achieve the above object. (1) The working machine of the present invention includes an arm extending forward from the front-side body portion, an attachment provided at the front-side end of the arm, and a state detection unit provided on the front outer surface of the body portion for detecting the front-side state. The state detection unit is provided on the lower side in the vertical direction of the front outer surface where the front visual field can be secured when the attachment is located above within a range where the attachment does not interfere with the movement of the working machine.

Effects of the Invention

[0009] According to the present invention, it is possible to provide a working machine that can accurately recognize an obstacle or the like even when the obstacle or the like has moved.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0011] Hereinafter, with reference to the accompanying drawings, modes for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail. Note that the same elements are given the same numbers or symbols throughout the description of the embodiments.

[0012] The working machine 1 according to the embodiment of the present invention is a working machine 1 capable of manual operation directly operated by an operator and automatic operation not depending on the operation of the operator. Therefore, in the present embodiment, an automatic driving control system is also disclosed. While explaining the working machine 1 including the automatic driving control system (hereinafter, may be simply described as "automatic driving") with reference to FIGS. 1 to 3, it will also be explained that the working machine 1 of the present embodiment can accurately recognize obstacles 7 and the like.

[0013] FIG. 1 is a diagram for explaining the operation and the like of the working machine 1 during automatic driving in the present embodiment. As an example, it shows a case where earth and sand piled up during excavation at an excavation site are loaded onto a dump truck.

[0014] Specifically, the working machine 1 shows a series of operations of excavating the piled-up earth and sand as the excavation target 2 and transporting the excavated earth and sand, which is the excavated material, to the loading platform of the dump truck as the parabolic dropping place 3 for the excavated material.

[0015] In the present embodiment, the case of a wheel loader classified as a construction machine is described as the working machine 1. However, it may also be a bulldozer or the like classified as a construction machine or a shovel loader or the like classified as a transport machine in the same manner. Since the working machine itself is selected according to the work content, as long as it is a working machine to which the automatic driving control system according to the present invention can be applied, it is not particularly limited.

[0016] In these exemplified working machines 1, attachments such as the bucket 14 and the blade are located in front of the forward direction. For this reason, when there is some obstacle 7 in front of the forward direction, although the obstacle 7 can be recognized from a distant position, as it approaches the obstacle 7, the obstacle 7 is hidden by the attachment and cannot be confirmed. By providing the configuration of the present embodiment described later, it becomes possible to accurately recognize the obstacle 7 and the like.

[0017] In addition, in the present embodiment, since the working machine 1 is a wheel loader and the case where excavation work is performed with the wheel loader is shown, the attachment is the bucket 14, and hereinafter, the attachment will be referred to as the bucket 14.

[0018] As shown in FIG. 1, in addition to the working machine 1, the automatic driving control system disclosed in the present embodiment includes a user interface 1a (for example, a PC, a tablet, etc.) for an operator to remotely check the driving state and give operation instructions as necessary when the working machine 1 is in the automatic driving state.

[0019] Although the user interface 1a is not always necessary, there may be situations where remote operation is desired during work. Therefore, as an automatic driving control system, it is more preferable to include the user interface 1a.

[0020] Further, in the automatic driving control system disclosed in the present embodiment, at the stop position 6 suitable for dropping the excavated material transported by the working machine 1 to the dumping site 3, as will be described later, there is a feature point FD that defines the direction when stopping and the position in the direction orthogonal to that direction.

[0021] Note that by providing the feature point FD, it is possible to control the appropriate direction when the working machine 1 stops at the stop position 6 and the position in the direction orthogonal to that direction with simple processing, which is preferable. However, it is not always necessary to provide the feature point FD.

[0022] Hereinafter, first, after explaining the working machine 1 and the like used in the automatic driving control system of the present embodiment, while explaining the operation by the specific automatic driving control system, it will be explained that the working machine 1 can accurately recognize obstacles 7 and the like.

