Work machinery, control systems for work machinery, control devices for work machinery

Abstract

The objective is to detect the position of the vehicle's cargo bed with a simple configuration. [Solution] A work machine for loading cargo onto a vehicle, comprising: a vehicle extraction unit that extracts vehicle shape data indicating the shape of the vehicle from three-dimensional shape data including the inside of the cargo bed which is the destination for loading the cargo on the vehicle; and a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

Description

Technical Field

[0001] The present invention relates to a work machine, a control system of a work machine, and a control device of a work machine.

Background Art

[0002] Conventionally, there has been known a technique for efficiently loading earth and sand excavated by an excavator onto the loading platform of a transport vehicle. As an example, for instance, based on the current position of the transport vehicle indicated by a positioning device attached to the transport vehicle, a target stop position where the loading platform of the transport vehicle enters the earth-discharging possible range is calculated and notified to the driver of the transport vehicle, and a technique for stopping the transport vehicle at the target stop position is known. <**********>

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, when the transport vehicle does not have a positioning device and a communication device, the transport vehicle cannot calculate the target stop position, and it is impossible to detect whether the loading platform of the transport vehicle is within the earth-discharging possible range.

[0005] In view of the above circumstances, the disclosed technology aims to detect the position of the inner frame of the loading platform of the vehicle with a simple configuration.

Means for Solving the Problems

[0006] An embodiment of the present invention is a work machine for loading cargo onto a vehicle, comprising: a vehicle extraction unit that extracts vehicle shape data indicating the shape of the vehicle from three-dimensional shape data including the inside of the cargo bed on the vehicle where the cargo is loaded; and a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

[0007] A control system for a work machine according to an embodiment of the present invention is a control system for a work machine that includes a work machine for loading cargo onto a vehicle and a control device for controlling the work machine, comprising: a vehicle extraction unit that extracts vehicle shape data indicating the shape of the vehicle from three-dimensional shape data including the inside of the cargo bed which is the destination for loading the cargo onto the vehicle; and a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

[0008] A control device for a work machine according to an embodiment of the present invention is a control device for a work machine that loads cargo onto a vehicle, and comprises: a vehicle extraction unit that extracts vehicle shape data indicating the shape of the vehicle from three-dimensional shape data including the inside of the cargo bed which is the destination for loading the cargo onto the vehicle; and a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data. [Effects of the Invention]

[0009] It can detect the position of the inner frame of the vehicle's cargo bed with a simple configuration. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of a system configuration for a control system of a work machine. [Figure 2] This figure shows an example of the configuration of a shovel and control device. [Figure 3] This is a diagram illustrating the work involved in the excavation and loading operations of an shovel. [Figure 4]This is the first flowchart explaining the process of the shovel controller. [Figure 5] This is the second flowchart explaining the process of the shovel controller. [Figure 6] This diagram illustrates the process of detecting the position of the inner frame of the cargo bed. [Figure 7] This figure shows an example of the display of the detection results for the position of the inner frame of the cargo bed. [Modes for carrying out the invention]

[0011] The control system of the work machine of this embodiment will be described below with reference to the drawings. Figure 1 is a diagram showing an example of the system configuration of the control system of the work machine. In this embodiment, a shovel 100 will be described as an example of a work machine.

[0012] The control system SYS for the excavator 100 in this embodiment includes the excavator 100, a management device 200, a support device 300, and a remote control room RC. In the following description, the control system SYS for the remote excavator will be simply referred to as the control system SYS.

[0013] In the control system SYS of this embodiment, the excavator 100, the management device 200, the support device 300, and the remote control room RC are connected via a network or the like.

[0014] First, the configuration of the excavator 100 of this embodiment will be described. Figure 1 shows a side view of the excavator 100. The excavator 100 has a lower traveling body 1, a slewing mechanism 2, and an upper slewing body 3. In the excavator 100, the upper slewing body 3 is rotatably mounted on the lower traveling body 1 via the slewing mechanism 2. The upper slewing body 3 is rotated by a slewing motor. The slewing motor may be either hydraulic or electric. A boom 4 is attached to the upper slewing body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 as an end attachment is attached to the tip of the arm 5.

[0015] The boom 4, arm 5, and bucket 6 constitute an excavation attachment as an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. A boom angle sensor S1 is attached to the boom 4, an arm angle sensor S2 is attached to the arm 5, and a bucket angle sensor S3 is attached to the bucket 6.

[0016] The boom angle sensor S1 is configured to detect the rotation angle of the boom 4. In the present embodiment, the boom angle sensor S1 is an acceleration sensor and can detect the rotation angle of the boom 4 with respect to the upper swing body 3 (hereinafter referred to as the "boom angle"). The boom angle becomes the minimum angle, for example, when the boom 4 is lowered to the lowest position, and increases as the boom 4 is raised.

[0017] The arm angle sensor S2 is configured to detect the rotation angle of the arm 5. In the present embodiment, the arm angle sensor S2 is an acceleration sensor and can detect the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as the "arm angle"). The arm angle becomes the minimum angle, for example, when the arm 5 is closed to the maximum extent, and increases as the arm 5 is opened.

[0018] The bucket angle sensor S3 is configured to detect the rotation angle of the bucket 6. In the present embodiment, the bucket angle sensor S3 is an acceleration sensor and can detect the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as the "bucket angle"). The bucket angle becomes the minimum angle, for example, when the bucket 6 is closed to the maximum extent, and increases as the bucket 6 is opened.

[0019] The boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3 may each be a potentiometer using a variable resistor, a stroke sensor that detects the stroke amount of the corresponding hydraulic cylinder, a rotary encoder that detects the rotation angle around a connecting pin, a gyro sensor, or a combination of an acceleration sensor and a gyro sensor, etc.

