Method, controller for a work machine, and system including a work machine

Abstract

To determine arrangement of a loading object on which an excavation object to be excavated by a work machine is loaded.SOLUTION: In a step S1, at least one piece of layout information including arrangement of an excavation object to be excavated by a work machine and arrangement of a loading object on which the excavated excavation object is loaded by the work machine is prepared. In the step S2, the current position of the excavation target is acquired. In the step S5, the layout information is applied to the acquired current position of the excavation object to determine the arrangement of the loading object with respect to the current position of the excavation object.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a method, a work machine controller, and a system including a work machine, and in particular to a technique for determining the location of a loading target onto which an excavation target excavated by a work machine is loaded. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2007-43887 (Patent Document 1) discloses control of a work vehicle in which a loading position for a loading target is determined based on the loading status of the loading target vehicle, and loading guidance corresponding to the determined loading position is displayed on a display unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-43887 Summary of the Invention [Problem to be solved by the invention]

[0004] A wheel loader repeatedly performs excavation and loading operations. In order for the wheel loader to efficiently load the excavated material onto the loading target, it is necessary to determine the layout of the loading target so that the work can be carried out efficiently.

[0005] The present disclosure proposes a technique for determining the arrangement of loading targets onto which excavation targets to be excavated by a work machine are loaded. [Means for solving the problem]

[0006] A method according to an aspect of the present disclosure includes the following steps: A first step is to prepare at least one piece of layout information including the arrangement of an excavation target to be excavated by a work machine and the arrangement of a loading target onto which the excavated excavation target is to be loaded by the work machine; A second step is to acquire a current position of the excavation target; and A third step is to apply the layout information to the acquired current position of the excavation target to determine the arrangement of the loading target relative to the current position of the excavation target.

[0007] A work machine controller according to an aspect of the present disclosure prepares at least one piece of layout information including the arrangement of excavation targets to be excavated by the work machine and the arrangement of loading targets onto which the excavated excavation targets are to be loaded by the work machine. The work machine controller acquires the current position of the excavation target. The work machine controller applies the layout information to the acquired current position of the excavation target to determine the arrangement of the loading targets relative to the current position of the excavation target.

[0008] A system according to one aspect of the present disclosure is a system including a work machine, and includes a work machine main body having a traveling body, a work implement attached to the work machine main body, and a controller. The controller prepares at least one piece of layout information including the arrangement of excavation targets to be excavated by the work implement and the arrangement of loading targets onto which the work machine will load the excavated excavation targets. The controller acquires the current position of the excavation targets. The controller applies the layout information to the acquired current position of the excavation targets to determine the arrangement of the loading targets relative to the current position of the excavation targets. [Effects of the Invention]

[0009] According to the method, work machine controller, and system including the work machine disclosed herein, the arrangement of the loading target onto which the excavation target to be excavated by the work machine is loaded can be determined to be an arrangement that allows for efficient work. [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 control system for a wheel loader. [Figure 6] FIG. 10 is a schematic diagram showing a first example of layout information. [Figure 7] FIG. 10 is a schematic diagram showing a second example of layout information. [Figure 8] FIG. 2 is a schematic diagram showing the arrangement of loading targets relative to excavation targets. [Figure 9] 1 is a flowchart showing a process flow in a method according to an embodiment. [Figure 10] FIG. 10 is a diagram showing a first example of selection of layout information based on the surrounding situation. [Figure 11] FIG. 10 is a diagram showing a second example of selection of layout information based on the surrounding situation. [Figure 12] FIG. 10 is a diagram showing a third example of selection of layout information based on the surrounding situation. 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. In the drawings, configurations may be omitted or simplified for the sake of convenience. It is also intended from the beginning that any configurations may be extracted from the embodiments and arbitrarily combined.

[0012] <Overall configuration of wheel loader 1> In the embodiment, a wheel loader 1 will be described as an example of a work machine. Fig. 1 is a side view of the wheel loader 1 as an example of a work machine. Fig. 2 is a plan view of the wheel loader 1 shown in Fig. 1.

[0013] 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 (work machine main body) comprises the body and the traveling device 4.

[0014] 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".

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] The boom cylinder 16 and the bucket cylinder 19 constitute a work implement actuator that drives the work implement 3.

[0025] 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 (described later), and the like are arranged.

[0026] 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.

[0027] 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.

[0028] 2 is the length (bucket width) from the left end to the right end of the bucket 6. The width direction center 6c of the bucket 6 is the center point of the bucket 6 in the left-right direction.

