Automatic Loading System

Abstract

To provide an automatic loading system allowing a determination body other than a controller to determine whether or not to be in a condition where loading control is allowed to start before the loading control starts.SOLUTION: A controller 50 is loaded on a working machine 20 and is allowed to carry out loading control based on a detected result of a position detection unit 41. An outer system 70 is allowed to be positioned outside of the working machine 20 and to communicate with the controller 50. The outer system 70 is allowed to output a load control start signal for staring the loading control. The controller 50 starts the loading control through an input of the load control start signal from the outer system 70 to the controller 50 as a condition.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatic loading system for allowing a work machine to automatically load an article onto a transport vehicle. [Background technology]

[0002] For example, a conventional automatic loading system is described in Patent Document 1. In the technology described in this document, when a controller that controls a work machine detects the approach of a transporter to the work machine, the controller switches the work machine to a loading mode in which the work machine operates to load the transporter (see claim 1 in the same document). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 026505 Summary of the Invention [Problem to be solved by the invention]

[0004] With the technology described in this document, even if the work machine is not in a suitable state for loading onto a transporter, if it erroneously detects, for example, that a transporter is approaching, control for loading (loading control) is performed.

[0005] Therefore, an object of the present invention is to provide an automatic loading system that can create room for a decision-making entity other than the controller to determine whether or not the loading control can be started before the loading control is started. [Means for solving the problem]

[0006] The automatic loading system includes a work machine, a position detection unit, a controller, and an external system. The work machine performs a capture operation to capture a transported item, and an release operation to load the captured transported item onto a transporter. The position detection unit detects the position of the transporter relative to the work machine. The controller is mounted on the work machine and is capable of performing loading control based on the detection result of the position detection unit. The external system can be arranged outside the work machine and is capable of communicating with the controller. The loading control is control that causes the work machine to repeatedly perform a series of operations including the capture operation and the release operation. The external system is capable of outputting a loading control start signal for starting the loading control. The controller starts the loading control on the condition that the loading control start signal is input from the external system to the controller. Effect of the Invention

[0007] With the above-described configuration, it is possible to create room for a decision-making entity other than the controller to decide whether or not the loading control can be started before the loading control is started. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an automatic loading system 10 and the like, in which a transporter 2 and a work machine 20 are seen from the side. [Diagram 2] FIG. 2 is a block diagram of the automatic loading system 10 shown in FIG. [Diagram 3] 2 is a flow chart of the operation of the automatic loading system 10 shown in FIG. [Figure 4] 3 is a diagram showing the display unit 71 shown in FIG. 2 in a case where the position of the transporter 2 shown in FIG. 1 is correctly detected. [Diagram 5] 5 is a diagram equivalent to FIG. 4, showing the display unit 71 when the position of the transporter 2 is erroneously detected. [Figure 6] 3 is a diagram showing a display unit 71 shown in FIG. 2. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An automatic loading system 10 for loading an article L onto a transport vehicle 2 shown in FIG. 1 will be described with reference to FIGS.

[0010] The transport vehicle 2 is a vehicle equipped with a loading platform 5. The transport vehicle 2 is a vehicle for transporting the transported object L loaded by the work machine 20. The transport vehicle 2 may be a dump truck or a truck. The transport vehicle 2 is equipped with a transport vehicle main body 3 and a loading platform 5. The transport vehicle main body 3 is capable of traveling and supports the loading platform 5. The transport vehicle main body 3 is equipped with a transport vehicle driver's cab 3a. The loading platform 5 stores the transported object L. The transported object L stored in the loading platform 5 may be, for example, soil or sand, stones, or waste. The loading platform 5 may be movable relative to the transport vehicle main body 3, or may be fixed to the transport vehicle main body 3.

[0011] The automatic loading system 10 is a system that causes a work machine 20 to automatically perform the task of loading an article L onto a transporter 2. The automatic loading system 10 includes the work machine 20, a position detection unit 41, an instruction unit 42 shown in FIG. 2, a controller 50, and an external system 70.

[0012] As shown in Fig. 1, the work machine 20 is a machine that performs work, such as a construction machine that performs construction work, such as a shovel. The work machine 20 performs a capture operation to capture a transported object L, and a release operation to load the captured transported object L onto the transporter 2 (the capture operation and the release operation will be described in detail later). The work machine 20 includes a lower traveling body 21, an upper rotating body 23, an attachment 25, a drive control unit 31 shown in Fig. 2, and a posture detection unit 33.

[0013] The lower traveling body 21 allows the work machine 20 shown in Fig. 1 to travel. The lower traveling body 21 is equipped with, for example, a crawler. The upper rotating body 23 is rotatably mounted on the lower traveling body 21. The upper rotating body 23 is equipped with a work machine cab 23a.

[0014] The attachment 25 is attached to the upper rotating body 23 so that it can be raised and lowered. The attachment 25 is a device that captures, moves, and releases the transported object L. The attachment 25 includes a boom 25a, an arm 25b, and a tip attachment 25c. The boom 25a is attached to the upper rotating body 23 so that it can be raised and lowered (so that it can rotate up and down). The arm 25b is attached to the boom 25a so that it can be rotated (so that it can be pushed and pulled). The tip attachment 25c is provided at the tip of the attachment 25, and is attached to the arm 25b so that it can be rotated. The tip attachment 25c may be a bucket that scoops up the transported object L (such as soil and sand), or may be a device (such as a grapple) that clamps and grabs the transported object L.