[0023] (Working machine 1) FIG. 2 is a side view for explaining the working machine 1 according to the embodiment of the present invention. As shown in FIG. 2, the working machine 1 includes a body portion 11 having a cab 11a used when an operator directly operates, a pair of left and right front wheels 12 provided on the body portion 11, a pair of left and right rear wheels 12, an arm 13 extending forward from the front body portion 11 and provided so as to be vertically drivable with respect to the body portion 11, and a bucket 14 provided at the front end of the arm 13 and rotatable with respect to the end of the arm 13. Note that the above left and right refer to the direction orthogonal to the direction connecting the front and rear of the body portion 11.

[0024] The arm 13 and the bucket 14 are driven by hydraulic control by operating operation levers L1 and L2 (see FIG. 3) provided in the cab 11a. An actuator 5 (see FIG. 3) is attached to the operation levers L1 and L2 to realize the same lever operation as that performed by the operator during automatic operation.

[0025] Note that there are also those that electrically detect the operation amount of the operation lever and perform hydraulic control with an electromagnetic proportional control valve. In that case, instead of the configuration of the actuator 5 described above, an electrical control mode may be used, and it is not necessary to be limited to those in which the control of the arm 13 and the bucket 14 during automatic operation is performed by an actuator that performs mechanical control.

[0026] That is, it may be such that the control unit 15 described later controls the electromagnetic proportional control valve according to an electrical signal corresponding to the operation amount of the operation lever, thereby driving the arm 13 and the bucket 14 corresponding to the operation of the operation levers L1 and L2.

[0027] FIG. 3 is a diagram for explaining an actuator 5 that drives the operation levers L1 and L2 of the working machine 1 according to an embodiment of the present invention. In FIG. 3, the operation lever L1 for operating the arm 13 and the operation lever L2 for operating the bucket 14 provided in the cab 11a are shown, and the illustration of a console that is a cover covering the lower portions of the operation levers L1 and L2 is omitted.

[0028] As shown in FIG. 3, the actuator 5 is provided so as to be located on the side surface orthogonal to the operation directions of the operation levers L1 and L2 of the base portions L11 and L21 that can drive the operation levers L1 and L2.

[0029] The actuator 5 includes a motor 51, a gear 52 that rotates by the rotational force of the motor 51, and a connection arm 53 that has a fixing portion 53a fixed to the bases of the operation levers L1 and L2 at one end and a gear portion 53b connected to the gear 52 at the other end.

[0030] As shown in FIG. 3, in order to avoid interference with the base portions L11 and L21, the connection arm 53 extends outward away from the operation levers L1 and L2 in a side view seen from the operation directions of the operation levers L1 and L2 from the fixing portion 53a at one end, then bends downward at a substantially right angle and extends, and further bends at a substantially right angle and extends outward away from the base portions L11 and L21, and the gear portion 53b at the other end is connected to the gear 52, and it is a substantially Z-shaped member.

[0031] In this way, since the actuator 5 is realized with a configuration that is easy to make compact, such as the motor 51, the gear 52, and the connection arm 53, it can be housed in a console (not shown), which is a cover that covers the lower portions of the operation levers L1 and L2 having a general shape.

[0032] In FIG. 3, the number of gears 52 is different between the actuator 5 that drives the operation lever L1 and the actuator 5 that drives the operation lever L2. This is because the actuator 5 that drives the operation lever L2 requires torque, so the gear 52 has a speed reduction structure. Whether to use a plurality of gears 52 or not is selected according to the required torque.

[0033] The operations of the operation levers L1 and L2 during automatic driving are controlled by the rotation of the motor 51, and the operation levers L1 and L2 are configured to be in the neutral position when no force is applied. The motor 51 is rotated forward or backward according to the direction in which the arm 13 or the bucket 14 is to be operated. In addition, when it is desired to maintain the state after operating the arm 13 or the bucket 14, the operation levers L1 and L2 may be positioned at the neutral position.

[0034] On the other hand, in the present embodiment, since it is assumed that an operator can board and move it manually, an electromagnetic clutch (not shown) is interposed between the motor 51 and the gear 52 so that no operation such as removing the actuator 5 occurs when the operator operates. By simply turning off the electromagnetic clutch that is ON during automatic operation, manual operation by the operator becomes possible.