[0029] 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.

[0030] <Excavation and loading work> The wheel loader 1 of this embodiment performs excavation and loading work by scooping material into a bucket 6 and loading the material in the bucket 6 into a loading target such as a dump truck. The material is 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.

[0031] 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 material. The boom cylinder 16 and bucket cylinder 19 operate to place the work implement 3 in an excavation position with the tip of the boom 14 in a low position and the bucket 6 facing horizontally.

[0032] 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 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 shown in Figure 3(C) in which the excavation target 200 is scooped into the bucket 6.

[0033] 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.

[0034] 3(D) shows the wheel loader 1 moving backward with a load. The wheel loader 1 moves backward with the excavation target 200 loaded in the bucket 6. The wheel loader 1 may raise the bucket 6 while moving backward.

[0035] 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.

[0036] Figure 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 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 Figure 3(E), while lowering the boom 14 to return the work implement 3 to the excavation position.

[0037] 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.

[0038] When the wheel loader 1 excavates the excavation target 200 shown in Figures 3(B) and (C), the front frame 2a and rear frame 2b are in a straight-advance position without bending relative to each other. When the wheel loader 1 loads material in the bucket 6 shown in Figure 3(F) into the loading target 300, the front frame 2a and rear frame 2b are in a straight-advance position without bending relative to each other.

[0039] <System configuration> FIG. 4 is a block diagram showing a schematic configuration of a control system that controls the wheel loader 1. As shown in FIG.

[0040] 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, an electric motor driven by a storage battery may be used as the drive source, or both an engine and an electric 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.

[0041] The driving force generated by the engine 21 is transmitted to the transmission 23. The transmission 23 changes the driving force to an appropriate torque and rotational speed. An axle 25 is connected to the output shaft of the transmission 23. The driving force changed 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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 .

[0048] 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.

[0049] 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.

[0050] <Automatic control system for wheel loader 1> When automating the loading operation of the wheel loader 1 onto the loading target 300, it is desirable to reproduce the operations of a skilled operator through automatic control in order to perform the loading operation more quickly while ensuring the amount of work. Figure 5 is a block diagram showing the configuration of the automatic control system for the wheel loader 1.

[0051] 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 send and receive signals to and from an external world information acquisition unit 110. The external world information acquisition unit 110 has a perception device 111 and a position information acquisition device 112. The perception device 111 and the position information acquisition device 112 are mounted on the wheel loader 1. The perception device 111 and the position information acquisition device 112 are mounted on the vehicle body of the wheel loader 1.

[0052] The perception device 111 acquires information about the surroundings of the wheel loader 1. The perception device 111 is attached, for example, to the front part of the top surface of the cab 5. The perception device 111 detects objects around the main body of the wheel loader 1 (work machine main body).

[0053] 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.

[0054] The position information acquisition device 112 acquires information about the current position of the wheel loader 1. For example, the position information acquisition device 112 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 uses, for example, GNSS (Global Navigation Satellite Systems) and has a GNSS receiver. The satellite positioning system calculates the position of the antenna of the GNSS receiver based on positioning signals received by the GNSS receiver from satellites, and calculates the position of the wheel loader 1.

[0055] 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.

[0056] The vehicle body controller 50 is configured to be able to send and receive signals to and 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.

[0057] 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.

[0058] 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 detects the progress of the traveling device 4 (traveling body).

[0059] 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.

[0060] 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.

[0061] The boom angle sensor 123 and the bucket angle sensor 124 detect 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.

[0062] 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.

[0063] The vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100. The automation controller 100 inputs the detection values ​​of the vehicle speed sensor 122, the boom angle sensor 123, and the bucket angle sensor 124 via the vehicle body controller 50.

[0064] The electromagnetic proportional control valve 140 is configured to be able to send and receive signals to and from the vehicle body controller 50. The electromagnetic proportional control valve 140 is driven upon receiving a command signal 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.

[0065] The electromagnetic proportional control valves 35 and 36 shown in Fig. 4 constitute the work machine EPC 143. The transmission 23 shown in Fig. 4 is realized as a mechanical transmission. The transmission 23 may be a hydrostatic transmission (HST). The transmission 23 may be a hydraulic mechanical transmission (HMT) 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.

[0066] 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 transmission 23 to control the vehicle speed.

[0067] 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.

[0068] The automation controller 100 is mounted on the body of the wheel loader 1. The automation controller 100 has a position estimation unit 101, a path planning unit 102, and a path following control unit 103.

