System including work machine, work machine, and automatic travel control method for work machine

Abstract

To provide a system including a work machine, a work machine, and an automatic travel control method for the work machine, performing automatic movement to a work start position of automatic work when moving one of places to be excavated to the other one of the places to be excavated.SOLUTION: A wheel loader 1 moves to a work start position P2 of a second place 200B to be excavated using the completion of excavation of a first place 200A to be excavated as a trigger. After this, an automatic work automating work that the second place 200B is excavated and excavated object is loaded on a load object 300 is carried out. Position information sensors 111, 112 detect position information on a present position P1 and a work start position P2 of the wheel loader 1. An automatic controller 100 generates a traveling route R1 from the present position P1 to the work start position P2 on the basis of the position information on the present position P1 and the work start position P2.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] For example, Japanese Patent Laid-Open Publication No. 10-88625 (Patent Document 1) discloses a wheel loader that can automatically perform a series of operations from excavation, to the dump approach for loading, and loading into the dump. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-88625 Summary of the Invention [Problem to be solved by the invention]

[0004] There are multiple excavation targets (natural ground), and after completing a series of operations on one excavation target (natural ground), it may be necessary to carry out a series of operations on another selected excavation target (natural ground).In this case, it is necessary to accurately position a work machine such as a wheel loader at a standby position (operation start position) from which to begin automatic operations on the selected other excavation target (natural ground), but manual positioning is a cumbersome task.

[0005] An object of the present disclosure is to provide a system including a work machine that automatically moves to a work start position for automatic work when moving from one excavation target to another excavation target, a work machine, and an automatic travel control method for a work machine. [Means for solving the problem]

[0006] A system including a work machine and each of the work machines disclosed herein executes an automated operation that automates a series of operations, including moving to a work start position for a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target. Each of the system including a work machine and the work machine disclosed herein includes a position information sensor and a controller. The position information sensor detects the current position of the work machine. The controller generates a travel route from the current position to the work start position of the second excavation target based on position information between the current position detected by the position information sensor and the work start position of the second excavation target.

[0007] The method for controlling automatic travel of a work machine disclosed herein executes an automatic operation that automates a series of operations, including moving to a work start position for a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target. The method for controlling automatic travel of a work machine disclosed herein comprises the following steps.

[0008] Position information for the current position of the work machine is detected. A travel route from the current position to the work start position of the second excavation target is generated based on the position information for the detected current position and the work start position of the second excavation target. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to realize a system including a work machine that automatically moves to a work start position for automatic work when moving from one excavation target to another excavation target, a work machine, and an automatic travel control method for a work machine. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a side view of a wheel loader as an example of a work machine. [Figure 2] FIG. 2 is a plan view of the wheel loader shown in FIG. [Figure 3] FIG. 1 is a diagram illustrating an excavation and loading operation by a wheel loader. [Figure 4]FIG. 1 is a block diagram showing a schematic configuration of a control system for a wheel loader. [Figure 5] FIG. 1 is a block diagram showing the configuration of an automatic travel control system for a wheel loader. [Figure 6] FIG. 2 is a schematic diagram showing a travel path of a wheel loader up to a work start position for automatic work. [Figure 7] 3 is a flowchart showing an automatic travel control method for a wheel loader. DETAILED DESCRIPTION OF THE INVENTION

[0011] 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 arbitrarily combined.

[0012] <Overall configuration of wheel loader 1>

[0013] 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.

[0014] As shown in Figures 1 and 2, the wheel loader 1 mainly comprises a body frame 2, a work implement 3, a traveling device 4, and a cab 5. The body frame 2, the cab 5, etc. make up the body of the wheel loader 1. The work implement 3 and the traveling device 4 are attached to the body of the wheel loader 1. The main body of the wheel loader 1 comprises the body and the traveling device 4.

[0015] 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 traveling wheels 4a, 4b to rotate, and can perform desired work using the work implement 3. The traveling device 4 corresponds to an example of a "traveling body".

[0016] 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 on which the work implement 3 is arranged relative to the 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-and-right direction of the wheel loader 1 is the direction perpendicular to the fore-and-aft direction when the wheel loader 1 is viewed from above on flat ground. Looking forward, the right and left sides of 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 bottom side, and the side with sky is the top side.

[0017] 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.

[0018] 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 are extended and retracted by hydraulic oil from a steering pump (not shown), thereby changing the direction of travel of the wheel loader 1 from left to right. The front frame 2a and the rear frame 2b make up a 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 that they can be bent.

[0019] 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.

[0020] The work implement 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, a left boom pin 9L and a right boom pin 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 rotation centers. The left boom pin 9L and the right boom pin 9R support the work implement 3 rotatably relative to the body frame 2.

[0021] 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 excavating and loading. The cutting edge 6a is the tip of the bucket 6. The back surface 6b is 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.

[0022] The work implement 3 further includes a bell crank 18 and a link 15. The bell crank 18 has a substantially central portion rotatably supported on the boom 14 by a support pin 18a located substantially in the longitudinal center of the boom 14. The link 15 is connected to a connecting pin 18c provided at the lower end (tip) 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.

[0023] The front frame 2a and the boom 14 are connected by a pair of boom cylinders 16. The boom cylinders 16 are hydraulic cylinders. The boom cylinders 16 rotate the boom 14 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 cylinders 16 are hydraulic actuators that move 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.

[0024] 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 an implement cylinder that drives the bucket 6. The bucket cylinder 19 drives the bucket 6 to rotate around the bucket pin 17. The bucket 6 is configured to be movable relative to the boom 14. The bucket 6 is configured to be movable relative to the front frame 2a.

[0025] The boom cylinder 16 and the bucket cylinder 19 constitute a work implement actuator that drives the work implement 3.