[0035] Note that if an electromagnetic clutch is provided, in order to maintain the state after operating the above-described arm 13 or bucket 14 during automatic operation, by simply turning off the electromagnetic clutch to disengage the clutch, the operation levers L1 and L2 automatically return to the neutral position, so it has a utility value even during automatic operation.

[0036] Returning to the description of the working machine 1. As shown in FIG. 2, the working machine 1 includes a control unit 15 that controls the driving of various parts during automatic operation, and various measuring devices (inclinometer 16, 3D-LiDAR 17, gyro 18, GNSS 19, etc.) for obtaining information and the like necessary during automatic operation.

[0037] (Control unit 15) The control unit 15 includes a control panel 15a provided on the lower outer side surface of the cab 11a, and an input / output control panel 15b that is connected to an antenna WF provided on the outer ceiling surface of the cab 11a and is provided on the rear side inside the cab 11a. This antenna WF is, for example, a wireless antenna for performing data communication with the user interface 1a. Note that the control panel 15a and the input / output control panel 15b are fixed to the working machine 1 while being housed in boxes respectively.

[0038] The control panel 15a is in charge of all operations such as controlling the movement during automatic driving and controlling the driving of the arm 13 and the bucket 14 during automatic driving. For example, it may be configured using an integrated circuit, or it may be configured by combining a central processing unit (CPU) and a storage device (RAM, ROM), etc.

[0039] In addition, even during remote operation where an operator sends an operation command using the user interface 1a, the control panel 15a of the control unit 15 that receives the command controls the operations of each part of the working machine 1.

[0040] The input / output control panel 15b is in charge of the transmission and reception of the control unit 15 and is responsible for data communication between the control panel 15a, the user interface 1a, and various measuring devices provided on the working machine 1.

[0041] (Measuring device) In the working machine 1 of this embodiment, as various measuring devices mentioned above, an inclinometer 16, a 3D-LiDAR 17 (Light Detection and Ranging), a gyro 18, a GNSS 19 (Global Navigation Satellite System), etc. are provided.

[0042] (Inclinometer 16) The inclinometer 16 is provided at three locations: the surface facing the cab 11a side of the bucket 14, near the middle position in the longitudinal direction of the arm 13, and the outer ceiling surface of the cab 11a. During automatic driving, based on the inclination data detected by the inclinometer 16 provided on the arm 13 and the bucket 14, the control unit 15 controls the rotation of the motor 51 of the actuator 5 to control the appropriate operation amount of the arm 13 and the bucket 14.

[0043] In addition, the inclinometer 16 provided on the outer ceiling surface of the cab 11a is for detecting the inclination state of the working machine 1 itself. For example, the detection data is used to correct the influence of the inclination of the working machine 1 itself during the operation of the arm 13 and the bucket 14.

[0044] (3D-LiDAR 17) The 3D-LiDAR 17 is provided at three locations: the lower side in the vertical direction on the front outer surface of the body portion 11, the front side on the ceiling outer surface of the cab 11a, and on the body at the rear side of the body portion 11. Note that the vertical direction may be read as the vertical direction according to gravity, and the same applies hereinafter.

[0045] The 3D-LiDAR 17 acquires point cloud data represented by a three-dimensional coordinate axis according to the shape, position, etc. of surrounding structures, etc. centered on the working machine 1. And since the point cloud data can be used for creating 3D mapping, etc. that three-dimensionally represents the surrounding state centered on the working machine 1, it is preferable that all the 3D-LiDARs 17 be arranged at the center in the left-right direction. Note that the center in the left-right direction means the approximate center when viewed in the direction orthogonal to the direction connecting the front and rear of the body portion 11, and the same applies hereinafter.

[0046] The 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged on the lower side in the vertical direction of the front outer surface so that when the bucket 14 is positioned on the upper side in the vertical direction within a range where the working machine 1 can move safely, that is, a range that does not hinder movement, the front side in the front becomes the measurement area.

[0047] Specifically, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is preferably positioned below the uppermost position H1 (see FIG. 2) on the upper side in the vertical direction of the front wheel 12 on the front side.