[0015] The drive control unit 31 (see FIG. 2) controls an actuator (not shown) that drives the work machine 20. More specifically, the drive control unit 31 controls a motor that drives the lower traveling body 21 and a motor that rotates the upper rotating body 23 relative to the lower traveling body 21. The drive control unit 31 controls a cylinder that raises and lowers the boom 25a relative to the upper rotating body 23, a cylinder that rotates the arm 25b relative to the boom 25a, and a cylinder that rotates the tip attachment 25c relative to the arm 25b. When the tip attachment 25c itself operates (for example, opens and closes), the drive control unit 31 controls an actuator that operates the tip attachment 25c.

[0016] The attitude detection unit 33 (see FIG. 2) detects the attitude of the work machine 20 in order to perform standby control C1 (step S12 in FIG. 3) and loading control C2 (step S32 in FIG. 3) described below. More specifically, the attitude detection unit 33 detects the rotation angle of the upper rotating body 23 relative to the lower traveling body 21. The attitude detection unit 33 detects the rotation angle (hoisting angle) of the boom 25a relative to the upper rotating body 23, the rotation angle of the arm 25b relative to the boom 25a, and the rotation angle of the tip attachment 25c relative to the arm 25b. The attitude detection unit 33 is, for example, an angle sensor.

[0017] The position detection unit 41 detects the position of the transporter 2 relative to the work machine 20. More specifically, the position detection unit 41 detects three-dimensional position information of the transporter 2, and detects three-dimensional shape information of the transporter 2. The position detection unit 41 may detect the position of the transporter 2 based on the three-dimensional information and two-dimensional information (images). The position detection unit 41 may detect the position of only a part of the transporter 2, for example, may detect the position of only the loading platform 5 of the transporter 2.

[0018] Only one position detection unit 41 may be provided, or multiple position detection units 41 may be provided. The position detection unit 41 may be mounted on the work machine 20, or may be arranged outside the work machine 20 (for example, at the work site). When the position detection unit 41 is arranged outside the work machine 20, it may be possible to detect positions (for example, areas shaded by the attachment 25) that cannot be detected when the position detection unit 41 is mounted only on the work machine 20. Furthermore, when the position detection unit 41 is arranged outside the work machine 20, the automatic loading system 10 of this embodiment can be applied even if the work machine 20 does not have a position detection unit 41.

[0019] The position detection unit 41 may include a device that detects three-dimensional information using laser light, such as LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), or a TOF (Time Of Flight) sensor. The position detection unit 41 may include a device that detects three-dimensional information using radio waves (such as a millimeter wave radar). The position detection unit 41 may include a stereo camera. When the position detection unit 41 detects the position of the transporter 2 based on three-dimensional information and two-dimensional information, the position detection unit 41 may include a camera capable of detecting two-dimensional images.

[0020] The instruction unit 42 (see FIG. 2) issues instructions, which will be described later. The instruction unit 42 may issue instructions that can be perceived by a worker (person), or may output instructions by electrical signals (e.g., instructions for control, etc.). When the instruction unit 42 issues instructions that can be perceived by the worker, the instruction unit 42 outputs at least one of instructions of sound, light, and vibration to the worker. The instruction unit 42 may be mounted on the work machine 20, or may be disposed outside the work machine 20. The instruction unit 42 may be provided in the external system 70. The instruction unit 42 may be a horn (e.g., a horn mounted on the work machine 20), a speaker, a light, or a display device (a monitor, etc.).

[0021] The controller 50 is a computer that inputs and outputs signals, performs calculations such as judgments and calculations, and stores information. The controller 50 is mounted on the work machine 20. The controller 50 is capable of performing standby control C1 (step S12 in FIG. 3) and loading control C2 (step S32 in FIG. 3), which will be described later. The controller 50 controls the operation of the work machine 20 by outputting commands to the drive control section 31 (see FIG. 2).

[0022] The external system 70 is a computer provided separately from the controller 50. The external system 70 is capable of communicating with the controller 50. The external system 70 can be arranged outside the work machine 20. The external system 70 may be, for example, a device (such as a server) installed outside the work machine 20, or may be a portable device (such as a mobile terminal or tablet terminal). The external system 70 may be arranged inside the work machine 20 (for example, inside the work machine cab 23a) as long as it can be arranged outside the work machine 20. The communication between the external system 70 and the controller 50 may be wireless communication or wired communication. As shown in FIG. 2, the external system 70 includes a display unit 71, a standby control start instruction unit 73, a loading control start instruction unit 75, and an interruption instruction unit 77. The external system 70 may include an automatic determination unit 79.

[0023] The display unit 71 displays various information. The display unit 71 performs display for allowing an operator to determine whether or not the controller 50 is in a state in which it is possible to start automatic control (specifically, the standby control C1 and the loading control C2 shown in FIG. 3) (see FIGS. 4 to 6).