[0069] The position estimation unit 101 estimates the self-position of the wheel loader 1 based on information acquired by the external environment information acquisition unit 110. Specifically, the position estimation unit 101 estimates the current position of the wheel loader 1 based on a positioning signal received from a satellite by a GNSS receiver, which is an example of the position information acquisition device 112, or a detection signal from a LiDAR, which is an example of the perception device 111. The position estimation unit 101 may create a highly accurate surroundings map using data acquired by the LiDAR, and compare the surroundings map with a pre-stored map to estimate the self-position (SLAM: Simultaneous Localization and Mapping).

[0070] The position estimation unit 101 also recognizes the target position based on the external environment information acquired by the external environment information acquisition unit 110. The target position is, for example, an excavation position in the excavation target 200 where the wheel loader 1 excavates the excavation target 200 with the bucket 6. Alternatively, the target position is, for example, a loading position 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 material into the loading target 300. The perception device 111 may recognize the target position and input it to the automation controller 100, or the position estimation unit 101 may recognize the target position based on the detection result detected by the perception device 111.

[0071] The path planning unit 102 generates an optimum route for the wheel loader 1 when automatically controlling the wheel loader 1. The optimum route includes a route for travel by the traveling device 4 and a route for operation of the work implement 3.

[0072] For example, the path planning unit 102 generates a travel path for the wheel loader 1 moving forward empty toward the excavation target 200. The path planning unit 102 generates a path for the movement of the work implement 3 during excavation work. The path planning unit 102 generates a travel path for the wheel loader 1 moving backward empty away from the excavation target 200, and a path for the movement of the work implement 3 while moving backward empty. The path planning unit 102 generates a travel path for the wheel loader 1 moving forward empty toward the loading target 300, and a path for the movement of the work implement 3 while moving forward empty. The path planning unit 102 generates a path for the movement of the work implement 3 that unloads material scooped into the bucket 6 onto the loading target 300. The path planning unit 102 generates a travel path for the wheel loader 1 moving backward empty away from the loading target 300, and a path for the movement of the work implement 3 while moving backward empty.

[0073] The path planning unit 102 also generates an optimal path connecting the current position of the wheel loader 1 and the target position to which the wheel loader 1 is heading while the excavation and loading work is being performed.

[0074] The path following control unit 103 commands the operation of the traveling device 4 and the work implement 3. The path following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 travels following the optimal path generated by the path planning unit 102. The path following control unit 103 outputs a command signal 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 path. The path following control unit 103 controls the boom cylinder 16 and bucket cylinder 19 so that the work implement 3 operates along the optimal path generated by the path planning unit 102. The path following control unit 103 outputs a command signal to the work implement control unit 82 to cause the work implement 3 to move along the optimal path.

[0075] The interface 130 is mounted on the vehicle body of the wheel loader 1. 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 automation changeover switch 131, an engine emergency stop switch 132, and a mode lamp 133.

[0076] The automation changeover switch 131 is operated by an operator. By operating the automation changeover switch 131, the operator switches between manually operating the wheel loader 1 and automatically controlling the wheel loader 1. The engine emergency stop switch 132 is operated by the operator. When an event occurs that requires an emergency stop of the engine 21, the operator operates the engine emergency stop switch 132. Operation signals of the automation changeover switch 131 and the engine emergency stop switch 132 are input to the vehicle body controller 50.

[0077] The mode lamp 133 indicates whether the wheel loader 1 is currently in a mode where it is manually operated by an operator, or in a mode where it is automatically controlled. A command signal is output from the vehicle body controller 50 to the mode lamp 133 to control the lighting of the lamp.

[0078] The automation controller 100 is also configured to be able to send and receive signals to and from the communication device 150. The automatic control system of the wheel loader 1 is configured so that information held by the automation controller 100 can be used to send commands to the loading target 300, such as a dump truck, via the communication device 150.

[0079] <Layout information> In the embodiment, the automation controller 100 transmits the arrangement of the loading target 300 relative to the position of the excavation target 200 to the loading target 300 via the communication device 150. The automation controller 100 determines the arrangement of the loading target 300 relative to the position of the excavation target 200 using layout information. The layout information is prepared in advance and stored in the automation controller 100 or the vehicle controller 50.

[0080] Fig. 6 is a schematic diagram showing a first example of layout information. Fig. 7 is a schematic diagram showing a second example of layout information. Fig. 6 shows layout information 600A. Fig. 7 shows layout information 600B.