[0048] If the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged at such a position, as shown in FIG. 2, within a range where there is no problem with the running of the working machine 1, by simply positioning the bucket 14 on the upper side in the vertical direction, the front view FV of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 can be secured.

[0049] In addition, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is preferably located above the position H2 (see FIG. 2) of the rotation center of the front wheel 12 in the vertical direction.

[0050] If the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is arranged at such a position, even when the working machine 1 travels on rough ground and the protrusion of the ground hits the front outer surface of the body portion 11, the collision with the 3D-LiDAR 17 can be avoided, and the failure of the 3D-LiDAR 17 can be suppressed.

[0051] When the working machine 1 moves in the forward direction, as shown in FIG. 2, basically, the bucket 14 is positioned above in the vertical direction within a range that does not interfere with the movement of the working machine 1, so that the front view FV of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 is ensured. Therefore, this 3D-LiDAR 17 functions as a state detection unit that detects the front state on the front side.

[0052] That is, the 3D-LiDAR 17 as a state detection unit for detecting the front state on the front side is provided on the lower side in the vertical direction of the front outer surface where the front view FV can be ensured when the bucket 14 is positioned above in the vertical direction within a range that does not interfere with the movement of the working machine 1.

[0053] As described above, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 that functions as the above state detection unit is located at the center in the left-right direction of the front outer surface as described above, so that the left-right visual field range on the front side is also substantially uniform. Therefore, when controlling the movement of the working machine 1, the trouble of performing correction considering the deviation of the visual field range can be saved.

[0054] On the other hand, the working machine 1 may move in the reverse direction, and the 3D-LiDAR 17 provided on the body on the rear side of the body part 11 functions as a state detection unit that detects the state in front of the reverse direction during reverse movement (hereinafter, may be described as the "rear state").

[0055] As described above, since the 3D-LiDAR 17 provided on the body on the rear side of the body part 11 functions as a state detection unit that detects the rear state, it is preferably provided behind the rear side wheels 12, more specifically, at the rearward end on the rear side body, so as to have a wide rear view.

[0056] In this embodiment, the 3D-LiDAR 17 provided at the center in the left-right direction on the front side of the outer ceiling surface of the cab 11a mainly functions as a state detection unit that detects the front state on the front side of the working machine 1, and preferably detects the upper state in the vertical direction where the field of view of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body part 11 is blocked by the bucket 14.

[0057] (Gyro 18) The gyro 18 is provided in a box that houses the input / output control panel 15b provided on the rear side of the cab 11a.

[0058] Then, the gyro 18 detects the posture state including the inclination of the body part 11, and the detected data is used to correct the influence of the inclination of the body part 11 and the like in the control of each part during automatic driving.

[0059] (GNSS 19) The GNSS 19 is provided at the center in the left-right direction on the rear side of the outer ceiling surface of the cab 11a, functions as a position detection unit that detects the position of the working machine 1 on the map information, and the detected position is used for movement control and the like during automatic driving. In addition, the GNSS 19 also functions as an azimuth angle detection unit that detects the azimuth angle, and the detected azimuth angle is used for movement control during automatic driving. Therefore, GNSS19 functions as a position and orientation detection unit that detects the position and orientation of the work machine 1 on the map information. Note that hereinafter, in some cases, the position detected by GNSS19 may be referred to as position information, the azimuth angle detected may be referred to as azimuth information, and in some cases, both may be referred to as azimuth position information.

[0060] (Feature point FD) Next, the feature point FD will be described with reference to FIG. 1. In the present embodiment, as shown in FIG. 1, a case where a plurality (specifically, two) of feature points FD are used is shown. The stop position 6 indicates a position suitable for the work machine 1 to stop and unload the excavated material carried on the bucket 14 onto the loading platform of the dump truck at the dumping location 3.

[0061] Specifically, when the work machine 1 stops at the stop position 6, the bucket 14 is appropriately positioned on the loading platform of the dump truck, and the excavated material can be unloaded onto the loading platform by driving the bucket 14.