[0026] A cab 5 in which the operator sits and a pair of running wheels (rear wheels) 4b are attached to the rear frame 2b. The box-shaped cab 5 is located behind the boom 14. The cab 5 is mounted on the rear frame 2b. The cab 5 is placed on the body frame 2. Inside the cab 5, a seat in which the operator of the wheel loader 1 sits, an operating device 8 (Fig. 4) described below, and the like are arranged.

[0027] The cab 5 is provided with a perception device 111. The perception device 111 is arranged, for example, on the ceiling of the cab 5. The perception device 111 is mounted, for example, on the top surface of the cab 5. The perception device 111 is arranged, for example, at the front of the cab 5. The perception device 111 is attached to the cab 5, for example, facing forward, and is capable of acquiring information about the area in front of the cab 5. Details of the perception device 111 will be described later.

[0028] Length L1 shown in FIG. 1 is the length from the cutting edge 6a of the bucket 6 to the rear end of the vehicle body in the front-to-rear direction (total length of the wheel loader 1). Length L2 is the length from the front end of the front wheels 4a to the rear end of the vehicle body in the front-to-rear direction (vehicle body length of the wheel loader 1). Length L3 is the length from the center of the front wheels 4a to the center of the rear wheels 4b in the front-to-rear direction (wheelbase length). Length L4 is the length from the center of the front wheels 4a to the bending center between the front frame 2a and the rear frame 2b in the front-to-rear direction. Length L5 is the length from the bending center between the front frame 2a and the rear frame 2b to the center of the rear wheels 4b in the front-to-rear direction.

[0029] 2 is the length (bucket width) from the left end to the right end of the bucket 6. The center point 6c of the bucket 6 in the width direction is the center point of the bucket 6 in the left-right direction.

[0030] The lengths L1 to L5, L9 shown in Figures 1 and 2 are included in the specification values ​​of the wheel loader 1. The specification values ​​of the wheel loader 1 also include the minimum turning radius of the vehicle body. The wheel loader 1 has an articulated structure in which the front frame 2a and the rear frame 2b can bend relative to each other, which reduces the minimum turning radius of the vehicle body compared to a rigid structure. The specification values ​​of the wheel loader 1 are unique to each individual wheel loader 1, and are stored in the vehicle body controller 50, which will be described later.

[0031] <Excavation and loading work>

[0032] The wheel loader 1 of this embodiment performs excavation and loading work by scooping excavated material into the bucket 6 and loading the excavated material in the bucket 6 into a loading target 300 such as a dump truck. The excavated material is earth, sand, rocks, ore, etc. that has been excavated at a work site or transported to the work site by a transport machine such as a dump truck. Figure 3 is a diagram illustrating excavation and loading work performed by the wheel loader 1 based on this embodiment.

[0033] Figure 3(A) shows the wheel loader 1 moving forward empty. The wheel loader 1 moves forward toward the excavation target 200, which is a pile of excavated material. The boom cylinder 16 and bucket cylinder 19 (Figure 1) operate so that the work implement 3 assumes an excavation posture with the tip of the boom 14 in a low position and the bucket 6 facing horizontally.

[0034] Figures 3(B) and (C) show the wheel loader 1 performing an excavation operation. The wheel loader 1 plunges the cutting edge 6a of the bucket 6 into the excavation target 200 and stops forward travel. The excavation (plunging) operation shown in Figure 3(B) causes the cutting edge 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, causing the bucket 6 to move along the bucket trajectory BL as shown by the arrow in Figure 3(C). This operation performs an excavation (scooping) operation in which the excavation target 200 is excavated and the excavated material is scooped into the bucket 6, as shown in Figure 3(C).

[0035] Depending on the type of excavation target 200, the excavation (scooping) operation may be completed by tilting back bucket 6 once. Alternatively, during the excavation (scooping) operation, the bucket 6 may be tilted back, neutralized, and tilted back again, and the operation may be repeated.

[0036] Fig. 3(D) shows the wheel loader 1 moving backward with a load. The wheel loader 1 moves backward with excavated material loaded in the bucket 6. The wheel loader 1 may raise the bucket 6 while moving backward.

[0037] 3(E) shows the wheel loader 1 moving forward with a load. The wheel loader 1 moves forward toward the object to be loaded 300 while raising the bucket 6 or while maintaining the bucket 6 in a raised state. The wheel loader 1 approaches the object to be loaded 300 until the bucket 6 reaches a predetermined position located almost directly above the bed of the object to be loaded 300.

[0038] Fig. 3(F) shows the wheel loader 1 performing an earth-discharging operation onto the loading target 300. When the wheel loader 1 approaches the loading target 300 and reaches a predetermined position, it dumps the bucket 6 and loads the excavated material in the bucket 6 onto the loading target 300. The wheel loader 1 then moves backward to the position where it started forward travel in Fig. 3(E), while lowering the boom 14 to return the work implement 3 to the excavation position.

[0039] The above is a typical operation that constitutes one cycle of excavation and loading work. The wheel loader 1 repeats the above-mentioned operations in sequence to excavate the excavation target 200 and load the excavated material into the loading target 300, such as a dump truck.

[0040] When the wheel loader 1 excavates the excavation target 200 shown in Figures 3(B) and (C), the front frame 2a and the rear frame 2b are in a straight-advance position and do not bend relative to each other. When the wheel loader 1 loads the excavated material in the bucket 6 into the loading target 300 shown in Figure 3(F), the front frame 2a and the rear frame 2b are in a straight-advance position and do not bend relative to each other.

[0041] <System configuration>

[0042] FIG. 4 is a block diagram showing a schematic configuration of a control system that controls the wheel loader 1. As shown in FIG.

[0043] As shown in Fig. 4, the engine 21 is a drive source, such as a diesel engine, that generates drive power for driving the work implement 3 and the traveling device 4. Instead of the engine 21, a motor driven by an electricity storage device may be used as the drive source, or both the engine and the motor may be used. The output of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder of the engine 21.