[0020] A boom cylinder 7 is equipped with a boom rod pressure sensor S7R and a boom bottom pressure sensor S7B. An arm cylinder 8 is equipped with an arm rod pressure sensor S8R and an arm bottom pressure sensor S8B.

[0021] A bucket cylinder 9 is equipped with a bucket rod pressure sensor S9R and a bucket bottom pressure sensor S9B. The boom rod pressure sensor S7R, the boom bottom pressure sensor S7B, the arm rod pressure sensor S8R, the arm bottom pressure sensor S8B, the bucket rod pressure sensor S9R, and the bucket bottom pressure sensor S9B are collectively also referred to as "cylinder pressure sensors".

[0022] The boom rod pressure sensor S7R detects the pressure in the rod side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom rod pressure"). The boom bottom pressure sensor S7B detects the pressure in the bottom side oil chamber of the boom cylinder 7 (hereinafter referred to as "boom bottom pressure"). The arm rod pressure sensor S8R detects the pressure in the rod side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm rod pressure"). The arm bottom pressure sensor S8B detects the pressure in the bottom side oil chamber of the arm cylinder 8 (hereinafter referred to as "arm bottom pressure").

[0023] The bucket rod pressure sensor S9R detects the pressure in the rod side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket rod pressure"). The bucket bottom pressure sensor S9B detects the pressure in the bottom side oil chamber of the bucket cylinder 9 (hereinafter referred to as "bucket bottom pressure").

[0024] The 3D sensor S10 is a sensor that detects and outputs three-dimensional information of an object or environment. The 3D sensor S10 may be, for example, LiDAR or the like. The three-dimensional information output from the 3D sensor S10 is a set of three-dimensional coordinates (3D coordinate group) of each point in space. In the following description, the 3D coordinate group output from the 3D sensor S10 may be referred to as shape data.

[0025] In the example shown in Figure 1, the 3D sensor S10 is attached to the boom 4, but it is not limited to this and may be attached to the arm 5. The 3D sensor S10 only needs to be attached in a position that allows it to detect the top surface of the transport vehicle when the transport vehicle stops within a predetermined range during the loading operation described later.

[0026] A transport vehicle is a vehicle having a cargo bed where excavated materials such as soil and sand from the shovel 100 are loaded, and is the target vehicle for detection of the inner frame of the cargo bed. Examples of transport vehicles include dump trucks. The shape data of this embodiment is data indicating the shape of the cargo bed of the target vehicle, and includes data indicating the shape of the inside of the cargo bed.

[0027] More specifically, the 3D sensor S10 only needs to be positioned above the transport vehicle in the height direction and overlapping with the top surface of the transport vehicle when the transport vehicle stops within a predetermined range, and may be attached to an object other than the shovel 100. By attaching the 3D sensor S10 in this way, shape data indicating the shape of the inside of the transport vehicle's cargo bed can be acquired.

[0028] Objects other than Shovel 100 may include, for example, other construction machinery working at the same work site as Shovel 100, buildings or pillars present at the work site where Shovel 100 is working, or aircraft such as drones flying in the air above the work site where Shovel 100 is working.

[0029] The upper rotating body 3 is equipped with a cabin 10, which serves as the driver's cab, and a power source such as an engine 11. A sensor for detecting CO2 emissions may also be provided near the exhaust mechanism of the engine 11.

[0030] Furthermore, the upper rotating body 3 is equipped with a controller 30, a display device 40, an input device 42, an audio output device 43, a storage device 47, a positioning device P1, an aircraft tilt sensor S4, a rotation angular velocity sensor S5, an imaging device S6, and a communication terminal T1.

[0031] The upper rotating body 3 may be equipped with a power storage unit for supplying electricity, and a motor-generator that generates electricity using the rotational driving force of the engine 11. The power storage unit may be, for example, a capacitor or a lithium-ion battery. The motor-generator may function as an electric motor to drive a mechanical load, or as a generator to supply power to an electrical load. In addition, other prime movers (for example, electric motors) may be mounted on the shovel 100 in place of or in addition to the engine 11.

[0032] The controller 30 functions as the main control unit that controls the drive of the shovel 100. Details of the controller 30 will be described later.

[0033] The display device 40 is configured to display various types of information. The display device 40 may be connected to the controller 30 via a communication network such as CAN, or it may be connected to the controller 30 via a dedicated line.

[0034] The input device 42 is configured to allow the operator to input various types of information to the controller 30. The input device 42 includes at least one of the following: a touch panel, a knob switch, and a membrane switch, all of which are installed inside the cabin 10.

[0035] The audio output device 43 is configured to output sound. The audio output device 43 may be, for example, an in-vehicle speaker connected to the controller 30, or an alarm device such as a buzzer. In this embodiment, the audio output device 43 is configured to output various information as sound in response to an audio output command from the controller 30.

[0036] The storage device 47 is configured to store various types of information. The storage device 47 is, for example, a non-volatile storage medium such as a semiconductor memory. The storage device 47 may store information output by various devices during the operation of the shovel 100, or it may store information acquired via various devices before the operation of the shovel 100 begins.

[0037] Furthermore, the storage device 47 may store operational information of the shovel 100. Specifically, operational information of the shovel 100 includes position information indicating the current position of the machine, orientation information indicating the orientation of the machine, attitude information indicating the attitude of the machine, work content information indicating the work being done, load factor information indicating the load factor, cumulative time information indicating the cumulative operating time, fuel information including fuel injection amount, CO2 emissions, work volume, etc. The operational information may also be periodically transmitted to the management device 200 by the communication terminal T1.