[0024] The standby control start instruction unit 73 outputs a standby control start signal 73s to the external system 70. The standby control start signal 73s is a signal for causing the controller 50 to start standby control C1 (see FIG. 3). The standby control start instruction unit 73 outputs the standby control start signal 73s to the external system 70 in response to an operation by an operator. The operation performed on the standby control start instruction unit 73 may be, for example, an operation of a touch panel, an operation of a physical switch, or a voice operation (the same applies to operations performed on the loading control start instruction unit 75 and the interruption instruction unit 77).

[0025] The loading control start instruction unit 75 outputs a loading control start signal 75s to the external system 70. The loading control start signal 75s is a signal for causing the controller 50 to start the loading control C2 (see FIG. 3). The loading control start instruction unit 75 outputs the loading control start signal 75s to the external system 70 in response to an operation by an operator.

[0026] The interrupt instruction unit 77 outputs an interrupt signal 77s to the external system 70 for causing the controller 50 to interrupt the automatic control. The interrupt instruction unit 77 outputs the interrupt signal 77s to the external system 70 in response to an operation by an operator. The interrupt instruction unit 77 may output an interrupt signal 77s (standby control interrupt signal) to cause the controller 50 to interrupt the standby control C1 (see FIG. 3) to the external system 70. The interrupt instruction unit 77 may output an interrupt signal 77s (loading control interrupt signal) to cause the controller 50 to interrupt the loading control C2 (see FIG. 3) to the external system 70. The automatic determination unit 79 will be described later.

[0027] (Operation of work machine 20) The work machine 20 shown in FIG. 1 performs a capture operation, a lift-up transfer operation, a release operation, and a return transfer operation.

[0028] The capturing operation is an operation in which the tip attachment 25c captures the transported object L. For example, the capturing operation may be an operation (digging operation) in which the bucket, which is the tip attachment 25c, digs and scoops up the soil, which is the transported object L. For example, the capturing operation may be an operation in which the tip attachment 25c pinches and grabs the transported object L.

[0029] The lifting movement operation is an operation in which the tip attachment 25c moves (moves the transported object L) from a position where the capture operation is performed to a position where the release operation is performed. The lifting movement operation is an operation in which the tip attachment 25c moves along a target trajectory (see target trajectory Qa shown in FIG. 6). Specifically, for example, the lifting movement operation is an operation (lifting rotation operation) including an operation in which the upper rotating body 23 rotates relative to the lower running body 21 and an operation in which the tip attachment 25c moves (e.g., moves upward) relative to the upper rotating body 23.

[0030] The releasing operation is an operation in which the tip attachment 25c releases the transported object L on the transport vehicle 2 (more specifically, the loading platform 5) and loads the transported object L onto the transport vehicle 2. For example, the releasing operation may be an operation in which the tip attachment 25c, which is a bucket, drops the transported object L, i.e., soil discharging operation, onto the loading platform 5. For example, the releasing operation may be an operation in which the tip attachment 25c releases the transported object L that it has been holding and drops it onto the loading platform 5.

[0031] The return movement operation is an operation in which the tip attachment 25c moves (returns) from a position where the release operation was performed to a position where the capture operation is performed. The return movement operation is an operation in which the tip attachment 25c moves along a target trajectory (see target trajectory Qa shown in FIG. 6). Specifically, for example, the return movement operation is an operation (return rotation operation) including an operation in which the upper rotating body 23 rotates relative to the lower running body 21 and an operation in which the tip attachment 25c moves (e.g., moves downward) relative to the upper rotating body 23.

[0032] (Automatic control by controller 50) The controller 50 performs control (automatic control) to automatically operate the work machine 20. The automatic controls performed by the controller 50 include standby control C1 (see step S12 shown in FIG. 3) and loading control C2 (see step S32 shown in FIG. 3). In the following, the work machine 20 will be mainly described with reference to FIG. 1, and each step of the flowchart, standby control C1, and loading control C2 will be described with reference to FIG. 3.

[0033] The standby control C1 (see step S12 shown in FIG. 3) is a control for making the work machine 20 shown in FIG. 1 wait in a standby position after performing a capturing operation. More specifically, the standby control C1 is a control for making the work machine 20 perform a capturing operation (e.g., excavation), a lifting and moving operation (e.g., turning, etc.), and wait in a standby position. The above-mentioned "standby position" is a position for loading the captured transported object L onto the transport vehicle 2, and is a position for waiting for an opening operation (preparation position). The standby position is a position in which the work machine 20 can immediately perform an opening operation if the controller 50 outputs a command to perform an opening operation. Specifically, for example, the standby position is a position in which the tip attachment 25c (e.g., a bucket containing soil and sand) that has captured the transported object L stops at a position (in the air) where the opening operation is scheduled to be performed (e.g., an earth discharge standby position). The position of the work machine 20 shown in FIG. 1 is an example of a standby position.

[0034] The loading control C2 (see step S32 shown in FIG. 3) is a control for making the work machine 20 repeatedly perform a series of operations including a capture operation and an opening operation. More specifically, the loading control C2 is a control for making the work machine 20 repeatedly perform a series of operations that are performed in the order of a release operation (e.g., dumping soil), a return movement operation (e.g., turning), a capture operation (e.g., digging), and a lifting movement operation (e.g., turning). The loading control C2 is performed based on the detection result of the position detection unit 41. At least a part of each operation of the loading operation (opening operation, return movement operation, capture operation, lifting movement operation) is performed based on the detection result of the position detection unit 41. Specifically, for example, the opening operation is performed as follows. The controller 50 calculates the three-dimensional position and shape of the loading platform 5 based on the detection result of the position detection unit 41. Then, the controller 50 causes the tip attachment 25c to release the transported object L at a specific position on the loading platform 5. Specifically, for example, the capture operation is performed as follows. The controller 50 calculates the three-dimensional position and shape of the transported object L (e.g., a pile of dirt or sand) (see FIG. 6) before capture based on the detection result of the position detector 41. Then, the controller 50 causes the tip attachment 25c to capture the transported object L at a specific position (e.g., point Qc shown in FIG. 6) of the transported object L before capture.