[0062] In the present embodiment, it is assumed that the work machine 1 accesses from the side of the loading platform of the dump truck at the dumping location 3 and unloads the excavated material. Therefore, in order to guide the work machine 1 to a position suitable for the operation, the feature points FD are also provided at one end and the other end of the side surface of the loading platform of the dump truck. The line connecting the feature points FD is substantially parallel to the side surface of the loading platform, and the central portion of the line connecting the feature points FD is substantially at the center of the side surface of the loading platform of the dump truck.

[0063] When the feature points FD are provided in this way, when the working machine 1 reaches the stop position 6, it faces the line connecting the feature points FD and, when viewed in the direction orthogonal to the direction connecting the front and rear of the body portion 11 of the working machine 1, if the center line (hereinafter sometimes referred to as "the center line of the working machine 1") passes through the center and substantially overlaps the central portion of the line connecting the feature points FD, the working machine 1 will appropriately face the front side with respect to the loading platform of the dump truck and be positioned at a position corresponding to approximately the center of the loading platform of the dump truck.

[0064] Therefore, for example, as a detection unit for detecting the feature points FD, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the outer front surface of the body portion 11 is made to function, and while the working machine 1 reaches the stop position 6, it faces the line connecting the feature points FD, and the control unit 15 controls the movement of the wheels 12 so that the center line of the working machine 1 substantially overlaps the central portion of the line connecting the feature points FD. In this simple process, the appropriate orientation when the working machine 1 stops at the stop position 6 and the control of the position in the direction orthogonal to that orientation can be achieved.

[0065] Note that the stop position 6 can be set in advance by determining how far it should be from the feature points FD according to the size of the working machine 1 and the work content, and the line connecting the feature points FD can be set as a virtual line that is virtually positioned on the front side by the separation distance.

[0066] In this case, for example, as shown in FIG. 1, one end portion 61 is provided as the position where the corresponding feature point FD is projected forward by the separation distance, and the other end portion 62 is also provided as the position where the corresponding feature point FD is projected forward by the separation distance, and it may be set as a virtual line connecting the one end portion 61 and the other end portion 62 provided in this way.

[0067] Also, based on the measurement of the 3D-LiDAR 17, since the distance to the object and the shape of the object can be known, the stop position 6 may be more simply set as a position separated from the loading platform of the dump truck by the separation distance.

[0068] In this way, since the stop position 6 is set based on the bed reference of the dump truck, even if the parking position of the dump truck is somewhat deviated, an appropriate stop position 6 can be defined.

[0069] And, since the 3D-LiDAR 17 irradiates laser light and acquires point cloud data based on the information of the reflected light, a member having a reflectance distinguishable from the surroundings is used for the feature point FD.

[0070] Specifically, a retroreflective tape is used as a member having a high reflectance for the feature point FD. Note that it is not necessary to be limited to this. Since a three-dimensional map can be generated based on the point cloud data acquired by the 3D-LiDAR 17, those that are distinguishable from the surroundings in shape, etc. can also be used as the feature point FD. However, a reflective tape such as a retroreflective tape can be easily installed and removed, and is also inexpensive, so it is suitable as a member to be used for the feature point FD.

[0071] Note that in the above, the case of using two feature points FD is described. However, for example, the feature point FD may have a single linear shape corresponding to a line connecting between the feature points FD, or another feature point FD corresponding to the central part of the two feature points FD may be added and three feature points FD may be used. Therefore, the number of feature points FD is not limited to two.

[0072] (Operation of the working machine 1) Next, while mainly referring to FIG. 1, an explanation will be given including the operation by the automatic driving control system of the present embodiment, and it will be explained that the working machine 1 can accurately recognize obstacles 7 and the like.

[0073] When starting the work, the operator who monitors the work operates the user interface 1a and transmits the map information designating the range 21 of the excavation target 2 and the operation start position P1 to the working machine 1. Note that the designation of the operation start position P1 also includes the requirement that when the working machine 1 stops at the operation start position P1, the bucket 14 of the working machine 1 faces the range 21 side of the excavation target 2.

