Work machinery

Abstract

To provide a work machine capable of properly measuring a relative position to a work object.SOLUTION: A work machine comprises: a vehicle body front portion to which front wheels are mounted; a vehicle body rear portion which is connected to the vehicle body front portion via an articulation mechanism and to which rear wheels are mounted; a work equipment connected to the vehicle body front portion; a headlight supported by the vehicle body front portion and disposed above the front wheel; and a three-dimensional measurement device disposed to an outside of the headlight in a vehicle width direction parallel to a rotation axis of the front wheel.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Work machines are used at work sites. Wheel loaders are known as one type of work machine. An example of an autonomous wheel loader is disclosed in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-297873 Summary of the Invention [Problem to be solved by the invention]

[0004] When automating work using a work machine, there is a demand for technology that can accurately measure the relative position between the work machine and the work target.

[0005] An object of one aspect of the present invention is to provide a work machine that can accurately measure the relative position of a work object. [Means for solving the problem]

[0006] According to an aspect of the present invention, there is provided a work machine comprising: a front body portion to which front wheels are attached; a rear body portion to which rear wheels are attached and which is connected to the front body portion via a joint mechanism; a work implement connected to the front body portion; a headlight supported on the front body portion and positioned above the front wheels; and a three-dimensional measuring device positioned outside the headlight in the vehicle width direction parallel to the rotation axis of the front wheels. [Effects of the Invention]

[0007] According to an aspect of the present invention, a work machine is provided that can accurately measure the relative position of a work object. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work machine according to this embodiment. [Figure 2] FIG. 2 is a top view showing the work machine according to this embodiment. [Figure 3] FIG. 3 is a front view showing the work machine according to this embodiment. [Figure 4] FIG. 4 is an enlarged view of a portion of the work machine according to this embodiment. [Figure 5] FIG. 5 is a block diagram showing a work machine according to this embodiment. [Figure 6] FIG. 6 is a schematic diagram showing the operation of the work machine according to this embodiment. [Figure 7] FIG. 7 is a schematic diagram showing excavation work performed by the work machine according to this embodiment. [Figure 8] FIG. 8 is a schematic diagram showing loading work by the work machine according to this embodiment. [Figure 9] FIG. 9 is a schematic diagram showing the measurement range of the three-dimensional measurement apparatus according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings, but the present invention is not limited thereto. The components of the embodiments described below can be combined as appropriate. In addition, some components may not be used.

[0010] [Wheel loader] FIG. 1 is a side view showing an example of a work machine 1 according to this embodiment. FIG. 2 is a top view showing an example of a work machine 1 according to this embodiment. FIG. 3 is a front view showing an example of a work machine 1 according to this embodiment. The work machine 1 performs a predetermined operation at a work site. In this embodiment, the work machine 1 is a wheel loader 1, which is a type of articulated work machine. The wheel loader 1 performs excavation work to excavate an excavation target, and loading and unloading work to load or unload the excavated material excavated by the excavation work onto or from a loading or unloading target. Examples of the excavation target include at least one of natural ground, a rocky mountain, and a wall surface. Natural ground is a mountain made up of earth and sand, and a rocky mountain is a mountain made up of rocks or stones. Examples of the loading or unloading target include at least one of a transport vehicle, a predetermined area at the work site, a hopper, and a crusher.

[0011] As shown in Figures 1, 2, and 3, the wheel loader 1 includes a vehicle body 2, a cab 3 in which a driver's seat is provided, a traveling device 4 that supports the vehicle body 2, a work implement 10 supported by the vehicle body 2, a headlamp 8 supported by the vehicle body 2, a three-dimensional measuring device 20 that measures a work target ahead of the vehicle body 2, and a control device 80.

[0012] The vehicle body 2 includes a front vehicle body portion 2F and a rear vehicle body portion 2R. The front vehicle body portion 2F and the rear vehicle body portion 2R are connected via a joint mechanism 9 so as to be able to bend.