[0035] The controller 50 determines which of the opening operation, the return movement operation, the capturing operation, and the lifting movement operation is the operation to be performed at the start of the loading control C2 (see FIG. 3) based on the state of the work machine 20 immediately before the start of the loading control C2. For example, when the loading control C2 is started in a state in which the work machine 20 is stopped in a standby position because the controller 50 has performed the standby control C1 (see FIG. 3), the controller 50 starts the loading control C2 from the opening operation. For example, when the loading control C2 is started in a state in which the tip attachment 25c has not captured the transported object L (for example, the bucket is empty), the controller 50 may start the loading control C2 from the return movement operation or the capturing operation.

[0036] (Conditions for starting automatic control, etc.) The controller 50 starts standby control C1 (see FIG. 3) on the condition that a standby control start signal 73s is input to the controller 50 from the external system 70 shown in FIG. 2. The controller 50 starts loading control C2 (see FIG. 3) on the condition that a loading control start signal 75s is input to the controller 50 from the external system 70. The operation of the automatic loading system 10 will be described with reference to the flowchart shown in FIG.

[0037] (Checking the validity of starting standby control C1) Before the controller 50 (see FIG. 2) starts the standby control C1, the worker checks whether or not the standby control C1 can be started (validity). For example, the worker may check whether or not there is an obstacle around the position where the work machine 20 shown in FIG. 1 performs the work. For example, the worker may check the validity of the transported object L to be captured by the work machine 20 (the transported object L before capture (see FIG. 6)). For example, the worker may check the position of the transported object L before capture, or check the presence or absence and amount of the transported object L. For example, the worker may check the presence or absence of the transported object L transported from a belt conveyor (not shown) or a machine other than the work machine 20. As shown in FIG. 6, the external system 70 may output (for example, display on the display unit 71) information for allowing the worker to determine whether or not the standby control C1 can be started (see [Examples B] to [Examples E] described later for specific examples).

[0038] When the operator determines that the standby control C1 (see FIG. 3) can be started, the operator operates the standby control start instruction unit 73 shown in FIG. 2 to output a standby control start signal 73s from the external system 70 to the controller 50. When the operator determines that the standby control C1 cannot be started, the operator does not output the standby control start signal 73s from the external system 70 to the controller 50.

[0039] (Operation of controller 50, etc.) The controller 50 determines whether or not the standby control start signal 73s has been input (step S11 shown in FIG. 3). The controller 50 starts the standby control C1 on the condition that the standby control start signal 73s has been input from the external system 70 to the controller 50 (step S12 shown in FIG. 3). The above "condition" may be a necessary condition or a sufficient condition. The controller 50 may start the standby control C1 when a condition other than the input of the standby control start signal 73s is further satisfied. The condition for the controller 50 to start the standby control C1 (step S12 shown in FIG. 3) includes the input of the standby control start signal 73s from the external system 70 to the controller 50.

[0040] The controller 50 performs a judgment regarding the position of the transporter 2 relative to the work machine 20 shown in FIG. 1 (step S21 shown in FIG. 3). For example, the controller 50 judges whether or not the position of the transporter 2 relative to the work machine 20 is within a predetermined range. This "predetermined range" is set in advance (before the judgment of step S21) in the controller 50 (the same applies to the "threshold" described below). For example, the controller 50 judges whether or not the distance from the work machine 20 to the transporter 2 is equal to or less than a threshold. The position and distance of the transporter 2 relative to the work machine 20 are detected by the position detection unit 41. If the position of the transporter 2 relative to the work machine 20 is within the predetermined range (for example, the distance is equal to or less than a threshold), the flow proceeds to step S22 (see FIG. 3). If the position of the transporter 2 relative to the work machine 20 is not within the predetermined range (for example, the distance exceeds the threshold), the controller 50 continues the judgment regarding the position of the transporter 2 relative to the work machine 20 (judgment of step S21 shown in FIG. 3). 3 may be performed after the standby control C1 (step S12), before the standby control C1, or simultaneously with the standby control C1. The determination in step S21 is performed before the loading control C2 (step S32).

[0041] When the determination in step S21 is made, the transporter 2 shown in FIG. 1 may be moving toward the work machine 20. In this case, if the position of the transporter 2 relative to the work machine 20 is within a predetermined range (for example, the distance is equal to or less than a threshold) (YES in step S21 shown in FIG. 3), the controller 50 causes the instruction unit 42 (see FIG. 2) to issue a stop instruction. The above-mentioned "stop instruction" is an instruction for stopping the transporter 2 moving toward the work machine 20. For example, if the instruction unit 42 (see FIG. 2) issues a stop instruction that can be perceived by a person, the driver in the transporter cab 3a who senses the stop instruction (for example, a horn sound) stops the transporter 2. For example, if the instruction unit 42 outputs a stop instruction by an electric signal, the transporter 2 that receives the stop instruction may automatically stop.