[0044] The driving force generated by the engine 21 is transmitted to the transmission (T / M) 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 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.

[0045] 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 that 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 extends and contracts, causing the boom 14 to rise and fall. The bucket cylinder 19 receives a supply of hydraulic oil and extends and contracts, causing the bucket 6 to rotate up and down.

[0046] 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.

[0047] The vehicle body controller 50 is generally implemented by loading 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.

[0048] The operating device 8 is provided in the cab 5. The operating device 8 is operated by an operator. The operating device 8 is equipped with a plurality of types of operating members that the operator operates 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.

[0049] 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. Increasing the amount of operation (depression amount) of accelerator pedal 41 increases the output of engine 21. Decreasing the amount of operation of accelerator pedal 41 decreases the output of engine 21. Transmission controller 70 controls transmission 23 based on the amount of operation of accelerator pedal 41.

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

[0051] 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 cutting edge of the bucket 6 moves down). 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 cutting edge of the bucket 6 moves up). The electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 retracts and the boom 14 moves down. The electromagnetic proportional control valve 36 also switches the main valve 32 so that the boom cylinder 16 extends and the boom 14 moves up.

[0052] The machine monitor 51 displays various types of information upon receiving command signals from the vehicle body controller 50. The various types of 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, coolant temperature, and hydraulic oil temperature, and peripheral images captured of the area around the wheel loader 1. The machine monitor 51 may be a touch panel, and in this 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.

[0053] <Automatic driving control system for wheel loader 1>

[0054] There is a demand for the wheel loader 1 to automatically travel to a start position for an automatic operation that automates the series of operations shown in Figure 3. Figure 5 is a block diagram showing the configuration of an automatic travel control system for the wheel loader 1.

[0055] As shown in Fig. 5, the automation controller 100 is configured to be able to send and receive signals to and from the vehicle body controller 50 described with reference to Fig. 4. The automation controller 100 is also configured to be able to receive signals 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.

[0056] The perception device 111 acquires information about the surroundings of the wheel loader 1. The perception device 111 detects information such as the position and shape of a mountain-shaped first excavation target 200A having a first peak T1 and a mountain-shaped second excavation target 200B having a second peak T2 shown in Fig. 6. The perception device 111 is attached to the front of the top surface of the cab 5, for example.

[0057] 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 emits laser light to acquire information about the object. The perception device 111 may also be a visual sensor including a camera. The perception device 111 may also be a Radar (Radio Detection and Ranging) that acquires information about the object by emitting radio waves. The perception device 111 may also be an infrared sensor.

[0058] The position information acquisition device 112 acquires information about the current position of the wheel loader 1. The position information acquisition device 112, for example, uses a satellite positioning system to acquire position information of the wheel loader 1 in a global coordinate system based on the Earth. The position information acquisition device 112, for example, uses GNSS (Global Navigation Satellite Systems) and has a GNSS receiver. The satellite positioning system calculates the position of the GNSS receiver antenna using positioning signals received by the GNSS receiver from satellites to calculate the position of the wheel loader 1. The position information acquisition device 112 calculates the positions of each of the first excavation target 200A and the second excavation target 200B in the global coordinate system. The perception device 111 and the position information acquisition device 112 each correspond to an example of a "position information sensor" that detects the current position P1 of the wheel loader 1 and the work start position P2 of the second excavation target 200B, respectively, shown in FIG. 6.

[0059] The external environment information of the wheel loader 1 obtained by the perception device 111 and the position information of the wheel loader 1 obtained by the position information acquisition device 112 are input to the automation controller 100.

[0060] The vehicle body controller 50 is configured to be able to receive signals from the vehicle information acquisition unit 120. Information about the wheel loader 1 acquired by the vehicle information acquisition unit 120 is input to the vehicle body controller 50. 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.

[0061] The articulation angle sensor 121 detects the articulation angle, which is the 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.

[0062] 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).

[0063] The boom angle sensor 123 is configured, for example, by a rotary encoder provided on the boom pin 9, which is the attachment portion of the boom 14 to the body frame 2. The boom angle sensor 123 detects the angle (boom angle) of the boom 14 with respect to the horizontal direction, and generates a signal of the detected angle of the boom 14. The boom angle sensor 123 outputs the signal of the angle of the boom 14 to the body controller 50.

[0064] Bucket angle sensor 124 is configured, for example, by a rotary encoder provided on support pin 18a, which is the rotation axis of bell crank 18. Bucket angle sensor 124 detects the angle of bell crank 18 relative 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 relative to boom 14 (bucket angle) from the detected angle of bell crank 18.

[0065] The boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a work implement attitude sensor that detects the attitude of the work implement 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.

[0066] 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 increases when bucket 6 is loaded and decreases when it is empty. Boom cylinder pressure sensor 125 outputs the boom bottom pressure signal to vehicle body controller 50.

[0067] The vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100. The automation controller 100 receives detection values ​​from the articulation angle sensor 121, the vehicle speed sensor 122, etc. via the vehicle body controller 50.

[0068] The electromagnetic proportional control valve 140 is configured to be able to receive signals from the vehicle body controller 50. The electromagnetic proportional control valve 140 is driven in response to command signals from the vehicle body controller 50. The electromagnetic proportional control valve 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, and a work implement EPC 143 for operating the work implement 3.

[0069] The electromagnetic proportional control valves 35 and 36 shown in Fig. 4 constitute a work machine EPC 143. The transmission 23 shown in Fig. 4 is realized as an HMT 144 that utilizes electronic control. The transmission 23 may be an HST (Hydro-Static Transmission), or may be an HMT (Hydraulic Mechanical Transmission) that combines an HST and a mechanical transmission. 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 system, or may include any combination of an HMT, an HST, and an electric drive device.

[0070] 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 to the brake EPC 141 to control the operation of the brake. The accelerator control unit 72 outputs a command signal to the HMT 144 to control the vehicle speed.