[0038] The positioning device P1 is configured to measure the position of the upper rotating body 3. The positioning device P1 may also be configured to measure the orientation of the upper rotating body 3. In this embodiment, the positioning device P1 is, for example, a GNSS compass, which detects the position and orientation of the upper rotating body 3 and outputs the detected values ​​to the controller 30. Therefore, the positioning device P1 can also function as an orientation detection device to detect the orientation of the upper rotating body 3. The orientation detection device may be an orientation sensor attached to the upper rotating body 3.

[0039] The machine body tilt sensor S4 is configured to detect the tilt of the upper rotating body 3. In this embodiment, the machine body tilt sensor S4 is an acceleration sensor that detects the longitudinal tilt angle of the upper rotating body 3 around the longitudinal axis and the lateral tilt angle around the lateral axis with respect to a virtual horizontal plane. The longitudinal axis and lateral axis of the upper rotating body 3 are orthogonal to each other at the shovel center point, which is a point on the rotation axis of the shovel 100.

[0040] The rotational angular velocity sensor S5 is configured to detect the rotational angular velocity of the upper rotating body 3. The rotational angular velocity sensor S5 may also be configured to detect or calculate the rotation angle of the upper rotating body 3. In this embodiment, the rotational angular velocity sensor S5 is a gyro sensor. The rotational angular velocity sensor S5 may also be a resolver, a rotary encoder, or the like.

[0041] The imaging device S6 is an example of a spatial recognition device and is configured to acquire images of the area around the shovel 100. In this embodiment, the imaging device S6 includes a front camera S6F for imaging the space in front of the shovel 100, a left camera S6L for imaging the space to the left of the shovel 100, a right camera S6R for imaging the space to the right of the shovel 100, and a rear camera S6B for imaging the space behind the shovel 100.

[0042] The imaging device S6 is, for example, a monocular camera having an image sensor such as a CCD or CMOS, and outputs the captured image to the display device 40. The imaging device S6 may also be a stereo camera, a depth image camera, etc. Furthermore, the imaging device S6 may be replaced with other spatial recognition devices such as a 3D depth image sensor, an ultrasonic sensor, a millimeter-wave radar, a LiDAR, or an infrared sensor, or it may be replaced with a combination of other spatial recognition devices and a camera.

[0043] The front camera S6F is mounted, for example, on the ceiling of the cabin 10, i.e., inside the cabin 10. However, the front camera S6F may also be mounted on the roof of the cabin 10, the side of the boom 4, or other external locations within the cabin 10. The left camera S6L is mounted on the upper left end of the upper surface of the upper slewing body 3, the right camera S6R is mounted on the upper right end of the upper surface of the upper slewing body 3, and the rear camera S6B is mounted on the upper rear end of the upper surface of the upper slewing body 3.

[0044] The communication terminal T1 is configured to control communication with external devices located outside the excavator 100. In this embodiment, the communication terminal T1 controls communication with external devices via a satellite communication network, a mobile phone communication network, or the Internet network. The external devices are, for example, a management device 200 such as a server installed in an external facility, or a support device 300 such as a smartphone carried by a worker around the excavator 100.

[0045] Furthermore, in the excavator 100 of this embodiment, the various sensors, controller 30, etc., described above are connected to each other via CAN (Controller Area Network) so that they can communicate with one another, and each of them sends and receives data via CAN.

[0046] Next, the remote control room RC for remotely operating the shovel 100 will be described. The remote control room RC is equipped with a remote controller 30R, a sound output device A2, an indoor imaging device C2, a display device D1, an operating device 56, an operating amount sensor 59, and a communication terminal T2, etc. The remote control room RC also has a driver's seat DS where the remote operator OP sits to remotely operate the shovel 100.

[0047] The remote controller 30R is a computing device that performs various calculations. In this embodiment, the remote controller 30R, like the controller 30, is composed of a microcomputer including a CPU and memory. The various functions of the remote controller 30R are realized by the CPU executing a program stored in memory.

[0048] The sound output device A2 is configured to output sound. In this embodiment, the sound output device A2 is a speaker and is configured to reproduce the sound collected by the sound collection device attached to the shovel 100.

[0049] The indoor imaging device C2 is configured to image the inside of the remote control room RC. In this embodiment, the indoor imaging device C2 is a camera installed inside the remote control room RC and is configured to image the remote operator OP seated in the driver's seat DS.

[0050] Communication terminal T2 is configured to control wireless communication with communication terminal T1, which is attached to the shovel 100. In this embodiment, communication terminal T1 and communication terminal T2 are configured to send and receive information via a fifth-generation mobile communication line (5G line), LTE line, or satellite line, etc.

[0051] The remote operator OP, seated in the driver's seat DS of the remote control room RC, performs operations on the control device 56. The control device 56 is an example of an external control device installed outside the excavator 100. The operation amount sensor 59 detects the operation content received by the control device 56, and the remote controller 30R generates an operation signal corresponding to the operation content. The communication terminal T2 then transmits the generated operation signal to the excavator 100. By transmitting the operation signal to the excavator 100, the remote controller 30R enables remote control of the excavator 100.

[0052] Next, the support device 300 will be described. The support device 300 in this embodiment is a terminal device for assisting in the operation of the shovel 100. The support device 300 may be, for example, a smartphone. Furthermore, the support device 300 in this embodiment may have a function for controlling the operating elements of the shovel 100. In other words, the support device 300 can be an external operating device installed outside the shovel 100.

[0053] Next, the control device 200 will be described. The control device 200 in this embodiment manages information about the operator who is on board the shovel 100 and information about the remote operator OP who operates the shovel 100 from the remote control room RC. Furthermore, when the shovel 100 is remotely controlled via the control device 200, the control device 200 may receive an operation signal from the remote control room RC and transmit the received operation signal to the shovel 100.