[0013] The cab 3 is supported on the vehicle body 2. In this embodiment, the traveling device 4 travels when operated by the driver. The work implement 10 is controlled based on control signals output from the control device 80. A traveling operation device for operating the traveling device 4 is disposed on the cab 3. The driver operates the traveling operation device to activate the traveling device 4. The traveling operation device includes an accelerator pedal, a brake pedal, a steering lever, and a forward / reverse selector switch. Operating the accelerator pedal increases the traveling speed of the wheel loader 1. Operating the brake pedal decreases the traveling speed of the wheel loader 1 or stops the traveling of the wheel loader 1. Operating the steering lever causes the wheel loader 1 to turn. Operating the forward / reverse selector switch switches the wheel loader 1 between moving forward and reverse.

[0014] The traveling device 4 supports the vehicle body 2. The traveling device 4 has wheels 5. The wheels 5 rotate by driving force generated by an engine 40 mounted on the vehicle body 2. Tires 6 are attached to the wheels 5. The wheels 5 include two front wheels 5F attached to the front body part 2F and two rear wheels 5R attached to the rear body part 2R. The tires 6 include front tires 6F attached to the front wheels 5F and rear tires 6R attached to the rear wheels 5R. The traveling device 4 is capable of traveling on the ground surface RS.

[0015] The front wheel 5F and the front tire 6F are rotatable about a rotation axis FX, and the rear wheel 5R and the rear tire 6R are rotatable about a rotation axis RX.

[0016] In the following description, the direction parallel to the rotation axis FX of the front wheel 5F will be referred to as the vehicle width direction, the direction perpendicular to the contact surface of the front tire 6F that contacts the ground RS will be referred to as the up-down direction, and the direction perpendicular to both the vehicle width direction and the up-down direction will be referred to as the fore-aft direction. When the body 2 of the wheel loader 1 travels in a straight line, the rotation axis FX and the rotation axis RX are parallel to each other.

[0017] In the following description, a position or direction close to the center line CL of the vehicle body 2 in the vehicle width direction will be referred to as the inside or inner side in the vehicle width direction, and a position or direction far from the center line CL of the vehicle body 2 will be referred to as the outside or outer side in the vehicle width direction. In the vehicle width direction, one side of the center line CL of the vehicle body 2 will be referred to as the right side or right-hand side, and the opposite side or opposite direction of the right side or right-hand side will be referred to as the left side or left-hand side. In the longitudinal direction, a position or direction close to the work implement 10 relative to the driver's seat of the cab 3 will be referred to as the front side or forward, and the opposite side or opposite direction of the front side or forward will be referred to as the rear side or rear. In the vertical direction, a position or direction close to the contact surface of the front tire 6F will be referred to as the lower side or downward, and the opposite side or opposite direction of the lower side or downward will be referred to as the upper side or upward.

[0018] The front body 2F is disposed forward of the rear body 2R. The front wheels 5F and front tires 6F are disposed forward of the rear wheels 5R and rear tires 6R. The front wheels 5F and front tires 6F are disposed on both sides of the vehicle body 2 in the vehicle width direction. The rear wheels 5R and rear tires 6R are disposed on both sides of the vehicle body 2 in the vehicle width direction. The front body 2F bends left and right relative to the rear body 2R.

[0019] The wheel loader 1 is equipped with a front fender 7 that is arranged around part of the front tires 6F. The front fender 7 includes a first member 7A that is arranged above the front tires 6F and a second member 7B that is arranged behind the front tires 6F. The front fenders 7 are attached to both the right and left sides of the front body 2F. The front fenders 7 prevent earth and sand scattered from the ground surface RS from hitting the body 2 and the cab 3 when the wheel loader 1 is traveling.

[0020] The work implement 10 is movably connected to the front vehicle body 2F. At least a portion of the work implement 10 is disposed forward of the front wheels 5F. The work implement 10 has a boom 11 movably connected to the front vehicle body 2F, a bucket 12 movably connected to the boom 11, a bell crank 15, and a link 16.