[0071] 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 to control the traveling direction of the wheel loader 1. The work machine control section 82 outputs a command signal to the work machine EPC 143 to control the operation of the work machine 3.

[0072] The automation controller 100 includes a current position estimation unit 101 , a target position setting unit 102 , a path generation unit 103 , and a path following control unit 104 .

[0073] The current position estimation unit 101 estimates the current position of the wheel loader 1 based on information acquired by the external environment information acquisition unit 110. Specifically, the current position estimation unit 101 estimates the current position P1 (FIG. 6) of the wheel loader 1 based on positioning signals received from satellites by a GNSS receiver, which is an example of the position information acquisition device 112, or detection signals from a LiDAR, which is an example of the perception device 111. The current position estimation unit 101 may create a highly accurate surrounding map using data acquired by the LiDAR, and estimate its own position by comparing the surrounding map with a pre-stored map (SLAM: Simultaneous Localization and Mapping).

[0074] The target position setting unit 102 sets a target position based on the external environment information acquired by the external environment information acquisition unit 110. The target position is, for example, a work start position P2 (FIG. 6) of an automated work in which a series of works shown in FIG. 3 is automated. The target position is, for example, an excavation position Bx in the second excavation target 200B where the wheel loader 1 excavates the second excavation target 200B with the bucket 6. The target position is, for example, a loading area P3 (FIG. 6) in the loading target 300, which is the relative position of the work implement 3 (bucket 6) with respect to the loading target 300 when loading the excavated material into the loading target 300. For example, the perception device 111 may recognize each of the target positions and input them to the automation controller 100, or the target position setting unit 102 may set the target position based on the detection results detected by the perception device 111.

[0075] The path generation unit 103 generates an optimum path for the wheel loader 1 when the wheel loader 1 travels automatically. As shown in Fig. 6, the path generation unit 103 generates a travel path R1 as an optimum path connecting, for example, the current position P1 of the wheel loader 1 at the time when excavation of the first excavation target 200A is completed and the work start position P2 of the automatic work. Furthermore, as shown in Fig. 6, the path generation unit 103 generates a travel path R2 as an optimum path connecting the current position of the wheel loader 1 and a target position to which the wheel loader 1 is heading during execution of excavation and loading work. The travel path R2 has, for example, a V-shape for V-shaped travel.

[0076] The path generating unit 103 generates the following path as the travel path R2. For example, the path generating unit 103 generates a path for travel of the wheel loader 1 moving forward empty toward the excavation target 200. The path generating unit 103 generates a path for the operation of the work implement 3 during excavation work. The path generating unit 103 generates a path for travel of the wheel loader 1 moving backward empty and away from the excavation target 200, and a path for the operation of the work implement 3 while moving backward empty. The path generating unit 103 generates a path for travel of the wheel loader 1 moving forward empty toward the loading target 300, and a path for the operation of the work implement 3 while moving forward empty. The path generating unit 103 generates a path for the operation of the work implement 3 that unloads the excavated material scooped into the bucket 6 onto the loading target 300. The path generating unit 103 generates a path for travel of the wheel loader 1 moving backward empty and away from the loading target 300, and a path for the operation of the work implement 3 while moving backward empty.

[0077] Furthermore, when generating the travel route R1, the route generation unit 103 recognizes, for example, the position of the center pin 10 of the wheel loader 1 at the time when excavation of the first excavation target 200A during the automatic operation is completed as the current position P1. The current position P1 is acquired by the perception device 111 or the position information acquisition device 112. The route generation unit 103 also recognizes a work start position P2 of the automatic operation based on a relative positional relationship with the second excavation target 200B. The route generation unit 103 may also recognize the work start position P2 based on a relative positional relationship with both the second excavation target 200B and the loading target 300. The route generation unit 103 may also recognize the work start position P2 based on the travel route R2 generated as described above.

[0078] The path following control unit 104 commands the operation of the traveling device 4 and the work implement 3. The path following control unit 104 controls the accelerator, brake, and steering so that the wheel loader 1 travels by following the optimal route generated by the path generation unit 103. The path following control unit 104 outputs command signals to the brake control unit 71, accelerator control unit 72, and steering control unit 81 to cause the wheel loader 1 to travel along the optimal route. The path following control unit 104 controls the boom cylinder 16 and bucket cylinder 19 so that the work implement 3 operates along the optimal route generated by the path generation unit 103. The path following control unit 104 outputs a command signal to the work implement control unit 82 to cause the work implement 3 to move along the optimal route. The path following control unit 104 enables the wheel loader 1 to travel by following the travel routes R1 and R2.

[0079] As shown in Figure 5, the wheel loader 1 may be remotely operated by an operator using an external operation device 350. The wheel loader 1 and operation device 350 have communication devices 150, 310 for communicating with each other. The communication device 150 of the wheel loader 1 has a receiving unit 150a for receiving remote operation commands from the operation device 350, and a transmitting unit 150b for transmitting operation information and the like of the wheel loader 1 to the operation device 350. On the other hand, the communication device 310 of the operation device 350 has a receiving unit 310a for receiving information transmitted from the transmitting unit 150b of the wheel loader 1, and a transmitting unit 310b for transmitting remote operation commands to the receiving unit 150a of the wheel loader 1.

[0080] In addition to the communication device 310, the operation device 350 has an operation unit 320 that is operated by an operator, and a display unit 330 that displays various information. The operation unit 320 can perform operations, for example, to transition the wheel loader 1 to a state in which automatic traveling is permitted. The operation unit 320 can also perform operations, for example, to cause the wheel loader 1 to start automatic work. The operation unit 320 can also perform operations, for example, to drive the work implements 3 and traveling devices 4 of the wheel loader 1.