[0054] In the example shown in Figure 1, the management device 200 is assumed to be implemented by a single information processing device, but this is not limited to that. The management device 200 may be implemented by multiple information processing devices. In other words, the functions implemented by the management device 200 may be implemented by multiple information processing devices. Furthermore, the control system SYS may include multiple remote operation rooms RC and support devices 300.

[0055] Next, referring to Figure 2, the hardware configuration of each device in the SYS control system will be described. Figure 2 shows an example of the configuration of the excavator and control device. In Figure 2, mechanical power transmission lines are shown as double lines, hydraulic fluid lines as thick solid lines, pilot lines as dashed lines, and electrical control lines as dotted lines.

[0056] First, let's describe an example of the drive system configuration for the Shovel 100.

[0057] The drive system of the Shovel 100 consists of an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, a controller 30, and a solenoid valve unit 45, etc. The engine 11 is driven and controlled by an engine control unit (ECU) 74.

[0058] The main pump 14 supplies hydraulic fluid to the control valve unit 17 via the hydraulic fluid line 16. In this embodiment, the main pump 14 is a swashplate type variable displacement hydraulic pump.

[0059] The regulator 13 is configured to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 is configured to adjust the swash plate tilt angle of the main pump 14 according to the discharge pressure of the main pump 14 or a control signal from the controller 30. The discharge rate (displaced volume) per revolution of the main pump 14 is controlled by the regulator 13.

[0060] The control valve unit 17 is configured to selectively supply hydraulic fluid received from the main pump 14 to one or more hydraulic actuators. In this embodiment, the control valve unit 17 includes a plurality of control valves corresponding to a plurality of hydraulic actuators. The control valve unit 17 is configured to selectively supply hydraulic fluid discharged from the main pump 14 to one or more hydraulic actuators. The hydraulic actuators include, for example, a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a hydraulic motor 1L for left-side travel, a hydraulic motor 1R for right-side travel, and a hydraulic motor 2A for slewing.

[0061] Furthermore, a solenoid valve unit 45, which operates in response to an electrical signal from the controller 30, is positioned between the pilot pump 15 and the pilot ports of each control valve (not shown) of the control valve unit 17.

[0062] The operating system of the shovel 100 according to this embodiment includes a pilot pump 15, an operating device 26, and a solenoid valve unit 45.

[0063] The pilot pump 15 is configured to supply hydraulic fluid to various hydraulic control devices (e.g., solenoid valve unit 45) via the pilot line 25. As a result, the solenoid valve unit 45 can supply pilot pressure to the control valve unit 17 according to the operation of the operating device 26 (e.g., operation amount and direction of operation) under the control of the controller 30.

[0064] Therefore, the controller 30 and the solenoid valve unit 45 can realize the operation of the driven element (hydraulic actuator) in accordance with the operation content of the operator's operating device 26. Furthermore, under the control of the controller 30, the solenoid valve unit 45 can supply pilot pressure to the control valve unit 17 according to the remote content specified by the operation signal received by the communication terminal T1 as remote operation. The pilot pump 15 is, for example, a fixed-displacement hydraulic pump.

[0065] The solenoid valve unit 45 includes a plurality of solenoid valves arranged in each pilot line 25 that connects the pilot pump 15 to the pilot port of each control valve in the control valve unit 17.

[0066] When manual operation is performed using the operating device 26, the controller 30 controls each of the multiple solenoid valves in the solenoid valve unit 45 by an electrical signal corresponding to the amount of operation (for example, the amount of lever operation) to increase or decrease the pilot pressure, thereby operating the control valve in accordance with the operation performed on the operating device 26.

[0067] In other words, in this embodiment, the controller 30 can control the pilot pressure acting on the pilot ports of each control valve in the control valve unit 17 by individually controlling the opening area of ​​each of the multiple solenoid valves in the solenoid valve unit 45 using electrical signals corresponding to the amount of operation of the operating device 26. As a result, the controller 30 can control the flow rate of hydraulic fluid flowing into each hydraulic actuator and the flow rate of hydraulic fluid flowing out of each hydraulic actuator, and consequently, the movement of each hydraulic actuator.

[0068] The operating device 26 (an example of an operating unit) is a device that allows input of direction to operate the shovel 100. For example, the operating device 26 is located within reach of the operator in the cockpit of the cabin 10 and is used by the operator to operate each of the driven elements (i.e., the left and right crawlers of the lower travel body 1, the upper slewing body 3, the boom 4, the arm 5, and the bucket 6, etc.). In other words, the operating device 26 is used by the operator to operate the hydraulic actuators (e.g., the hydraulic motor 1R for right-side travel, the hydraulic motor 1L for left-side travel, the hydraulic motor 2A for slewing, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9, etc.) or electric actuators that drive each of the driven elements.

[0069] The controller 30 is composed of a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory). Various functions of the controller 30 are realized, for example, by the CPU executing a program stored in ROM. These functions may include, for example, at least one of a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that automatically assists the operator in manually operating the shovel 100.

[0070] Furthermore, in the loading operation described later, the controller 30 of this embodiment detects the cargo bed of the transport vehicle based on the shape data output from the 3D sensor S10. More specifically, the controller 30 detects the position of the inner frame of the cargo bed of the transport vehicle based on the shape data. The controller 30 then displays the detected position of the inner frame of the cargo bed of the transport vehicle on the display device 40.

[0071] Therefore, in this embodiment, it is not necessary to provide positioning devices or communication devices on the transport vehicle, and the position of the inner frame of the transport vehicle's cargo bed can be detected with a simple configuration. In other words, according to this embodiment, the area from which the loaded material can be discharged can be detected with a simple configuration.