[0042] (Verifying the validity of starting loading control C2) Before the controller 50 starts the loading control C2 (see FIG. 3), the worker checks whether or not the loading control C2 can be started (validity). At this time, the worker may check the validity of the detection result of the position detection unit 41. The worker may check the validity of the position of the transporter 2 relative to the work machine 20. The worker may check the validity of the position of the transported object L (see FIG. 6) before capture relative to the work machine 20. The worker may check the validity of the target trajectory Qa (see FIG. 6) and target position (for example, points Qc and Qb shown in FIG. 6) of the tip attachment 25c in the loading control C2.

[0043] As shown in Fig. 6, the external system 70 outputs information for the operator to confirm whether or not the loading control C2 (see Fig. 3) can be started, and displays it, for example, on the display unit 71 (step S23 shown in Fig. 3). Specific examples of the output by the external system 70 and the confirmation by the operator are as follows: [Example A] to [Example E].

[0044] [Example A] For example, the external system 70 shown in FIG. 1 (more specifically, the display unit 71 (see FIG. 4)) may display information (detected position information of the transporter 2) about the position of the transporter 2 (e.g., the platform 5) relative to the work machine 20, detected by the position detection unit 41. As shown in FIG. 4, the detected position information of the transporter 2 displayed by the external system 70 may be, for example, a point indicating a specific position of the platform 5 (e.g., four points P5a, P5b, P5c, and P5d indicating the four corners of the platform 5), or a straight line or figure indicating the range of the platform 5. The external system 70 may display a value (coordinates, distance, etc.) related to the detected position information of the transporter 2. The external system 70 displays the detected position information of the transporter 2 and a two-dimensional image of the transporter 2 (e.g., an image of the platform 5) superimposed on each other. A worker who sees this display compares the detected position information of the transporter 2 with the two-dimensional image to determine the validity of the detected position information. Specifically, for example, the worker checks whether the detected position information of the transporter 2 (e.g., four points P5a, P5b, P5c, P5d) matches or nearly matches with the parts in the two-dimensional image of the transporter 2 that correspond to the detected position information (e.g., the positions of the four corners of the loading platform 5). If they match or nearly match, the worker can determine that the detection result of the position detection unit 41 shown in Fig. 1 is valid. If there is a large discrepancy between them (see Fig. 5), the worker can determine that the detection result of the position detection unit 41 is not valid.

[0045] [Example B] For example, the external system 70 may display information (detection position information of the transported object L) on the position of the transported object L relative to the work machine 20 (see FIG. 1) detected by the position detection unit 41 (see FIG. 1). For example, the external system 70 may display information on the position of the transported object L (e.g., a pile of sand) before it is captured by the work machine 20 (see FIG. 1). The detection position information of the transported object L displayed by the external system 70 may be, for example, a point (e.g., a point Ra representing an apex) indicating a specific position of the transported object L, or a figure indicating the range of the transported object L. The external system 70 may display a value (coordinates, distance, etc.) related to the detection position information of the transported object L. As in the above [Example A], the external system 70 displays the detection position information of the transported object L and a two-dimensional image of the transported object L superimposed on each other. A worker who sees this display can judge the validity of the detection result of the position detection unit 41 (see FIG. 1).

[0046] [Example C] For example, as shown in FIG. 6, the external system 70 may display information on the target trajectory Qa in the loading control C2 (see FIG. 3). The target trajectory Qa is a trajectory of the end attachment 25c (see FIG. 1) between the position (point Qc) where the capture operation is performed and the position (point Qb) where the release operation is performed, and is calculated by the controller 50 (see FIG. 1). The external system 70 may display information on the target trajectory Qa in the lifting movement operation, or may display information on the target trajectory Qa in the return movement operation. When the target trajectory Qa is automatically corrected according to the position of the transporter 2 detected by the position detection unit 41 (see FIG. 1), or when the target trajectory Qa is manually corrected, the external system 70 may display the correction result of the target trajectory Qa. The external system 70 may display information on the target trajectory Qa and a two-dimensional image of the position where the attachment 25 (see FIG. 1) is expected to pass, superimposed on each other. A worker who sees this display can determine the validity of the information regarding the target trajectory Qa, similar to [Example A] above.

[0047] [Example D] For example, the external system 70 may display information about the target loading position (point Qb) in the loading control C2 (see FIG. 3). The target loading position (point Qb) is a target position where the work machine 20 shown in FIG. 1 performs the opening operation, and is calculated by the controller 50. As shown in FIG. 6, the external system 70 may display the target loading position (point Qb). When the target loading position (point Qb) is automatically corrected according to the position of the transporter 2 detected by the position detection unit 41 (see FIG. 1), or when the target loading position (point Qb) is manually corrected, the external system 70 may display the correction result of the target loading position (point Qb). The external system 70 may display information about the target loading position (point Qb) and a two-dimensional image of the transporter 2 (e.g., the loading platform 5) superimposed on each other. A worker who sees this display can determine whether the target loading position (point Qb) is appropriate or not (for example, whether it is an appropriate position on the loading platform 5 or not).