[0074] When the working machine 1 receives the map information, it stores it in the storage unit of the control unit 15 of the working machine 1. As a result, the working machine 1 will be equipped with the map information designating the range 21 of the excavation target 2 and the operation start position P1.

[0075] Note that the map information itself may be stored in advance in the storage unit of the control unit 15 of the working machine 1, and the operator may operate the user interface 1a to specify the range 21 of the excavation target 2 and the operation start position P1 on the map information. Also in this case, due to the designation, the working machine 1 will be equipped with the map information designating the range 21 of the excavation target 2 and the operation start position P1.

[0076] In addition, in this embodiment, when the operator operates the user interface 1a to transmit the map information, the parking space of the dump truck having a loading platform that is the dumping place 3 for lowering the excavated material and a rough movement route from the operation start position P1 to the parking space of the dump truck are specified. From this, the dumping place 3 for lowering the excavated material is also defined in the map information of this embodiment.

[0077] Note that here, a rough movement route from the operation start position P1 to the parking space of the dump truck is specified, and after excavation, once the working machine 1 returns to the operation start position P1, it is assumed to head towards the parking space of the dump truck. However, after excavation, the working machine 1 may move to a position different from the operation start position P1 and head towards the parking space of the dump truck from there.

[0078] In addition, the rough movement route can be specified by designating the positions of the starting point and the ending point of the movement on the map information, and the positions of one or more arbitrary relay points to be passed through from the starting point to the ending point can also be specified on the map information.

[0079] Then, after transmitting the map information to the working machine 1, the operator operates the user interface 1a to send an instruction command to start the automatic driving of the working machine 1 by the automatic driving control system.

[0080] When the control unit 15 of the working machine 1 receives the instruction command for automatic driving, if the working machine 1 is stopped at a location different from the operation start position P1 based on the position information detected by the GNSS 19 which is a position detection unit, the control unit 15 performs control to move the working machine 1 toward the operation start position P1 and stops the working machine 1 at the operation start position P1. FIG. 1 already shows the state where the working machine 1 has stopped at the operation start position P1.

[0081] Then, at the operation start position P1, the control unit 15 uses the 3D-LiDAR 17 as a measurement unit to acquire point cloud data as distance-related data corresponding to the distance to the excavation target 2. In the present embodiment, among the three 3D-LiDARs 17 provided in the working machine 1, the 3D-LiDAR 17 provided on the outer surface of the ceiling of the cab 11a is used as the measurement unit.

[0082] Note that it is not necessarily limited to this, and the 3D-LiDAR 17 provided on the front outer surface of the body portion 11 may be used as the measurement unit, or both the 3D-LiDAR 17 provided on the front outer surface of the body portion 11 and the 3D-LiDAR 17 provided on the outer surface of the ceiling of the cab 11a may be used as the measurement unit. When using two 3D-LiDARs 17, for example, the point cloud data as the two acquired distance-related data may be combined and used.

[0083] Specifically, in the storage unit of the control unit 15, when using the 3D-LiDAR 17 as the measurement unit, a predetermined height position of the excavation target 2 in the vertical direction (for example, a position around 1 m in the height position in the vertical direction) is stored so as to acquire horizontal point cloud data at that position.

[0084] Therefore, the control unit 15 gives an instruction to the 3D-LiDAR 17 for horizontal scan measurement at the predetermined height position, and the 3D-LiDAR 17 that has received the instruction acquires horizontal data. Note that this scan measurement may be performed, for example, a plurality of times (for example, about 3 times), and an average value may be obtained, and the averaged distance-related data may be used as the horizontal distance-related data. By averaging, it is possible to reduce the influence of measurement variations.

[0085] This horizontal scan measurement is performed only within the range 21 of the excavation target 2 specified in the map information, so point cloud data as distance-related data within the range 21 of the excavation target 2 is acquired. Note that based on the distance-related data obtained in this way, the state of the excavation target 2 obtained is drawn in a top view looking from above, which is the excavation target 2 in FIG. 1.