[0081] The display unit 330 displays, for example, information relating to work performed by the wheel loader 1, vehicle body information such as the remaining fuel level, coolant temperature and hydraulic oil temperature, and images of the surrounding area of ​​the wheel loader 1. The display unit 330 may be a touch panel, in which case a signal generated when the operator touches a part of the display unit 330 is transmitted from the transmitter 310b to the receiver 150a. In this case, the display unit 330 can function as the operation unit 320.

[0082] The operating device 350 is placed in a remote location away from the wheel loader 1. The operating device 350 may be installed in a location away from the work area including the first excavation target 200A and the second excavation target 200B, or may be fixedly installed in the work area, or may be installed in a mobile information terminal such as a smartphone or tablet, or may be installed in the loading target 300.

[0083] The interface 130 is configured to be able to send and receive signals to and from the vehicle body controller 50. The interface 130 has an engine emergency stop switch 131 and a mode lamp 132.

[0084] The engine emergency stop switch 131 is operated by an operator. When an event occurs that requires the engine 21 to be stopped urgently, the operator operates the engine emergency stop switch 131. A signal indicating the operation of the engine emergency stop switch 131 is input to the vehicle body controller 50.

[0085] The mode lamp 132 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 132 to control the lighting of the lamp.

[0086] The automation controller 100 is also configured to be able to send and receive signals to and from the communication device 150. The automatic travel control system of the wheel loader 1 is configured so that the automation controller 100 can issue commands to drive various operations of the wheel loader 1 based on information acquired from the communication device 150.

[0087] <Automatic driving control method>

[0088] The following describes a control method for automatically driving the wheel loader 1 to the work start position P2 of the automatic work that automates the series of works shown in Figure 3. Figure 6 is a schematic diagram showing the travel route R1 of the wheel loader to the work start position P2 of the automatic work. Figure 7 is a flowchart showing the automatic driving control method for the wheel loader 1.

[0089] Each of the first excavation target 200A and the second excavation target 200B shown in Fig. 6 is a pile of excavated material excavated by the bucket 6 of the wheel loader 1. Each of the first excavation target 200A and the second excavation target 200B may be a pile of excavated material accumulated in an excavated material accumulation area such as a stockyard surrounded by walls on three sides. Each of the first excavation target 200A and the second excavation target 200B may be a pile of excavated material formed on vacant land.

[0090] The first excavation target 200A has a first peak T1 with the highest mountain height, and a first base F1 on the near side (the side where the wheel loader 1 excavates the first excavation target 200A; the lower side in FIG. 6). The second excavation target 200B has a second peak T2 with the highest mountain height, and a second base F2 on the near side (the side where the wheel loader 1 excavates the second excavation target 200B; the lower side in FIG. 6).

[0091] The first foot F1 and the second foot F2 are each shown as a straight line. The height of each of the excavation targets 200A and 200B is not uniform, but gradually decreases from the tops T1 and T2 to the foot F1 and F2.

[0092] The lateral base of the first excavation target 200A and the lateral base of the second excavation target 200B are separated from each other. However, if the first excavation target 200A and the second excavation target 200B are not surrounded by walls on three sides, the lateral base of the first excavation target 200A and the lateral base of the second excavation target 200B may be connected to each other. In this case, if a flat ground (plane) can be recognized between the first excavation target 200A and the second excavation target 200B, the lateral base of the first excavation target 200A and the lateral base of the second excavation target 200B may be connected to each other.

[0093] A loading target 300 such as a dump truck stops at a loading area P3, which is an arbitrary location relative to the excavation target 200. The loading target 300 basically stops at a stopping position that complies with the rules of the work site, but may stop at an arbitrary stopping position that differs from the stopping position that complies with the rules of the work site at the discretion of the operator operating the loading target 300 or at the instruction of a control center monitoring the work site. A dump truck, which is an example of the loading target 300, has a vessel 301 for loading excavated materials.

[0094] The operator automatically excavates the first excavation target 200A using the wheel loader 1. When the excavation of the first excavation target 200A by the automatic operation is completed, the position of the wheel loader 1 is, for example, at position P1 in the drawing.

[0095] 7, when the excavation of the first excavation target 200A by the automatic operation is completed, the end of excavation of the first excavation target 200A is used as a trigger and in step S11 the operator instructs the wheel loader 1 to move to the next excavation target (second excavation target 200B). The operator gives the wheel loader 1 an instruction to move to the second excavation target 200B as a remote control command using, for example, the operation unit 320 of the operation device 350. The instruction to move to the second excavation target 200B transmitted from the operation device 350 is received by the receiving unit 150a of the communication device 150 and output to the automation controller 100.

[0096] Note that an operator riding on the wheel loader 1 may issue a movement instruction to the second excavation target 200B by operating the operation unit of the wheel loader 1. In this case, the movement instruction to the second excavation target 200B is output from the operation unit of the wheel loader 1 to the automation controller 100. Also, instead of an instruction from the operator, the automation controller 100 itself may issue a movement instruction to the second excavation target 200B based on the completion of excavation by automatic work of the first excavation target 200A.

[0097] In step S12, the automation controller 100 acquires an instruction to move to the second excavation target 200B, causing the path generation unit 103 of the automation controller 100 to generate a travel path R1 from the current position P1 of the wheel loader 1 to a work start position P2 for the second excavation target 200B. When generating the travel path R1, the path generation unit 103 acquires the current position P1 and the work start position P2.

[0098] The current position P1 is estimated by the current position estimation unit 101 based on a positioning signal received from a satellite by a GNSS receiver, which is an example of the position information acquisition device 112. The current position P1 may also be estimated by the current position estimation unit 101 using a SLAM technique that uses a LiDAR, which is an example of the perception device 111. The path generation unit 103 acquires information about the current position P1 from the current position estimation unit 101. The work start position P2 is set by the target position setting unit 102 based on a detection signal from a LiDAR, which is an example of the perception device 111. The path generation unit 103 acquires information about the work start position P2 from the target position setting unit 102. Note that the information about the work start position P2 may be provided to the automation controller 100 (for example, the path generation unit 103) from outside the wheel loader 1.