[0081] The layout information 600A, 600B includes an excavation area 610 and a loading area 620. The excavation area 610 indicates a substantially rectangular area in plan view of the range in which the excavation target 200 to be excavated by the wheel loader 1 is located. The loading area 620 indicates a substantially rectangular area in plan view of the range in which the loading target 300 (dump truck) is located when the wheel loader 1 loads the excavation target 200 onto the loading target 300. The location of the loading area 620 is determined with respect to the excavation area 610. The dump truck is parked within the determined loading area 620. The wheel loader 1 loads the excavated excavation target 200 onto the dump truck parked in the loading area 620.

[0082] The arrangement of the loading area 620 relative to the excavation area 610 will be described. Fig. 8 is a schematic diagram showing the arrangement of the loading target 300 relative to the excavation target 200. The excavation target 200 is a pile of material to be excavated by the bucket 6 of the wheel loader 1. Fig. 8 shows the excavation target 200 in a plan view, schematically illustrated as a rectangle. The bottom side of the rectangle representing the excavation target 200 shown in Fig. 8 represents the base of the excavation target 200 when the wheel loader 1 excavates the excavation target 200.

[0083] Excavation position B is the position where the wheel loader 1 excavates the excavation target 200 with the bucket 6. The position of the widthwise center 6c of the bucket 6 when excavating the widthwise end of the excavation target 200 is set as excavation position B. In the example shown in FIG. 8, excavation position B is set when excavating the left end of the excavation target 200 in the figure. The distance between the bottom left vertex of the rectangle representing the excavation target 200 shown in FIG. 8 and excavation position B is half the length L9 indicating the bucket width shown in FIG. 2.

[0084] A position that is a length L1 away from the excavation target 200, starting from the excavation position B, is set as the turning back position T. The length L1 is the overall length of the wheel loader 1, and is one of the specification values ​​of the wheel loader 1. A straight path connecting the excavation position B and the turning back position T can be generated as the path for the wheel loader 1 to move forward empty towards the excavation target 200, and as the path for the wheel loader 1 to move backwards loaded away from the excavation target 200.

[0085] Loading position A is the relative position of the widthwise center 6c of the bucket 6 when loading material onto a loading object 300 such as a dump truck. The wheel loader 1 performs loading work by traveling forward from the side (left) of the loading object 300 toward the vessel 301. Loading position A is set to a position where the material will not spill over the rear edge of the vessel 301, taking into account the angle of repose of the material to be loaded into the vessel 301.

[0086] A travel route is set based on the specifications of the wheel loader 1, allowing the wheel loader 1 to travel in a V shape without steering. Steering means steering the wheel loader 1 while it is stopped. V-shaped travel is a typical travel route when the wheel loader 1 performs excavation and loading work, and the travel route of the wheel loader 1 forms a V shape. When the wheel loader 1 travels in a V shape to perform excavation and loading work, the travel distance of the wheel loader 1 is minimized, and this is considered to be an efficient travel route.

[0087] After the V-shaped traveling wheel loader 1 excavates the excavation target 200, it switches from forward to reverse and moves backward in a straight line with the load. The wheel loader 1 switches from reverse to forward and moves forward with the load along a path P toward the loading target 300. The path P is a curved, typically arc-shaped, path starting from a turning point T toward the loading target 300. At least a portion of the path P may be curved. The path P may also include a straight path.

[0088] The route P is set so that the wheel loader 1 traveling along the route P can turn without turning while stationary. The wheel loader 1 traveling along the route P turns with a turning radius that is larger than the smallest radius at which it can turn without turning while stationary. The end point of the route P when the turning position T is the start point is the loading position A. The wheel loader 1 that moves forward with the load from the turning position T along the route P to the loading position A can turn without turning while stationary, and can appropriately align the position and attitude of the work implement 3 (bucket 6) with the vessel 301 of the loading target 300 at the loading position A.

[0089] 8, the distance between the turning position T and the loading position A in the left-right direction of the loading object 300 may be length L1, which is the overall length of the wheel loader 1. The angle formed between the left-right direction of the loading object 300 (the vehicle width direction of the dump truck) and the direction in which the wheel loader 1 moves forward empty toward the excavation object 200 is fixed to a predetermined angle. The predetermined angle may be 60°.