[0072] Furthermore, in this embodiment, in order to detect the position of the inner frame of the cargo bed, it is possible to detect the area where the cargo can be discharged without being affected by, for example, decorations applied to the outer frame of the cargo bed, deformation of the outer frame of the cargo bed, or the type of transport vehicle.

[0073] Furthermore, in this embodiment, by displaying the detection results on the display device 40, the operator can understand the area from which the load from the shovel 100 can be discharged. Note that the position of the inner frame of the loading platform may be displayed on a display device other than the display device 40. Specifically, for example, the position of the inner frame of the loading platform may be displayed on a display device in the remote control room RC, the management device 200, or the support device 300.

[0074] Furthermore, the controller 30 realizes the functions of the following parts by having the CPU read and execute programs stored in ROM or the like.

[0075] The controller 30 of this embodiment includes a stop determination unit 31, a vehicle extraction unit 32, a cargo bed detection unit 33, and a display control unit 34. The stop determination unit 31 determines whether or not the transport vehicle has stopped within a predetermined range.

[0076] When the stop determination unit 31 determines that the transport vehicle has stopped within a predetermined range, the vehicle extraction unit 32 extracts vehicle shape data indicating the shape of the transport vehicle from the shape data acquired by the 3D sensor S10. The cargo bed detection unit 33 detects the position of the inner frame of the cargo bed of the transport vehicle based on the vehicle shape data. The display control unit 34 displays the detection result by the cargo bed detection unit 33 on the display device 40. Details of the processing by each of these units will be described later.

[0077] Next, the hardware configuration of the management device 200 in this embodiment will be described. The management device 200 in this embodiment is a computer having a CPU 201, a storage device 202, a communication device 203, an input device 204, and a display device 205, all of which are interconnected by a bus.

[0078] The CPU 201 controls the overall operation of the management device 200. The storage device 202 stores programs executed by the CPU 201 and various information about the shovel 100. The communication device 203 communicates with the shovel 100 via the network.

[0079] The input device 204 is for inputting information to the management device 200 and can be implemented as, for example, a keyboard or a pointing device. The display device 205 displays various types of information output from the management device 200 and can be implemented as a display or the like.

[0080] Next, with reference to Figure 3, the excavation and loading operation of the shovel 100 will be explained. Figure 3 is a diagram illustrating the work involved in the excavation and loading operation of the shovel. In Figure 3, a dump truck is used as an example of a transport vehicle.

[0081] Figure 3 illustrates the workflow of the "excavation and loading operation" of the Shovel 100.

[0082] Figures 3(A) to 3(D) show the state during excavation (excavation operation section). The excavation operation can be divided into the first half of the excavation operation shown in Figures 3(A) and 3(B), and the second half of the excavation operation shown in Figures 3(C) and 3(D).

[0083] As shown in Figure 3(A), the operator positions the tip of the bucket 6 at the desired height relative to the object to be excavated, and as shown in Figure 3(B), closes the arm 5 from an open position to an angle (approximately 90 degrees) where the arm 5 is nearly perpendicular to the ground. This action excavates soil to a certain depth, and the object to be excavated is pulled towards the ground by the time the arm 5 becomes nearly perpendicular to the ground. The above actions are referred to as the first half of the excavation operation, and this section of the operation is referred to as the first half of the excavation operation section.

[0084] As shown in Figure 3(C), the operator further closes the arm 5 to scoop up the material to be excavated with the bucket 6. Then, the operator closes the bucket 6 until its upper edge is nearly horizontal (approximately 90 degrees) to store the collected excavated soil inside the bucket 6, and raises the boom 4 to the position shown in Figure 3(D). The above operations are referred to as the second half of the excavation operation, and this section of operation is referred to as the second half of the excavation operation section. The operation in Figure 3(C) may be a combined operation of the arm 5 and the bucket 6. The controller 30 may calculate the weight of the contents in the bucket 6 at the time the boom 4 is raised.

[0085] Next, with the upper edge of the bucket 6 approximately horizontal, the operator raises the boom 4 until the bottom of the bucket 6 is at the desired height from the ground, as shown in Figure 3(E). The operating section shown in Figure 3(E) is referred to as the boom raising and slewing operating section.

[0086] The desired height in the boom-raising and slewing operation section is, for example, a height greater than or equal to the height of the dump truck DT shown in Figure 3(F). Subsequently, or simultaneously, the operator rotates the upper slewing body 3 as indicated by the arrow, moving the bucket 6 to the position where the soil will be discharged. The controller 30 may calculate the weight of the contents in the bucket 6 at the time the upper slewing body 3 is rotated. Once the boom-raising and slewing operation is complete, the operator then opens the arm 5 and bucket 6 as shown in Figure 3(F) to discharge the soil in the bucket 6 into the dump truck DT. The operation section shown in Figure 3(F) is called the dumping operation section. In this dumping operation, only the bucket 6 may be opened to discharge the soil. Once the dumping operation is complete, the operator then rotates the upper slewing body 3 as indicated by the arrow, as shown in Figure 3(G), moving the bucket 6 directly above the excavation position. At this time, simultaneously with the rotation, the boom 4 is lowered to lower the bucket 6 to the desired height above the excavation target. The operating section shown in Figure 3(G) is referred to as the boom lowering and slewing operation section. After that, the operator lowers the bucket 6 to the desired height as shown in Figure 3(A) and resumes the excavation operation.

[0087] The operator carries out the "excavation and loading operation" by repeating a cycle consisting of "first half of excavation operation," "second half of excavation operation," "boom raising and slewing operation," "dump truck operation," and "boom lowering and slewing operation."