[0021] The boom 11 is operated by power generated by the boom cylinder 13. The boom cylinder 13 is a hydraulic cylinder that generates power to operate the boom 11. One end of the boom cylinder 13 is connected to the front vehicle body 2F. The other end of the boom cylinder 13 is connected to the boom 11. Two boom cylinders 13 are provided. One boom cylinder 13 is provided to the right of the center of the front vehicle body 2F in the vehicle width direction. The other boom cylinder 13 is provided to the left of the center of the front vehicle body 2F in the vehicle width direction. The boom cylinder 13 extends and retracts, causing the boom 11 to raise or lower.

[0022] The raising operation of the boom 11 refers to an operation in which the tip of the boom 11 rises so as to move away from the ground surface RS. The lowering operation of the boom 11 refers to an operation in which the tip of the boom 11 descends so as to approach the ground surface RS. The boom 11 performs raising and lowering operations within the movable range of the boom 11. When the boom 11 is raised, movement above the upper end of the movable range of the boom 11 is restricted. When the boom 11 is lowered, movement below the lower end of the movable range of the boom 11 is restricted.

[0023] The bucket 12 is a working member having a tip 12B including a cutting edge. The bucket 12 is positioned forward of the front wheels 5F. The bucket 12 is connected to the tip of the boom 11. The bucket 12 is actuated by power generated by a bucket cylinder 14. The bucket cylinder 14 is a hydraulic cylinder that generates power to move the bucket 12. A center portion of a bell crank 15 is rotatably connected to the boom 11. One end of the bucket cylinder 14 is connected to the front body 2F. The other end of the bucket cylinder 14 is connected to one end of the bell crank 15. The other end of the bell crank 15 is connected to the bucket 12 via a link 16. One bucket cylinder 14 is provided. The bucket cylinder 14 is provided in the center in the vehicle width direction. The bucket 12 performs a dumping operation or a tilting operation when the bucket cylinder 14 extends and retracts.

[0024] The dumping operation of the bucket 12 refers to an operation in which the bucket 12 rotates so that the opening of the bucket 12 faces downward and the tip 12B of the bucket 12 approaches the ground surface RS. The tilting operation of the bucket 12 refers to an operation in which the bucket 12 rotates so that the opening of the bucket 12 faces upward and the tip 12B of the bucket 12 moves away from the ground surface RS. The bucket 12 performs dumping and tilting operations within the range of movement of the bucket 12. When the bucket 12 performs a dumping operation, movement below the lower end of the range of movement of the bucket 12 is restricted. When the bucket 12 performs a tilting operation, movement above the upper end of the range of movement of the bucket 12 is restricted.

[0025] When the dump operation of the bucket 12 is performed, the excavated material scooped up by the bucket 12 is discharged from the bucket 12. When the tilt operation of the bucket 12 is performed, the bucket 12 scoops up the excavated material.

[0026] 2 and 3, in the vehicle width direction, both end portions 12E of the bucket 12 are disposed outward of the tires 6. In other words, the distance in the vehicle width direction between the right end portion 12E and the left end portion 12E of the bucket 12 is greater than the distance in the vehicle width direction between the outer surfaces of the right tire 6 and the left tire 6.

[0027] The headlights 8 emit light forward to illuminate an illumination range ahead of the front body part 2F. The headlights 8 are supported on the front body part 2F. The headlights 8 are disposed above the front wheels 5F, front tires 6F, and front fender 7. The headlights 8 are disposed on both sides of the boom 11 in the vehicle width direction, i.e., one on each side of the left and right with respect to the center line CL of the body 2.

[0028] [3D measurement device] FIG. 4 is an enlarged view of a portion of the wheel loader 1 according to this embodiment, and corresponds to an enlarged view of portion A in FIG. 3. As shown in FIGS. 1, 2, 3, and 4, the wheel loader 1 comprises a housing 17 that supports the headlamp 8, and a support member 18 that supports the housing 17. The housing 17 is arranged to surround the headlamp 8. The support member 18 is a rod-shaped member. The lower end of the support member 18 is fixed to the vehicle body front part 2F. The upper end of the support member 18 is fixed to the housing 17. The headlamp 8 is supported on the vehicle body front part 2F via the housing 17 and the support member 18.