[0086] Then, when the distance-related data is acquired, next, the control unit 15 sets the position of the excavation target 2 closest to the work machine 1 based on the distance-related data as the excavation position, and as shown by the thick arrow in FIG. 1 pointing towards the excavation target 2, drives the wheels 12 to control the movement of the work machine 1 towards the excavation position and the driving of the bucket 14 for excavating the excavation target 2 at the excavation position, and causes the excavated material to be collected in the bucket 14.

[0087] As can be seen from the above series of descriptions, the operation start position P1 is a position for acquiring distance-related data before the work machine 1 moves to the excavation position.

[0088] In this way, when the excavated material is stored in the bucket 14 and the working machine 1 transports the excavated material, as shown in FIG. 2, the bucket 14 is positioned on the upper side in the vertical direction within a range that does not interfere with the movement of the working machine 1 so as to ensure the forward view FV of the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11. Therefore, as described above, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 functions as a state detection unit that detects the front state on the front side.

[0089] Next, after the excavated material is stored in the bucket 14, again, the control unit 15 drives the wheels 12 based on the position information detected by the GNSS 19, which is a position detection unit, to control the movement of the working machine 1 toward the operation start position P1. As described above, if a position different from the operation start position P1 is specified, the movement is controlled toward the different position.

[0090] Then, when reaching the operation start position P1, the control unit 15 continues to drive the wheels 12 based on the position information detected by the GNSS 19, which is a position detection unit, and controls the movement of the working machine 1 toward the parking space of the dump truck having a loading platform that is the dumping place 3 for unloading the excavated material according to the specified approximate movement route specified in the map information.

[0091] In this way, the control unit 15 drives the bucket 14, and after the excavation drive of loading the excavated material into the bucket 14, controls the movement of the working machine 1 toward the dumping place 3 based on the position information detected by the position detection unit.

[0092] Here, for the sake of easy understanding, it is assumed that the specified approximate movement route from the operation start position P1 specified in the map information to the dumping place 3 is a movement route that moves approximately in a straight line. However, as described above, it is also possible to specify a non-linear movement route by specifying the positions of one or more arbitrary relay points to be passed through on the map information.

[0093] However, there may be a case where the working machine 1 cannot move along a pre-specified movement route. For example, as shown in FIG. 1, there may be a case where an obstacle 7 that did not exist at the specified time is placed on the movement route that linearly connects from the pre-specified operation start position P1 to the parabolic position 3. FIG. 1 shows a case where there is such an obstacle 7.

[0094] Even if such an unexpected obstacle 7 appears, as described above, since the 3D-LiDAR 17 provided on the lower side in the vertical direction of the front outer surface of the body portion 11 functions as a state detection unit that detects the front state on the front side, the obstacle 7 can be recognized.

[0095] Moreover, the bucket 14 is located above the 3D-LiDAR 17, and since the 3D-LiDAR 17 detects the front state from below the bucket 14, there is no blind spot in its front view FV where the obstacle 7 cannot be recognized until reaching the obstacle 7. Conventionally, even a small obstacle 7 that cannot be recognized due to the blind spot caused by the bucket 14 can be accurately recognized.

[0096] Also, as described above, since there is no blind spot where the obstacle 7 cannot be recognized until the working machine 1 reaches the obstacle 7, even if the obstacle 7 moves, the obstacle 7 can be accurately recognized.

[0097] Therefore, when detecting such an obstacle 7, as shown by the thick arrow from the operation start position P1 to the parabolic position 3 in FIG. 1, the control unit 15 can always perform drive control of the wheels 12 to appropriately bypass the obstacle 7 while recognizing the obstacle 7. Then, as shown in FIG. 1, after bypassing the obstacle 7, the control unit 15 performs drive control of the wheels 12 to move toward the stop position 6 while returning to the original specified movement route.

[0098] Also, when the working machine 1 is moving towards the parking space of the dump truck and a feature point FD provided on the side surface of the loading platform of the dump truck enters the forward view FV of the 3D-LiDAR 17, as described earlier at the location of the feature point FD, the control unit 15 drives the wheels 12 while controlling the working machine 1 to face the stop position 6 so that the central line of the working machine 1 faces the line connecting the feature points FD and substantially overlaps the central portion of the line connecting the feature points FD. When the stop position 6 is reached, the working machine 1 is stopped.