[0090] A distance x is set from the turning position T to the loading position A in the direction in which the base of the excavation target 200 extends (the left-right direction in FIG. 8). The excavation position B where the wheel loader 1 excavates the excavation target 200 and the loading position A determined as the position where material is loaded onto the loading target 300 are separated by the distance x in the direction in which the base of the excavation target 200 extends.

[0091] In this way, the relative position of the loading position A with respect to the excavation target 200 is determined, and an area surrounding the entire loading target 300 arranged in accordance with the loading position A is set as the loading area 620. The loading area 620 is enlarged or reduced as appropriate according to the vehicle size of the dump truck that is the loading target 300.

[0092] 6 and 7, the layout information 600A, 600B further includes a work area 640. The work area 640 is an area set to encompass a travel path 630 of the wheel loader 1 traveling in a V-shape. The travel path 630 includes an excavation path 631, which is the path traveled by the wheel loader 1 when moving forward empty toward the excavation target 200, and when moving backward empty after excavating the excavation target 200. The travel path 630 includes a loading path 632, which is the path traveled by the wheel loader 1 when moving forward loaded toward the loading target 300, and when moving backward empty after loading the loading target 300.

[0093] The work area 640 is set as a substantially rectangular area that, in a plan view, encompasses the range over which the wheel loader 1 travels to perform a series of excavation and loading operations. The work area 640 includes an excavation area 610 and a loading area 620. The layout information 600A, 600B is stored in the automation controller 100 as a set of three substantially rectangular areas representing the excavation area 610, the loading area 620, and the work area 640.

[0094] The pre-stored work area 640 may be expanded or contracted as appropriate according to the size of the excavation target 200, the arrangement of the loading target 300, the specification values ​​of the wheel loader 1, etc., and may be applied to the processing of the embodiment. The automation controller 100 can set the set work area 640 to prevent other work machines from entering, and may output information about the restricted area to the outside via the communication device 150.

[0095] 6 and 7, layout information 600A and layout information 600B are bilaterally symmetrical. In layout information 600A shown in Fig. 6, loading area 620 is located to the left of excavation area 610. Layout information 600A includes the excavation area 610 and the area to the left of the excavation area 610 as seen from the wheel loader 1 advancing toward the excavation area 610. In layout information 600B shown in Fig. 7, loading area 620 is located to the right of the excavation area 610. Layout information 600B includes the excavation area 610 and the area to the right of the excavation area 610 as seen from the wheel loader 1 advancing toward the excavation area 610.

[0096] The excavation area 610, loading area 620, and work area 640 included in the layout information 600A and 600B may be defined by the coordinates of the four vertices of a rectangle. Each area may be defined by position information of the coordinates in a global coordinate system. Alternatively, the excavation area 610, loading area 620, and work area 640 may be defined by the lengths of the long and short sides of the rectangle and the coordinates of the center point of the rectangle.

[0097] <Determining the arrangement of the loading target 300 relative to the excavation target 200> An appropriate one of two pieces of layout information 600A, 600B prepared in advance can be selected based on the situation of the work site where the wheel loader 1 will perform excavation and loading work, specifically the situation around the excavation target 200. By determining the arrangement of the loading target 300 relative to the excavation target 200 through this selection, it becomes possible to efficiently load the excavation target 200 onto the loading target 300. Figure 9 is a flowchart showing the flow of processing in the method of the embodiment.

[0098] As shown in Fig. 9, in step S1, the path planning unit 102 of the automation controller 100 prepares at least one piece of layout information. The path planning unit 102 prepares multiple pieces of layout information, including layout information 600A shown in Fig. 6 and layout information 600B shown in Fig. 7. Each piece of layout information includes an excavation area 610 representing the arrangement of excavation targets 200 to be excavated by the wheel loader 1, and a loading area 620 representing the arrangement of loading targets 300 onto which the wheel loader 1 loads the excavated excavation targets 200.

[0099] In step S2, the position estimation unit 101 of the automation controller 100 acquires the current position of the excavation target 200. The position information acquisition device 112 acquires information on the current position of the wheel loader 1. The perception device 111 detects the direction of the excavation target 200 relative to the wheel loader 1 and the distance to the excavation target 200. The external environment information of the wheel loader 1 from the perception device 111 and the position information of the wheel loader 1 from the position information acquisition device 112 are input to the automation controller 100. The position estimation unit 101 acquires the current position of the excavation target 200 from the current position of the wheel loader 1 and the relative position of the excavation target 200 relative to the wheel loader 1.