[0088] Furthermore, the shovel 100 in this embodiment may autonomously perform complex operations such as excavation by executing an autonomous control function.

[0089] In this implementation, the controller 30, when performing the excavation and loading operations described above, uses the stop determination unit 31 to determine whether or not the dump truck DT has stopped within a predetermined range R (see Figure 3(F)).

[0090] When the controller 30 determines that the dump truck DT has stopped within a predetermined range R, the vehicle extraction unit 32 extracts vehicle shape data indicating the shape of the dump truck DT from the shape data acquired from the 3D sensor S10, and the cargo bed detection unit 33 detects the position of the inner frame of the cargo bed of the dump truck DT. The controller 30 then displays the detection result on the display device 40 and, upon receiving an operation to instruct the start of the excavation and loading operation, starts the operation.

[0091] In this embodiment, the position of the inner frame of the dump truck bed is detected using the shape data output from the 3D sensor S10, and this information is notified to the operator of the excavator 100. Therefore, according to this embodiment, there is no need to install any special equipment on the dump truck DT, and the position of the inner frame of the dump truck bed can be made known to the operator of the excavator 100 with a simple configuration. Furthermore, in this embodiment, the position of the inner frame of the dump truck bed can be detected without being affected by the configuration of the dump truck DT, thus increasing its versatility.

[0092] Furthermore, the detection of the position of the inner frame of the dump truck bed DT only needs to be performed at least before the dumping operation section begins in the excavation and loading operation shown in Figure 3, and may also be performed before the excavation operation section begins. The detection of the position of the inner frame of the dump truck bed DT may be performed at any time before the dumping operation section begins, as long as the dump truck DT is stopped within a predetermined range.

[0093] Furthermore, the predetermined range R in this embodiment may be set in advance before the position of the inner frame of the loading platform is detected. The predetermined range R may be set, for example, to the range in which the shovel 100 can excavate soil. Alternatively, the predetermined range R may be set according to the weight of the load in the bucket 6.

[0094] Next, with reference to Figure 4, the processing of the controller 30 in this embodiment will be described. Figure 4 is a first flowchart illustrating the processing of the shovel controller.

[0095] In this embodiment, the controller 30, using the stop determination unit 31, determines whether or not the dump truck DT has stopped within a predetermined range (step S401).

[0096] Specifically, the stop determination unit 31 may, for example, analyze the image data captured by the imaging device S6 of the excavator 100 and determine whether or not the dump truck DT has stopped within a predetermined range. Alternatively, the stop determination unit 31 may determine whether or not the dump truck DT has stopped within a predetermined range based on the shape data output from the 3D sensor S10.

[0097] In step S401, if it is not determined that the dump truck DT has stopped within a predetermined range, the controller 30 remains in standby mode.

[0098] In step S401, if it is determined that the dump truck DT has stopped within a predetermined range, the controller 30 detects the position of the inner frame of the dump truck DT's cargo bed (step S402). Details of the process in step S402 will be described later.

[0099] Next, the controller 30, via the display control unit 34, displays the detection result of the inner frame of the cargo bed on the display device 40 (step S403).

[0100] Next, the controller 30 determines whether or not it has received an operation from the operator to instruct the start of the loading operation (step S404). If the controller 30 has received an operation to instruct the start of the loading operation in step S404, it starts the loading operation (step S405).

[0101] If the controller 30 does not accept an operation to start the loading operation in step S404, it terminates the process. Alternatively, if the controller 30 does not accept an operation to start the loading operation in step S404, it may return to step S402.

[0102] Next, with reference to Figure 5, the process of detecting the position of the inner frame of the loading platform will be described. Figure 5 is a second flowchart illustrating the process of the excavator controller. Figure 5 shows the details of the process in step S402 of Figure 4.

[0103] In this embodiment, the vehicle extraction unit 32 of the controller 30 excludes shape data from the shape data output from the 3D sensor S10 whose height is less than a predetermined threshold (step S501). More specifically, the vehicle extraction unit 32 removes from each group of 3D coordinates output from the 3D sensor S10 any 3D coordinates whose height value is less than a predetermined threshold, treating them as results of ground detection.

[0104] Next, the vehicle extraction unit 32 clusters the remaining shape data and extracts the shape data representing the largest cluster as the shape data representing dump truck DT (step S502). More specifically, the vehicle extraction unit 32 groups the remaining 3D coordinates by clustering and extracts the group with the most points contained within (the largest cluster) as the 3D coordinate group representing dump truck DT.

[0105] The shape data extracted in step S502 is an example of vehicle shape data showing the shape of a dump truck DT.

[0106] Next, the controller 30 uses the cargo bed detection unit 33 to slice the vehicle shape data into predetermined height ranges and detects a predetermined shape from each slice (step S503).

[0107] More specifically, the cargo bed detection unit 33 divides the point cloud indicated by the 3D coordinate group (vehicle shape data) extracted in step S502 into predetermined height ranges, and extracts a predetermined shape from each of the divided 3D coordinate groups.

[0108] The predetermined shapes include rectangles, rhombuses, trapezoids, circles, etc. In this embodiment, the operator may select the shape to be detected from among a plurality of predetermined shapes. In the following description, the predetermined shape will be described as a rectangle.

[0109] In this embodiment, a rectangle may be extracted by detecting orthogonal lines from each of the 3D coordinate groups, which are divided into predetermined height ranges. Alternatively, in this embodiment, various conditions may be set for extracting a predetermined shape from the 3D coordinate group, and the predetermined shape may be extracted.

[0110] Furthermore, in this embodiment, the predetermined height range may be set arbitrarily. Specifically, for example, the predetermined height range may be 30 cm.