[0099] The work start position P2 is set based on the relative positional relationship between the wheel loader 1 and the second excavation target 200B. For example, when the wheel loader 1 is located at the expected work start position P2, the position where the center line CL1 in the left-right direction of the wheel loader 1 is collinear with the center line CL2 of the second excavation target 200B is set as the work start position P2. Furthermore, when the wheel loader 1 travels straight from the expected work start position P2 towards the second excavation target 200B, the position where the center point 6c of the cutting edge 6a coincides with the center point Bx of the second excavation target 200B is set as the work start position P2.

[0100] The work start position P2 may be set based on the relative positional relationship between the wheel loader 1, the second excavation target 200B, and the loading target 300. For example, as described above, when the center line CL1 of the wheel loader 1 and the center line CL2 of the second excavation target 200B are positioned on the same straight line, and the wheel loader 1 is positioned at the assumed work start position P2, a position where the loading area P3 is included within a range of a viewing angle θ2 of 120° for the operator riding on the wheel loader 1 may be set as the work start position P2. The position where the viewing angle θ2 is 120° may be set based on the center of the center pin 10, or may be set at a specific point in the interior space of the cab 5.

[0101] The work start position P2 may also be set based on a travel route R2 when performing an automatic work (excavation and loading work) that automates the series of work shown in Fig. 3. The travel route R2 is generated by the route generation unit 103, for example, as follows.

[0102] When generating the travel route R2, first the excavation location of the second excavation target 200B is detected, and a route for loading onto the loading target 300 is generated. Specifically, the perception device 111 mounted on the wheel loader 1 detects the second excavation target 200B and the loading target 300. The objects around the wheel loader 1 detected by the perception device 111 include the second excavation target 200B and the loading target 300. The perception device 111 inputs the detection results of the second excavation target 200B and the loading target 300 to the automation controller 100.

[0103] The target position setting unit 102 recognizes the second excavation target 200B and the loading target 300 based on the detection results of the perception device 111. The target position setting unit 102 recognizes the position and shape of the pile of excavated material, which is the second excavation target 200B. The target position setting unit 102 recognizes the position and shape of the loading target 300 (for example, the vessel 301). The target position setting unit 102 recognizes the angle θ1 formed between the base F2 of the second excavation target 200B and the left side of the vessel 301.

[0104] The path generating unit 103 of the automation controller 100 recognizes a loading position A1, which is the relative position of the work implement 3 (bucket 6) with respect to the loading object 300, such as a dump truck, when loading excavated material onto the loading object 300.

[0105] The path generation unit 103 calculates the minimum distance x1 that the wheel loader 1 can travel in a V shape from the specification values ​​(including lengths L1 to L5, L9) of the wheel loader 1. V-shaped traveling is a typical traveling path when the wheel loader 1 performs excavation and loading work, and the traveling 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 traveling distance of the wheel loader 1 is minimized, and therefore this is considered to be an efficient traveling path.

[0106] The path generating unit 103 sets the position of the second base F2 of the second excavation target 200B, which is a distance x1 away from the loading position A1 in the direction in which the second base F2 extends, as a tentative excavation position B1. The path generating unit 103 selects an excavation position Bx at a position farther away from the loading target 300 than the tentative excavation position B1 in the direction in which the second base F2 of the second excavation target 200B extends.

[0107] The path generation unit 103 generates the shortest path connecting the loading position A1 and the excavation position Bx during V-shaped traveling. The path generation unit 103 can determine a position that is a length L1 away from the second foot F2 of the second excavation target 200B, starting from the excavation position Bx, as the turning back position Tx. The path generation unit 103 can generate a straight path connecting the excavation position Bx and the turning back position Tx as the path for the wheel loader 1 to move forward empty toward the second excavation target 200B, and as the path for the wheel loader 1 to move backwards with a load away from the second excavation target 200B. The traveling paths when the wheel loader 1 moves forward empty and when the wheel loader 1 moves backwards with a load are farther away from the loading position A1 than the distance x1.

[0108] The path generating unit 103 can generate a path that combines straight lines and curves with any curvature so that the wheel loader 1, which starts moving forward with the load from the turning back position Tx, will have the center point 6c of the blade tip 6a of the bucket 6 reach the loading position A1 of the loading target 300, and the width direction of the bucket 6 when it reaches the loading position A1 will coincide with the fore-and-aft direction of the loading target 300. The radius of curvature of the curves included in this path is larger than the minimum radius at which the wheel loader 1 can turn without steering while stationary, so the wheel loader 1 can travel forward from the turning back position Tx to the loading position A1 without steering while stationary. The path generating unit 103 can use this generated path as the path for moving forward with the load, which moves the wheel loader 1 toward the loading target 300, and as the path for moving backward without the load, which moves the wheel loader 1 away from the loading target 300.

[0109] By setting the turning position Tx at a position that is farther away from the loading position A1 than the distance x1, the wheel loader 1, which moves forward with the load from the turning position Tx toward the loading position A1, can align the width direction of the bucket 6 with the fore-and-aft direction of the loading object 300 when the bucket 6 reaches the loading position A1 without steering at a stationary position.

[0110] In this way, a travel path R2 for V-shaped traveling, for example, is generated. When the travel path R2 for V-shaped traveling is generated, a work start position P2 for the wheel loader 1 in automatic work is also determined. The work start position P2 is determined to be a position where, for example, the position of the center point 6c of the cutting edge 6a of the bucket 6 coincides with the turning position Tx, and where the direction in which the wheel loader 1 travels straight forward coincides with the direction from the turning position Tx towards the excavation position Bx.