[0048] [Example E] The external system 70 may display information about the target capture position (point Qc) in the loading control C2 (see FIG. 3). The target capture position (point Qc) is a target position where the work machine 20 shown in FIG. 1 performs a capture operation, and is calculated by the controller 50. As shown in FIG. 6, the external system 70 may display the target capture position (point Qc). When the target capture position (point Qc) is automatically corrected according to the position of the transported object L detected by the position detection unit 41 (see FIG. 1), or when the target capture position (point Qc) is manually corrected, the external system 70 may display the correction result of the target capture position (point Qc). The external system 70 may display information about the target capture position (point Qc) and a two-dimensional image of the transported object L before capture, superimposed on each other. A worker who sees this display can determine whether the target capture position (point Qc) is appropriate (for example, whether it is an appropriate position within the transported object L before capture).

[0049] When the operator determines that the loading control C2 (step S32) shown in Fig. 3 can be started, he or she operates the loading control start instruction unit 75 shown in Fig. 2 to output a loading control start signal 75s from the external system 70 to the controller 50. When the operator determines that the loading control C2 (see Fig. 3) cannot be started, he or she does not output the loading control start signal 75s from the external system 70 to the controller 50.

[0050] (Operation of controller 50, etc.) The controller 50 judges whether or not the loading control start signal 75s has been input (step S31 shown in FIG. 3). The controller 50 starts the loading control C2 (see FIG. 3) on the condition that the loading control start signal 75s has been input from the external system 70 to the controller 50 (step S32 shown in FIG. 3). The above-mentioned "condition" may be a necessary condition or a sufficient condition. The controller 50 may start the loading control C2 (see FIG. 3) when a condition (an additional condition) different from the input of the loading control start signal 75s is further satisfied. The condition for the controller 50 to start the loading control C2 (see FIG. 3) (step S32 shown in FIG. 3) includes the input of the loading control start signal 75s from the external system 70 to the controller 50. The above-mentioned "additional condition" may be, for example, that the position of the transporter 2 with respect to the work machine 20 shown in FIG. 1 is within a predetermined range (YES in step S21 shown in FIG. 3). The additional condition may be that the instruction to stop the transporter 2 (step S22 shown in FIG. 3) has been completed.

[0051] The controller 50 judges whether to end the loading control C2 (see FIG. 3) while performing the loading control C2 (step S41 shown in FIG. 3). For example, the controller 50 ends the loading control C2 when the amount of the transported goods L loaded onto the transport vehicle 2 exceeds a predetermined amount. The amount of the transported goods L loaded onto the transport vehicle 2 may be detected by the position detection unit 41 or by a sensor other than the position detection unit 41. For example, the controller 50 may interrupt the loading control C2 when an interruption signal 77s is input from the external system 70 shown in FIG. 2. When the controller 50 judges not to end the loading control C2, it continues the loading control C2. When a signal (e.g., a loading control start signal 75s) for restarting the loading control C2 is input while the loading control C2 is interrupted, the controller 50 may restart the loading control C2.

[0052] When the loading control C2 (see FIG. 3) is ended (YES in step S41 shown in FIG. 3), the controller 50 notifies that the loading control C2 has been ended (this notification is called an end notification). The controller 50 causes the instruction unit 42 to output the end notification. For example, if the instruction unit 42 is an instruction that can be perceived by a person (e.g., a horn, etc.), the driver of the transport vehicle 2 shown in FIG. 1 may perceive the end notification (e.g., hear the sound of the horn sounding) and run (start) the transport vehicle 2. For example, if the instruction unit 42 (see FIG. 2) is an output of the end notification by an electric signal, the transport vehicle 2 that has received the end notification may automatically run (start). For example, the external system 70 may receive the end notification from the controller 50 and output that loading has been ended. For example, the display unit 71 (see FIG. 2) may display an indication that loading has been ended. The instructing unit 42 that issues the stop instruction (see step S22 shown in FIG. 3) and the instructing unit 42 that issues the end notification (see step S42 shown in FIG. 3) may or may not be shared.

[0053] (Modification) In the above example, the worker confirmed the appropriateness of starting the automatic control (the standby control C1 and the loading control C2 shown in FIG. 3). On the other hand, as shown in FIG. 2, the external system 70 may include an automatic judgment unit 79 that automatically judges the appropriateness of starting the automatic control. In this case, the automatic judgment unit 79 judges the appropriateness of starting the automatic control by using, for example, AI (Artificial Intelligence). When the automatic judgment unit 79 judges that the start of the standby control C1 (see FIG. 3) is appropriate, the automatic judgment unit 79 outputs a standby control start signal 73s to the external system 70. When the automatic judgment unit 79 judges that the start of the standby control C1 is inappropriate, the automatic judgment unit 79 does not output the standby control start signal 73s to the external system 70. When the automatic judgment unit 79 judges that the start of the loading control C2 (see FIG. 3) is appropriate, the automatic judgment unit 79 outputs a loading control start signal 75s to the external system 70. When the automatic judgment unit 79 judges that the start of the loading control C2 is inappropriate, the automatic judgment unit 79 does not output the loading control start signal 75s to the external system 70.