[0100] The position estimation unit 101 may acquire the current position of the excavation target 200 using information acquired from other work machines and / or information acquired during previous work. For example, the current position of the excavation target 200 may be acquired from information on the current position of a dump truck that transported the excavation target 200 and unloaded it at the work site when the loading and unloading work was performed. For example, the current position of the excavation target 200 may be acquired from information on the current position of a wheel loader 1 when the wheel loader 1 performed a shoveling work to shape the excavation target 200.

[0101] In step S3, the path planning unit 102 acquires the situation around the excavation target 200. The perception device 111 may detect external information of the wheel loader 1, including information about the area around the excavation target 200, and the path planning unit 102 may acquire the situation around the excavation target 200 using that information. The path planning unit 102 may acquire the situation around the excavation target 200 from an object sensor arranged outside the wheel loader 1. The object sensor may be arranged at a predetermined point at the work site, may be mounted on another work machine, or may be mounted on an unmanned aerial vehicle such as a drone. The path planning unit 102 may acquire the situation around the excavation target 200 based on information about the current topography or target topography of the work site, or information about work content planned for the future. This information may be stored in advance in the automation controller 100 or may be input from outside.

[0102] In step S4, the path planning unit 102 selects one piece of layout information from the plurality of pieces of layout information 600A and 600B based on the situation around the excavation target 200.

[0103] Figure 10 is a diagram showing a first example of selection of layout information based on the surrounding situation. As shown in Figure 10(A), two excavation targets 200 are arranged side by side along a retaining wall 210. Of the two lined-up excavation targets 200A, 200B, the wheel loader 1 is scheduled to excavate the excavation target 200A on the left.

[0104] 10(B), the path planning unit 102 selects layout information 600A from the two pieces of layout information 600A, 600B. This prevents the loading area 620 and the working area 640 from overlapping with the excavation target 200B. This prevents the excavation target 200B from interfering with the loading target 300 parked in the loading area 620 and the wheel loader 1 traveling in the working area 640. Therefore, the wheel loader 1 can efficiently load material excavated in the excavation area 610 onto the loading target 300 placed in the loading area 620.

[0105] 11A and 11B are diagrams showing a second example of selection of layout information based on the surrounding situation. The excavation target 200 shown in Fig. 11A is placed immediately to the left of the travel path 250 on which the vehicle travels.

[0106] 11(B), the path planning unit 102 selects layout information 600A from the two pieces of layout information 600A, 600B. This prevents the loading area 620 and the working area 640 from overlapping with the travel path 250. This prevents vehicles traveling on the travel path 250 from interfering with the loading target 300 parked in the loading area 620 and the wheel loader 1 traveling in the working area 640. Therefore, the wheel loader 1 can efficiently load material excavated in the excavation area 610 onto the loading target 300 arranged in the loading area 620.

[0107] 12A and 12B are diagrams illustrating a third example of selection of layout information based on surrounding conditions. As shown in FIG. 12A, currently, only one excavation target 200A is placed along retaining wall 210. Regardless of which of layout information 600A and 600B is selected, there appear to be no obstacles to the excavation and loading work. However, in this example, another excavation target 200B is planned to be placed to the left of excavation target 200A.

[0108] 12(B), the path planning unit 102 selects layout information 600B from the two pieces of layout information 600A, 600B. This prevents the loading target 300 parked in the loading area 620 and the wheel loader 1 traveling in the work area 640 from interfering with the dump truck transporting materials for the excavation target 200B and the provided excavation target 200B. Therefore, the wheel loader 1 can efficiently load materials excavated in the excavation area 610 onto the loading target 300 arranged in the loading area 620.

[0109] 9, in step S5, the path planning unit 102 applies the selected layout information to the current position of the excavation target 200 to determine the arrangement of the loading target 300 relative to the current position of the excavation target 200. As shown in FIGS. 10 to 12, the excavation area 610 in the selected layout information is superimposed on the excavation target 200, which is the target of the excavation work and whose current position has been acquired. The arrangement of the loading area 620 obtained at this time is used as the arrangement of the loading target 300 relative to the current position of the excavation target 200.

[0110] In step S6, the path planning unit 102 instructs the loading target 300, such as a dump truck, to a loading area 620. The automation controller 100 outputs information indicating the loading area 620 to the communication device 150 (FIG. 5). The information indicating the loading area 620 is transmitted to the loading target 300 via the communication device 150, and a position where the loading target 300 should stop is instructed to the loading target 300. The loading target 300 receives the instruction, moves to the loading area 620 in accordance with the instruction, and stops within the loading area 620.