[0111] In step S13, once the travel route R1 has been generated as described above, the wheel loader 1 automatically travels along the generated travel route R1. During this automatic travel, the path following control unit 104 commands the operation of the traveling device 4 and the work implement 3. The path following control unit 104 controls the accelerator, brake, and steering so that the wheel loader 1 travels following the travel route R1. The path following control unit 104 outputs command signals to the brake control unit 71, accelerator control unit 72, and steering control unit 81 to cause the wheel loader 1 to travel along the travel route R1.

[0112] In step S14, the wheel loader 1 reaches the work start position P2 through the above-described automatic travel, which makes it possible to start automatic work that automates the series of work shown in FIG.

[0113] The automatic travel control in this embodiment is carried out as described above. As a result, when excavation in the automatic work of the first excavation target 200A is completed and the operator commands the wheel loader 1 to move to the second excavation target 200B, the travel route R1 is automatically generated and the wheel loader 1 automatically travels from the current position P1 to the work start position P2.

[0114] Alternatively, the operator may not instruct the wheel loader 1 to move to the second excavation target 200B, but the wheel loader 1 may detect that excavation in the automatic work of the first excavation target 200A has been completed, automatically generate a travel route R1, and automatically travel from the current position P1 to the work start position P2.

[0115] Furthermore, although the above describes a case in which the wheel loader 1 automatically travels to the second excavation target 200B after completing excavation of the first excavation target 200A, it may also automatically travel to the first excavation target 200A after completing excavation of the second excavation target 200B. Furthermore, when there are three or more excavation targets, the wheel loader 1 may automatically travel to another of the multiple excavation targets after completing excavation of one of the multiple excavation targets. When there are multiple excavation targets, the order in which the targets are excavated may be predetermined, and the order may be stored in the automation controller 100, for example.

[0116] <Action and effect>

[0117] Next, the characteristic configuration and effects of this embodiment will be summarized as follows.

[0118] 5 and 6, according to this embodiment, the automation controller 100 generates a travel route R1 from the current position P1 of the wheel loader 1 detected by the position information sensors (the perception device 111, the position information acquisition device 112, etc.) and a work start position P2 for starting the automated work. This makes it possible to automatically move to the work start position P2 for starting the automated work on the second excavation target 200B after the automated excavation of the first excavation target 200A is completed.

[0119] 5, the automation controller 100 controls the traveling device 4 so that the wheel loader 1 automatically travels along the generated travel route R1. This eliminates the need for manual operation by an operator.

[0120] 5, the automation controller 100 generates a travel path by selecting a second work start position P2 associated with the second excavation target 200B from among the work start positions of each of the multiple excavation targets including the first excavation target 200A and the second excavation target 200B, triggered by the completion of excavation of the first excavation target 200A. This allows the automation controller 100 to select the second work start position P2 associated with the second excavation target 200B from among the multiple excavation targets.

[0121] 5, the automation controller 100 generates a travel route based on the work start position P2 of the second excavation target 200B selected by the operator from among the work start positions of a plurality of excavation targets including the first excavation target 200A and the second excavation target 200B. This makes it possible to select the excavation target for which a travel route is to be generated by the operator.

[0122] Furthermore, according to this embodiment, the operation by the operator is performed from a remote location away from the work machine, as shown in Figure 5. This makes it possible to operate the wheel loader 1 from a remote location.

[0123] 5, according to this embodiment, the automation controller 100 automatically generates a travel route to the work start position P2 for the second excavation target 200B based on the completion of excavation of the first excavation target 200A. This makes it possible to generate a travel route and move to the work start position in response to instructions from the automation controller 100 without instructions from the operator.

[0124] Furthermore, according to this embodiment, the automation controller 100 generates a travel route R1 that can be traveled without stationary steering, as shown in Figure 5. This makes it possible to reduce damage (such as tire wear) that occurs to the wheel loader 1 due to stationary steering.

[0125] The automation controller 100 that constitutes the automatic travel control system for the wheel loader 1 explained in the above embodiment does not necessarily have to be mounted on the wheel loader 1. A controller external to the wheel loader 1 may construct a system that constitutes the automation controller 100. A controller mounted on the wheel loader 1 may perform processing to transmit information acquired by the external environment information acquisition unit 110 and the vehicle information acquisition unit 120, etc., to an external controller, and the external controller that receives the signal may generate a travel route for the wheel loader 1.

[0126] The external controller may be located at the work site of the wheel loader 1, or may be located in a remote location away from the work site of the wheel loader 1. The external controller may be a portable device that can be carried and used by a worker, such as a laptop computer, tablet computer, or smartphone.

[0127] In the above embodiment, a dump truck is used as an example of the loading object 300, and the operation of loading the excavated material loaded in the work implement 3 (bucket 6) into the vessel 301 has been described. The loading object 300 onto which the excavated material in the bucket 6 is to be loaded is not limited to the vessel 301 of the dump truck, and may be, for example, a hopper.

[0128] In the above embodiment, an example has been described in which the excavation target 200 and the loading target 300 are detected by the perception device 111 mounted on the wheel loader 1. The perception device 111 that detects objects around the main body of the wheel loader 1 does not necessarily have to be mounted on the wheel loader 1. The perception device 111 may also be disposed external to the work machine. For example, the perception device 111 may be disposed at a predetermined point on the work site, may be mounted on another work machine, or may be mounted on an unmanned aerial vehicle such as a drone.

[0129] In the above embodiment, an example has been described in which the wheel loader 1 is equipped with a cab 5 and 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 equipped with a cab 5 for an operator to ride in and operate. The wheel loader 1 does not have to be equipped with a control function by an operator on board. The wheel loader 1 may be a work machine exclusively for remote control. The wheel loader 1 may be controlled by a radio signal from a remote control device.

[0130] <Additional Notes>

[0131] The above description includes the following additional features.

[0132] (Appendix 1) A system including a work machine that performs an automated operation by automating a series of operations of moving to a work start position of a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target, a position information sensor that detects the current position of the work machine; a controller that generates a travel route from the current position to the work start position of the second excavation target based on position information of the current position detected by the position information sensor and the work start position of the second excavation target.