[0054] Specifically, for example, in the above [Example A], an operator compared the detected position information of the transporter 2 shown in Fig. 4 (e.g., four points P5a to P5d) with the parts of the two-dimensional image of the transporter 2 that correspond to the detected position information (e.g., the positions of the four corners of the loading platform 5). On the other hand, in this modified example, the automatic judgment unit 79 (see Fig. 2) automatically performs this comparison, for example, by image processing. Then, when the automatic judgment unit 79 judges that it is appropriate to start the loading control C2, it outputs a loading control start signal 75s to the external system 70. The same applies to the above [Example B] to [Example E].

[0055] (Effects of the first invention) The effects of the automatic loading system 10 shown in FIG. 1 are as follows. The automatic loading system 10 includes a work machine 20, a position detection unit 41, a controller 50, and an external system 70. The work machine 20 performs a capture operation to capture a transported object L, and an release operation to load the captured transported object L onto the transporter 2. The position detection unit 41 detects the position of the transporter 2 relative to the work machine 20. The controller 50 is mounted on the work machine 20, and is capable of performing loading control C2 (see step S32 shown in FIG. 3) based on the detection result of the position detection unit 41. The external system 70 can be disposed outside the work machine 20, and is capable of communicating with the controller 50. The loading control C2 (see FIG. 3) is a control that causes the work machine 20 to repeatedly perform a series of operations including the capture operation and the release operation.

[0056] [Configuration 1] As shown in Fig. 2, the external system 70 can output a loading control start signal 75s for starting the loading control C2 (see Fig. 3). The controller 50 starts the loading control C2 (see Fig. 3) on the condition that the loading control start signal 75s is input from the external system 70 to the controller 50.

[0057] In the above [Configuration 1], the loading control C2 (see FIG. 3) is not started unless a loading control start signal 75s is input from the external system 70 to the controller 50. Therefore, before the loading control C2 (see FIG. 3) is started, it is possible to create room for a decision-making entity other than the controller 50 to decide whether or not the loading control C2 can be started.

[0058] For example, the loading control C2 (see FIG. 3) is performed based on the detection result of the position detection unit 41, but the validity of the detection result of the position detection unit 41 can be judged by a decision-making entity other than the controller 50. The decision-making entity other than the controller 50 is an operator (person) or an automatic decision-making unit 79 (e.g., AI).

[0059] (Effects of the second invention) The controller 50 is capable of performing standby control C1 (see step S12 shown in FIG. 3). The standby control C1 (see FIG. 3) is a control for making the work machine 20 shown in FIG. 1 perform a capturing operation and make the work machine 20 wait in a specific posture for loading the captured transported object L onto the transporter 2.

[0060] [Configuration 2] As shown in Fig. 2, the external system 70 can output a standby control start signal 73s for starting the standby control C1 (see Fig. 3). The controller 50 starts the standby control C1 (see Fig. 3) on the condition that the standby control start signal 73s is input from the external system 70 to the controller 50.

[0061] In the above [Configuration 2], the standby control C1 (see FIG. 3) is not started unless the standby control start signal 73s is input from the external system 70 to the controller 50. Therefore, before the standby control C1 shown in FIG. 3 is started, it is possible to create room for a decision-making entity other than the controller 50 shown in FIG. 2 to decide whether or not it is a situation in which the standby control C1 can be started.

[0062] In the above [Configuration 1] and [Configuration 2], the external system 70 outputs different types of signals (a standby control start signal 73s and a loading control start signal 75s). Therefore, by changing the type of signal output by the external system 70, it is possible to instruct the controller 50 to start multiple types of automatic controls (specifically, the standby control C1 and the loading control C2 shown in FIG. 3).

[0063] (Effects of the third invention) [Configuration 3] As shown in FIG. 4, the external system 70 displays information related to the position of the transport vehicle 2 detected by the position detection unit 41 (see FIG. 1).

[0064] By the above [Configuration 3], the external system 70 can make the worker confirm the validity of the information about the position of the transporter 2 detected by the position detection unit 41 (see FIG. 1). Therefore, the worker can easily determine whether or not the situation allows the start of automatic control (standby control C1 or loading control C2 shown in FIG. 3).

[0065] (Effect of the fourth invention) [Configuration 4] As shown in FIG. 6, the external system 70 displays information regarding the position (loading position (point Qb)) at which the work machine 20 (see FIG. 1) loads the transported goods L onto the transporter 2.

[0066] By the above [Configuration 4], the external system 70 can allow the worker to confirm the validity of the information regarding the loading position (point Qb) of the transported goods L. Therefore, the worker can easily determine whether or not the situation allows the automatic control (standby control C1 or loading control C2 shown in FIG. 3) to be started.

[0067] (Effect of the fifth aspect of the invention) [Configuration 5] As shown in Fig. 1, the work machine 20 is equipped with an end attachment 25c that captures, moves, and releases a transported object L. As shown in Fig. 6, the external system 70 displays information about a target trajectory Qa of the end attachment 25c between a position where a capture operation is performed and a position where a release operation is performed.

[0068] By the above [Configuration 5], the external system 70 can allow the worker to confirm information related to the target trajectory Qa of the attachment 25. Therefore, the worker can easily determine whether or not the situation allows the start of automatic control (the standby control C1 or the loading control C2 shown in FIG. 3).