[0111] Next, the cargo bed detection unit 33 detects the rectangle among the extracted rectangles that contains fewer points inside compared to the other rectangles and is located above the other rectangles as the rectangle representing the inner frame of the cargo bed (step S504).

[0112] The process for detecting the position of the inner frame of the cargo bed will be further explained below with reference to Figure 6. Figure 6 is a diagram illustrating the process for detecting the position of the inner frame of the cargo bed.

[0113] Figure 6 illustrates the case where a predetermined height threshold is defined as Ha and a predetermined height range is defined as Hb. In Figure 6, the cargo bed DTb of the dump truck DT is assumed to be empty.

[0114] In this case, the vehicle extraction unit 32 removes a group of three-dimensional coordinates from the shape data representing the dump truck DT, where the value indicating height is less than a predetermined threshold Ha.

[0115] Next, the vehicle extraction unit 32 divides the remaining 3D coordinate group so that the height range is Hb.

[0116] In other words, the vehicle extraction unit 32 divides the remaining 3D coordinate group into a first 3D coordinate group where the height value is Ha or greater and less than Ha1, a second 3D coordinate group where the height value is Ha1 or greater and less than Ha2, a third 3D coordinate group where the height value is Ha2 or greater and less than Ha3, and a fourth 3D coordinate group where the height value is Ha3 or greater and less than Ha4.

[0117] In Figure 6, the distances between Ha and Ha1, Ha1 and Ha2, Ha2 and Ha3, and Ha3 and Ha4 are all represented as Hb.

[0118] Next, the cargo bed detection unit 33 extracts rectangles from each of the divided 3D coordinate groups and identifies the rectangle corresponding to the inner frame of the cargo bed from the extracted rectangles.

[0119] Rectangle 61 schematically represents the rectangle extracted from the fourth set of 3D coordinates. Rectangle 61 is the rectangle resulting from the detection of the roof of the driver's cab DTa of the dump truck DT. It is the uppermost rectangle among those extracted from each of the divided 3D coordinate sets, but there are many points inside rectangle 61 that represent the roof of the driver's cab DTa.

[0120] In other words, for rectangle 61, the ratio of the area of ​​the region where the points are located to the area of ​​rectangle 61 is greater than a predetermined threshold.

[0121] Rectangles 62 and 63 schematically represent rectangles extracted from the third set of three-dimensional coordinates. Rectangles 62 and 63 are the result of detecting the empty state of the dump truck bed DTb. Rectangle 62 has few points inside because the bed DTb is empty. Rectangle 63 is located outside rectangle 62, so it has more points inside compared to rectangle 62.

[0122] Rectangles 64 and 65 schematically represent rectangles extracted from the second set of three-dimensional coordinates. Rectangle 64 is the result of detecting the bottom surface of the cargo bed DTb of the dump truck DT, and has many points inside. Rectangle 65 is located outside rectangle 64, and therefore has more points inside compared to rectangle 64.

[0123] Therefore, the cargo bed detection unit 33 detects rectangle 62 as the inner frame of the cargo bed DTb because it has fewer points inside compared to other rectangles and is located above other rectangles.

[0124] In this embodiment, among the extracted rectangles, the rectangle that contains fewer points inside compared to other rectangles and is located above other rectangles is detected as the rectangle representing the inner frame of the cargo bed, but this is not limited to this. In this embodiment, for example, the extracted rectangles in step S503 may be displayed, and the rectangle selected by the operator or the like from among the displayed rectangles may be used as the inner frame of the cargo bed DTb.

[0125] Next, with reference to Figure 7, an example of the display of the detection results for the inner frame of the cargo bed will be explained. Figure 7 is a diagram showing an example of the display of the detection results for the position of the inner frame of the cargo bed.

[0126] Figure 7 shows an example where the display device 40 displays a screen 70 showing the detection result of the inner frame of the cargo bed. The screen 70 shown in Figure 7 is an example of a screen displayed on the display device 40 in step S403 of Figure 4.

[0127] Screen 70 includes display areas 71, 72, and 73. Display area 71 displays an image 74 showing the shape of the cargo bed of the transport vehicle as indicated by the shape data. In this embodiment, image 74 includes marker images 74a, 74b, 74c, and 74d that identify the four corners of the rectangle detected as the inner frame of the cargo bed. In this embodiment, by displaying these marker images, the operator of the shovel 100 can visually grasp the position of the inner frame of the cargo bed.

[0128] The display area 72 includes the display area 72a and the operation buttons 72b and 72c. The display area 72a displays messages prompting confirmation of the detection results for the inner frame of the cargo bed. Operation button 72b is an operation button for instructing the start of the loading operation. Operation button 72c is an operation button for instructing the user to re-detect the inner frame of the cargo bed. Note that operation button 72c does not need to be displayed.

[0129] Display area 73 displays the three-dimensional coordinates of the positions indicated by the marker images 74a, 74b, 74c, and 74d, which are displayed in display area 71.

[0130] In this embodiment, by displaying the detection result of the inner frame of the cargo bed, the operator of the shovel 100 can start the loading operation after confirming the position of the inner frame of the cargo bed of the dump truck DT. Therefore, according to this embodiment, it is possible to suppress the falling of soil and other materials excavated from the shovel 100 onto the outside of the cargo bed, and to perform the loading operation efficiently.

[0131] Furthermore, the controller 30 of this embodiment may display the loading status in the display area 71 after the inner frame of the cargo bed is detected and the loading operation has started.