[0111] In this way, a series of processes for determining the placement of the loading object 300 based on the current position of the excavation object 200 and the situation around the excavation object 200 is completed.

[0112] <Action and effect> Although some of the description overlaps with the above description, the characteristic configuration and effects of this embodiment can be summarized as follows.

[0113] 9, the path planning unit 102 prepares layout information 600A, 600B including an excavation area 610 and a loading area 620, as shown in FIGS. 6 and 7. In step S2, the position estimation unit 101 acquires the current position of the excavation target 200. In step S5, the path planning unit 102 applies the layout information 600A, 600B to the acquired current position of the excavation target 200, and determines the placement of the loading target 300 relative to the current position of the excavation target 200.

[0114] The layout information 600A, 600B can be applied to the excavation target 200 for which excavation work is planned. The layout information 600A, 600B can be applied to any position within the work site, and the layout information 600A, 600B can also be rotated and applied in any direction. The appropriate placement of the loading target 300 relative to the excavation target 200 to be excavated can be easily set. By appropriately setting the positional relationship between the excavation target 200 and the loading target 300, the excavation and loading work can be carried out efficiently.

[0115] 9, the path planning unit 102 may select one piece of layout information from the plurality of pieces of layout information 600A, 600B. The plurality of pieces of layout information 600A, 600B may be prepared in advance, and an appropriate piece of layout information may be selected from the plurality of pieces of layout information 600A, 600B based on the surrounding conditions of the excavation target 200. In this way, it is possible to more easily set an appropriate arrangement of the loading target 300 relative to the excavation target 200 to be excavated.

[0116] 6 and 7, the layout information 600A, 600B may further include a work area 640, which is an area set to encompass a travel path 630 along which the wheel loader 1 moves during excavation and loading work. By setting the travel path 630 of the wheel loader 1 performing excavation and loading work relative to the current position of the excavation target 200 to be excavated, it is possible to prevent the wheel loader 1 performing excavation and loading work from interfering with other work machines, etc.

[0117] 9, the path planning unit 102 may transmit the arrangement of the loading area 620 to the loading target 300. When the loading target 300 receives the loading area 620 for the current position of the excavation target 200 to be excavated, the loading target 300 is moved to the loading area 620, thereby ensuring the appropriate arrangement of the loading target 300.

[0118] The application of layout information to the current position of the excavation target 200 described in the above embodiment is not limited to automatic processing by the automation controller 100, but may also be performed manually by an operator. The operator may select an appropriate piece of layout information 600A, 600B from among a plurality of pieces of layout information prepared in advance, based on the surrounding conditions of the excavation target 200 as shown in Figures 10 and 11, the content of work scheduled for the future as shown in Figure 12, etc. The layout information selected by the operator may be applied to the current position of the excavation target 200.

[0119] It is not necessary to prepare multiple pieces of layout information. For example, one piece of layout information 600A shown in Fig. 6 may be prepared. When the layout information 600A can be applied based on the situation around the excavation target 200 as shown in Figs. 10 and 11, the layout information 600A may be applied to determine the placement of the loading target 300. When it is difficult to apply the layout information 600A based on the situation around the excavation target 200 as shown in Fig. 12, a process may be performed in which the placement of the loading target 300 is not determined by applying the layout information 600A.

[0120] The automation controller 100 that constitutes the automatic control system of the wheel loader 1 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.

[0121] 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.

[0122] In the embodiment, a dump truck has been exemplified as the loading object 300, and the work of loading material loaded in the work implement 3 (bucket 6) into the vessel 301 has been described. The loading object 300 onto which the 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.

[0123] In the 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.

[0124] <Additional Notes> The above description includes the following additional features.

[0125] (Appendix 1) preparing at least one piece of layout information including an arrangement of an excavation target to be excavated by a work machine and an arrangement of a loading target onto which the excavated excavation target is to be loaded by the work machine; acquiring a current position of the excavation target; applying the layout information to the acquired current position of the excavation object to determine an arrangement of the loading object relative to the current position of the excavation object.

[0126] (Appendix 2) In the preparing step, a plurality of pieces of layout information are prepared, The method described in Appendix 1, further comprising a step of selecting one of the plurality of layout information based on the surrounding conditions of the excavation target.