[0133] (Appendix 2) the work machine has a traveling body, The system described in Appendix 1, wherein the controller controls the traveling body so that the work machine automatically travels along the generated travel path.

[0134] (Appendix 3) The system described in Appendix 1 or Appendix 2, wherein the controller generates the travel path by selecting the work start position of the second excavation target from among the work start positions of each of a plurality of excavation targets including the first excavation target and the second excavation target, triggered by the completion of excavation of the first excavation target.

[0135] (Appendix 4) The system of any one of Appendix 1 to Appendix 3, wherein the controller generates the travel path based on the work start position of the second excavation target selected by an operator from among the work start positions of each of a plurality of excavation targets including the first excavation target and the second excavation target.

[0136] (Appendix 5) The system described in Appendix 4, wherein the operation by the operator is an operation by an operator from a remote location away from the work machine.

[0137] (Appendix 6) The system of any one of appendixes 1 to 3, wherein the controller automatically generates the travel path to the work start position of the second excavation target based on the completion of excavation of the first excavation target.

[0138] (Appendix 7) 7. The system of claim 1, wherein the controller generates the driving route that can be driven without stationary steering.

[0139] (Appendix 8) A work machine that performs an automated work in which a series of work operations are automated, including moving to a work start position of a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target, a position information sensor that detects the current position of the work machine; a controller that generates a travel route from the current position to the work start position of the second excavation target based on position information of the current position detected by the position information sensor and the work start position of the second excavation target.

[0140] (Appendix 9) An automatic travel control method for a work machine, which executes an automatic operation in which a series of operations are automated, including moving to a work start position of a second excavation target using completion of excavation of a first excavation target as a trigger, excavating the second excavation target, and loading the excavated material into a loading target, detecting a current position of the work machine; and generating a travel route from the current position to the work start position of the second excavation target based on position information of the detected current position and the work start position of the second excavation target.

[0141] The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined not by the above description but by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0142] 1 Wheel loader, 2 Body frame, 2a Front frame, 2b Rear frame, 3 Work implement, 4 Traveling device, 4a Front wheels, 4b Rear wheels, 5 Cab, 6 Bucket, 6a Cutting edge, 6b Rear face, 6c Center point, 8,350 Operating device, 9 Boom pin, 9L Left boom pin, 9R Right boom pin, 10 Center pin, 11 Steering cylinder, 13 Work implement pump, 14 Boom, 14L Left boom member, 14R Right boom member, 15 Link, 16 Boom cylinder, 17 Bucket pin, 18 Bell crank, 18a Support pin, 18b, 18c Connecting pin, 19 Bucket cylinder, 21 Engine, 23 Transmission, 25 Axle, 32 Main valve, 35, 36 Electromagnetic proportional control valve, 41 Accelerator pedal, 42 Work implement operating lever, 50 Body controller, 51 Machine monitor, 60 engine controller, 70 transmission controller, 71 brake control unit, 72 accelerator control unit, 80 work equipment controller, 81 steering control unit, 82 work equipment control unit, 100 automation controller, 101 current position estimation unit, 102 target position setting unit, 103 path generation unit, 104 path following control unit, 110 external information acquisition unit, 111 perception device, 112 position information acquisition device, 120 vehicle information acquisition unit, 121 articulate angle sensor, 122 vehicle speed sensor, 123 boom angle sensor, 124 bucket angle sensor, 125 boom cylinder pressure sensor, 130 interface, 131 engine emergency stop switch, 132 mode lamp, 140 electromagnetic proportional control valve, 141 brake EPC, 142 steering EPC, 143 work equipment EPC, 144 HMT, 150, 310 Communication device, 150a, 310a receiving unit, 150b, 310b transmitting unit, 200A first excavation target, 200B second excavation target, 300 loading target, 301 vessel, 320 operation unit, 330 display unit, F1 first base, F2 second base, P1 current position, P2 work start position, P3 loading area, R1, R2 traveling route, T1 first top, T2 second top.

Claims

1. A system including a work machine that performs an automated operation by automating a series of operations of moving to a work start position of a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target, a position information sensor that detects the current position of the work machine; a controller that generates a travel route from the current position to the work start position of the second excavation target based on position information between the current position detected by the position information sensor and the work start position of the second excavation target.

2. the work machine has a traveling body, The system according to claim 1 , wherein the controller controls the traveling body so that the work machine automatically travels along the generated travel path.

3. The system described in claim 1, wherein the controller generates the travel path by selecting the work start position of the second excavation target from among the work start positions of each of a plurality of excavation targets including the first excavation target and the second excavation target, triggered by the completion of excavation of the first excavation target.

4. The system described in claim 1, wherein the controller generates the travel path based on the work start position of the second excavation target selected by an operator from among the work start positions of each of a plurality of excavation targets including the first excavation target and the second excavation target.

5. The system according to claim 4 , wherein the operation by the operator is an operation by an operator from a remote location away from the work machine.

6. The system according to claim 1 , wherein the controller automatically generates the travel path to a work start position of the second excavation target based on completion of excavation of the first excavation target.

7. The system according to claim 1 , wherein the controller generates the driving route that can be driven without stationary steering.

8. A work machine that performs an automated work in which a series of work operations are automated, including moving to a work start position of a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target, a position information sensor that detects the current position of the work machine; a controller that generates a travel route from the current position to the work start position of the second excavation target based on position information of the current position detected by the position information sensor and the work start position of the second excavation target.

9. An automatic travel control method for a work machine, which executes an automatic operation in which a series of operations are automated, including moving to a work start position of a second excavation target in response to completion of excavation of a first excavation target, excavating the second excavation target, and loading the excavated material into a loading target, detecting a current position of the work machine; and generating a travel route from the current position to the work start position of the second excavation target based on position information of the detected current position and the work start position of the second excavation target.

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