[0069] (Other variations) The above embodiment may be modified in various ways. For example, the arrangement, shape, connection, etc. of each component of the above embodiment may be changed. For example, the order of steps in the flowchart shown in FIG. 3 may be changed, or some of the steps may not be performed. For example, the threshold value, range, etc. (see, for example, step S21) may be constant, may be changed by manual operation, or may be automatically changed according to some condition. For example, the number of components may be changed, or some of the components may not be provided. For example, what has been described as multiple different parts may be treated as one part. For example, what has been described as one part may be provided as multiple different parts. For example, the external system 70 may be one thing, or may be provided as multiple parts. Specifically, for example, the external system 70 may be provided as a part (for example, a tablet terminal) including the display unit 71, the standby control start instruction unit 73, the loading control start instruction unit 75, and the interruption instruction unit 77, and an automatic judgment unit 79 (for example, a server). [Explanation of symbols]

[0070] 2 Transport vehicle 10 Automatic loading system 20 Work Machinery 25c tip attachment 41 Position detection unit 50 Controller 70 External Systems 73s Waiting control start signal 75s Loading control start signal L Transported goods Qa Target trajectory Qb point (target loading position) Qc point (target acquisition position)

Claims

1. a work machine that performs a capturing operation for capturing an object to be transported and a releasing operation for loading the captured object onto a transport vehicle; a position detection unit that detects a position of the transporter relative to the work machine; a controller mounted on the work machine and capable of performing loading control based on the detection result of the position detection unit; an external system locatable external to the work machine and in communication with the controller; Equipped with the loading control is a control for causing the work machine to repeatedly perform a series of operations including the capturing operation and the releasing operation, the external system outputs loading control start confirmation position information which is position information for allowing an operator to confirm whether or not the loading control can be started; The position information for checking the start of loading control is one or more of position information of the transport vehicle, the position information of the transported object, and the position information of a target position for the work on the transported object in the loading control, the external system is capable of outputting a loading control start signal for starting the loading control in response to an operation of the external system by an operator after outputting the loading control start confirmation position information, The controller starts the loading control on condition that the loading control start signal is input from the external system to the controller. Automatic loading system.

2. 2. The automatic loading system of claim 1, The external system outputs non-position information for confirming the start of loading control, The non-position information for confirming the start of loading control includes one or both of information on the presence or absence and the amount of the transported goods, in order to allow an operator to confirm whether or not the loading control can be started. Automatic loading system.

3. 3. The automatic loading system according to claim 1, The controller is capable of performing standby control, the standby control is a control for causing the work machine to perform the capturing operation and to cause the work machine to wait in a specific posture for loading the captured transported object onto the transport vehicle, the external system outputs standby control start confirmation position information which is position information for allowing an operator to confirm whether or not the standby control can be started; The position information for checking the start of standby control is one or more of position information of the transported object and position information of a target position for the work on the transported object in the loading control, the external system is capable of outputting a standby control start signal for starting the standby control in response to an operation of the external system by an operator after outputting the position information for confirming a standby control start, The controller starts the standby control on condition that the standby control start signal is input from the external system to the controller. Automatic loading system.

4. 4. The automatic loading system according to claim 3, The external system outputs non-position information for confirming the start of standby control, The non-position information for confirming the start of standby control includes one or both of information on the presence or absence and the amount of the transported object, in order to allow an operator to confirm whether or not the standby control can be started. Automatic loading system.

5. The automatic loading system according to any one of claims 1 to 4, The external system, as the loading control start confirmation position information, information for allowing an operator to confirm the position of the transport vehicle detected by the position detection unit; information obtained by superimposing the position information of the transport vehicle detected by the position detection unit and a two-dimensional image of the transport vehicle; information for allowing an operator to confirm the position of the transported object detected by the position detection unit; information obtained by superimposing the position information of the transported object detected by the position detection unit and a two-dimensional image of the transported object; Information that allows an operator to confirm a target loading position calculated by the controller, which is a target position for the work machine to load the transported goods onto the transporter; and information that allows an operator to confirm a target capture position calculated by the controller, the target position being a position where the work machine captures the transported object; Display one or more pieces of information. Automatic loading system.

6. The automatic loading system according to any one of claims 1 to 5, The work machine includes a tip attachment that captures, moves, and releases the transported object; The external system displays, as the loading control start confirmation position information, information that allows an operator to confirm a target trajectory of the end attachment between the capturing operation and the releasing operation, which is calculated by the controller. Automatic loading system.

7. 5. The automatic loading system according to claim 3 or 4, The external system, as the standby control start confirmation position information, information for allowing an operator to confirm the position of the transported object detected by the position detection unit; information obtained by superimposing the position information of the transported object detected by the position detection unit and a two-dimensional image of the transported object; Information that allows an operator to confirm a target loading position calculated by the controller, which is a target position for the work machine to load the transported goods onto the transporter; and information that allows an operator to confirm a target capture position calculated by the controller, the target position being a position where the work machine captures the transported object; Display one or more pieces of information. Automatic loading system.

8. The automatic loading system according to any one of claims 3, 4 and 7, The work machine includes a tip attachment that captures, moves, and releases the transported object; The external system displays, as the standby control start confirmation position information, information that allows an operator to confirm a target trajectory of the end attachment between the capturing operation and the releasing operation, which is calculated by the controller. Automatic loading system.

Images