[0132] The shape indicated by the shape data output from the 3D sensor S10 changes as soil or other materials are loaded onto the loading platform. The controller 30, via the display control unit 34, displays an image of the shape indicated by the shape data acquired during the loading operation in the display area 71, thereby allowing the operator of the shovel 100 to understand the loading status.

[0133] Furthermore, the controller 30 of this embodiment may display a message prompting the user to stop the loading operation, for example, depending on the points located inside the rectangle detected as the inner frame of the loading platform. Specifically, for example, the controller 30 may display a message prompting the user to stop the loading operation when the ratio of the area of ​​the region where points are located inside the rectangle to the area of ​​the rectangle detected as the inner frame of the loading platform exceeds a predetermined value.

[0134] Furthermore, the controller 30 of this embodiment may display a message prompting the user to stop the loading operation if, for example, the average height of the point cloud within the rectangular area exceeds a predetermined value. In this case, the default height may be, for example, the height of the frame of the loading platform. Also, the controller 30 of this embodiment may display a message prompting the user to stop the loading operation if the volume occupied by the point cloud within the rectangular area exceeds a predetermined value. In this case, the default volume may be, for example, 110% of the volume of the loading platform. The default volume may be a volume such that the soil loaded onto the loading platform is slightly piled up.

[0135] This method helps to prevent excessive loading of soil and sand onto the truck bed.

[0136] Furthermore, in the above-described embodiment, the controller 30 of the shovel 100 performs a process to detect the position of the inner frame of the loading platform, but the invention is not limited to this.

[0137] The process of detecting the position of the inner frame of the cargo bed may be performed by a remote controller 30R in the remote control room RC. In this case, the stop determination unit 31, vehicle extraction unit 32, cargo bed detection unit 33, and display control unit 34 may be provided by the remote controller 30R, and the screen 70 may be displayed on a display device D1 provided in the remote control room RC.

[0138] Furthermore, the process of detecting the position of the inner frame of the cargo bed may be performed by the management device 200. In this case, the stop determination unit 31, the vehicle extraction unit 32, the cargo bed detection unit 33, and the display control unit 34 may be provided by the management device 200, and the screen 70 may be displayed on a display device whose display is controlled by the management device 200.

[0139] Furthermore, when the management device 200 performs the process of detecting the position of the inner frame of the loading platform, it can perform the detection of the inner frame of the loading platform at each of multiple work sites in parallel.

[0140] Furthermore, the process of detecting the position of the inner frame of the cargo bed may be performed by the support device 300. In this case, the stop determination unit 31, the vehicle extraction unit 32, the cargo bed detection unit 33, and the display control unit 34 may be provided by the support device 300, and the screen 70 may be displayed on the display device of the support device 300.

[0141] In this embodiment, by performing the process of detecting the position of the inner frame of the loading platform using a device other than the shovel 100, the processing load on the controller 30 of the shovel 100 can be reduced.

[0142] Furthermore, although the above-described embodiment uses the shovel 100 as an example of a work machine, this embodiment can also be applied to work machines other than the shovel 100. In this embodiment, any work machine that performs the operation of loading cargo onto a vehicle onto which cargo is loaded can be applied.

[0143] Preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the embodiments described above. Various modifications, substitutions, etc., can be applied to the embodiments described above without departing from the scope of the present invention. Furthermore, features described separately can be combined as long as no technical inconsistencies arise. [Explanation of Symbols]

[0144] 1. Lower running body 2. Swivel mechanism 3. Upper rotating body 10 cabins 30 controllers 31 Stop judgment section 32 Vehicle extraction unit 33. Cargo bed detection unit 34 Display Control Unit 100 Shovel

Claims

1. A machine used for loading cargo onto a vehicle, A vehicle extraction unit extracts vehicle shape data representing the shape of the vehicle from three-dimensional shape data including the interior of the cargo bed where the cargo is loaded onto the vehicle, A work machine having a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

2. Lower running body and An upper rotating body provided on the lower traveling body, The attachment mounted on the upper rotating body, It has a three-dimensional sensor that outputs the shape data, The work machine according to claim 1, wherein the three-dimensional sensor is attached to the attachment.

3. The aforementioned three-dimensional sensor is The work machine according to claim 2, which is installed above the vehicle and in a position overlapping with the cargo bed when the vehicle is stopped within a predetermined range.

4. The work machine according to claim 1, wherein the detection result by the cargo bed detection unit is displayed on a display device.

5. The aforementioned cargo bed detection unit is The three-dimensional coordinate system shown by the vehicle shape data is divided into predetermined height ranges, From each of the divided 3D coordinate sets, a predetermined shape is extracted. The work machine according to claim 1, wherein, among the extracted predetermined shapes, a predetermined shape that contains fewer points inside compared to other predetermined shapes and is located above other rectangles is detected as a predetermined shape representing the inner frame of the loading platform.

6. A control system for a work machine, which includes a work machine for loading cargo onto a vehicle and a control device for controlling the work machine, A vehicle extraction unit extracts vehicle shape data representing the shape of the vehicle from three-dimensional shape data including the interior of the cargo bed where the cargo is loaded onto the vehicle, A control system for a work machine, comprising: a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

7. It has a three-dimensional sensor that outputs the aforementioned shape data, The control system for a work machine according to claim 6, wherein the three-dimensional sensor is provided above the vehicle and overlaps with the cargo bed when the vehicle is stopped within a predetermined range.

8. A control device for a work machine that controls a work machine that loads cargo onto a vehicle, A vehicle extraction unit extracts vehicle shape data representing the shape of the vehicle from three-dimensional shape data including the interior of the cargo bed where the cargo is loaded onto the vehicle, A control device for a work machine, comprising: a cargo bed detection unit that detects the position of the inner frame of the cargo bed based on the vehicle shape data.

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