[0127] (Appendix 3) The method described in Appendix 1 or Appendix 2, wherein the layout information further includes an area set to encompass a path along which the work machine performing excavation and loading work to excavate the excavation target and load the excavation target moves during the excavation and loading work.

[0128] (Appendix 4) 4. The method of any one of Supplementary Note 1 to Supplementary Note 3, further comprising the step of transmitting the disposition of the loading object determined in the disposition determining step to the loading object.

[0129] (Appendix 5) At least one piece of layout information is prepared, the layout information including the arrangement of an excavation target to be excavated by a work machine and the arrangement of a loading target onto which the excavated excavation target is to be loaded by the work machine; Acquire the current position of the excavation target; a work machine controller that applies the layout information to the acquired current position of the excavation target to determine an arrangement of the loading target relative to the current position of the excavation target;

[0130] (Appendix 6) preparing a plurality of pieces of said layout information; The work machine controller according to claim 5, wherein one piece of layout information is selected from a plurality of pieces of layout information based on a situation around the excavation target.

[0131] (Appendix 7) The work machine controller according to claim 5 or 6, wherein the layout information further includes an area set to encompass a path along which the work machine performing excavation and loading work to excavate the excavation target and load the excavation target moves during the excavation and loading work.

[0132] (Appendix 8) 8. The work machine controller according to any one of Supplementary Note 5 to Supplementary Note 7, wherein the determined arrangement of the loading object is transmitted to the loading object.

[0133] 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]

[0134] 1 Wheel loader, 2 Body frame, 2a Front frame, 2b Rear frame, 3 Work machine, 4 Traveling device, 4a Front wheel, 4b Rear wheel, 6 Bucket, 6a Cutting edge, 6c Width direction center, 14 Boom, 50 Body controller, 60 Engine controller, 70 Transmission controller, 80 Work machine controller, 100 Automation controller, 101 Position estimation unit, 102 Path planning unit, 103 Path following control unit, 110 External information acquisition unit, 111 Perception device, 120 Vehicle information acquisition unit, 150 Communication device, 200, 200A, 200B Excavation target, 210 Retaining wall, 250 Travel path, 300 Loading target, 301 Vessel, 600A, 600B Layout information, 610 Excavation area, 620 Loading area, 630 Travel path, 631 Excavation route, 632 loading route, 640 working area, A loading position, B digging position, P route, T turning position, x distance.

Claims

1. preparing at least one piece of layout information including an arrangement of an excavation target to be excavated by a work machine and an arrangement of a loading target onto which the excavated excavation target is to be loaded by the work machine; acquiring a current position of the excavation target; applying the layout information to the acquired current position of the excavation object to determine an arrangement of the loading object relative to the current position of the excavation object.

2. In the preparing step, a plurality of pieces of layout information are prepared, The method according to claim 1 , further comprising the step of selecting one piece of layout information from a plurality of pieces of layout information based on a surrounding situation of the excavation target.

3. The method according to claim 1 , wherein the layout information further includes an area set to encompass a route along which the work machine performing excavation and loading work for excavating the excavation target and loading the work onto the loading target moves during the excavation and loading work.

4. The method of claim 1 , further comprising the step of transmitting the disposition of the loading object determined in the step of determining the disposition to the loading object.

5. At least one piece of layout information is prepared, the layout information including the arrangement of an excavation target to be excavated by a work machine and the arrangement of a loading target onto which the excavated excavation target is to be loaded by the work machine; Acquire the current position of the excavation target; a work machine controller that applies the layout information to the acquired current position of the excavation target to determine an arrangement of the loading target relative to the current position of the excavation target;

6. A plurality of pieces of layout information are prepared, The work machine controller according to claim 5 , wherein one piece of layout information is selected from a plurality of pieces of layout information based on the surrounding conditions of the excavation target.

7. 6. The work machine controller according to claim 5, wherein the layout information further includes an area set to encompass a route along which the work machine performing excavation and loading work to excavate the excavation target and load the excavation target onto the loading target moves during the excavation and loading work.

8. The work machine controller according to claim 5 , wherein the determined arrangement of the loading object is transmitted to the loading object.

9. 1. A system including a work machine, a work machine body having a traveling body; a work implement attached to the work machine body; a controller that prepares at least one piece of layout information including an arrangement of an excavation target to be excavated by the work machine and an arrangement of a loading target onto which the work machine loads the excavated excavation target, acquires a current position of the excavation target, and applies the layout information to the acquired current position of the excavation target to determine the arrangement of the loading target relative to the current position of the excavation target.

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