[0099] And, as described earlier, when the working machine 1 is stopped at the stop position 6, the excavated material can be dropped onto the loading platform of the dump truck, which is the dumping location 3, by driving the bucket 14.

[0100] Therefore, when the working machine 1 stops at the stop position 6, the control unit 15 continues to control the parabolic driving of the bucket 14 to drop the excavated material onto the loading platform of the dump truck, which is the dumping location 3, and the first excavation operation is completed.

[0101] After the first excavation operation is completed, that is, after the parabolic driving of the bucket 14, the control unit 15 again controls the movement of the working machine 1 towards the operation start position P1 by driving the wheels 12 based on the position information detected by the position detection unit, and repeats the same operations as described above for the necessary number of times.

[0102] The present invention has been described based on specific embodiments as above, but the present invention is not limited to the above embodiments.

[0103] In the above embodiment, the case where the working machine 1 can perform manual operation and automatic operation has been described, but it is not necessarily limited to this. For example, the working machine 1 may perform only manual operation.

[0104] Even if the working machine 1 is only for manual operation, the 3D-LiDAR 17 provided on the lower side in the vertical direction of the outer front surface of the body portion 11 as a state detection unit for detecting the front state on the front side is a suitable configuration.

[0105] Specifically, as an assist function for the operator who operates this state detection unit, for example, if an image of the obstacle 7 based on the point cloud data acquired by the 3D-LiDAR 17 is displayed in the cab 11a, the operator can accurately recognize the obstacle 7.

[0106] In addition, due to the presence of this state detection unit, a collision prevention function such as stopping the working machine 1 before colliding with the obstacle 7 can be realized in consideration of the case where the operator is not aware.

[0107] Note that, as can be seen from the above description mainly taking the case of automatic driving as an example, the working machine 1 that only performs automatic driving may also be used.

[0108] Thus, those obtained by making changes and improvements to the embodiments are also included in the technical scope of the invention, which is obvious to those skilled in the art from the description of the claims.

Explanation of Reference Numerals

[0109] 1... Working machine, 1a... User interface, 11... Body part, 11a... Cab, 12... Wheels, 13... Arm, 14... Bucket, 15... Control unit, 15a... Control panel, 15b... Input / output control panel, 16... Inclinometer, 17... 3D-LiDAR, 18... Gyro, 19... GNSS, 2... Excavation target, 21... Range of excavation target, 3... Dumping location, 5... Actuator, 51... Motor, 52... Gear, 53... Connecting arm, 53a... Fixed part, 53b... Gear part, 6... Stop position, 61... One end, 62... The other end, 7... Obstacle, FD... Feature point, FV... Forward field of view, H1... Located on the upper side, H2... Position of the rotation center, L1... Operating lever, L11... Base, L2... Operating lever, L21... Base, P1... Operation start position, WF... Antenna

Claims

1. An operating machine, comprising: an arm extending forward from a front-side body portion; an attachment provided at a front-end portion of the arm; a state detection unit provided on a front outer surface of the body portion for detecting a front-side forward state. The operating machine is characterized in that the state detection unit is provided on a lower side in the vertical direction of the front outer surface where a front view can be secured when the attachment is positioned upward within a range that does not obstruct the movement of the operating machine.

2. a pair of left and right front-side wheels provided on the body portion; a pair of left and right rear-side wheels provided on the body portion. The operating machine according to Claim 1, characterized in that the state detection unit is positioned lower than the uppermost position on the upper side in the vertical direction of the front-side wheels.

3. The operating machine according to Claim 2, characterized in that the state detection unit is positioned on the upper side in the vertical direction of the rotation center position of the front-side wheels.

4. The operating machine according to any one of Claims 1 to 3, characterized in that the state detection unit is positioned at a central portion in the left-right direction of the front outer surface.

5. The operating machine according to any one of Claims 1 to 3, characterized in that the state detection unit is a 3D-LiDAR.

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