[0029] The headlights 8 are disposed forward of the joint mechanism 9 in the longitudinal direction. The headlights 8 are disposed below the upper end of the cab 3 in the vertical direction and above the front fender 7. In this embodiment, the headlights 8 are disposed above the upper end of the front vehicle body 2F in the vertical direction.

[0030] The support member 18 is inclined upward, forward and outward in the vehicle width direction. The housing 17 and headlamp 8 supported by the support member 18 are disposed above the front wheel 5F, front tire 6F and front fender 7.

[0031] The three-dimensional measuring device 20 measures the position or shape of a work target located in front of the front vehicle body 2F. The work target includes one or both of an excavation target and a loading / unloading target. In addition, the measurement controller 81, which will be described later, measures the relative position between the wheel loader 1 and the work target based on the measurement data from the three-dimensional measuring device 20.

[0032] The relative position between the wheel loader 1 and the work object includes the relative distance (absolute distance or distance related to one coordinate axis in a predetermined coordinate system) between any point on the wheel loader 1 and any point on the work object. The three-dimensional measuring device 20 measures the distance to each of multiple measurement points on the surface of the work object, allowing the measurement controller 81 to measure the three-dimensional shape of the work object and its relative position to the work object.

[0033] The three-dimensional measuring device 20 is disposed around the headlight 8. The surroundings of the headlight 8 refers to, for example, a position near the headlight 8 and above, to the side, or below the headlight 8. The three-dimensional measuring device 20 is disposed to the left and right of the center line CL of the vehicle body 2. In this embodiment, the three-dimensional measuring device 20 is disposed outside the headlight 8 in the vehicle width direction. The three-dimensional measuring device 20 disposed to the left of the center line CL of the vehicle body 2 is disposed to the left of the headlight 8 disposed to the left of the center line CL of the vehicle body 2. The three-dimensional measuring device 20 disposed to the right of the center line CL of the vehicle body 2 is disposed to the right of the headlight 8 disposed to the right of the center line CL of the vehicle body 2. The three-dimensional measuring device 20 is disposed at substantially the same position as the headlight 8 in the up-down direction and the front-rear direction. In other words, the three-dimensional measuring device 20 is disposed near the headlight 8. In this embodiment, the three-dimensional measuring device 20 is supported by the housing 17.

[0034] The three-dimensional measuring device 20 is installed on the front body 2F via other members. The three-dimensional measuring device 20 is arranged forward of the joint mechanism 9 in the longitudinal direction. Furthermore, the three-dimensional measuring device 20 is arranged below the upper end of the cab 3 in the vertical direction and above the front fender 7. In this embodiment, the three-dimensional measuring device 20 is arranged above the upper end of the front body 2F in the vertical direction. The three-dimensional measuring device 20 is arranged above the upper end of the bucket 12 when the bucket 12 is positioned downward, for example, when the bottom surface of the bucket 12 is in contact with the ground. Furthermore, the three-dimensional measuring device 20 is arranged below the lower end of the bucket when the bucket 12 is positioned upward, for example, when the boom is raised to its maximum height.

[0035] The three-dimensional measuring devices 20 are disposed on both sides of the boom 11 in the vehicle width direction. The three-dimensional measuring devices 20 are disposed above the front wheels 5F, the front tires 6F, and the front fender 7.

[0036] Three-dimensional measuring device 20 is disposed inward in the vehicle width direction from end 12E of bucket 12. In other words, three-dimensional measuring device 20 is disposed between headlight 8 and end 12E of bucket 12 in the vehicle width direction.

[0037] In this embodiment, the three-dimensional measuring device 20 includes a laser radar 21, which is a type of laser measuring device, and a stereo camera 22, which is a type of photo measuring device.

[0038] In this embodiment, the laser radar 21 and the stereo camera 22 are arranged in the vehicle width direction. The stereo camera 22 is arranged outward of the laser radar 21 in the vehicle width direction.

[0039] The laser radar 21 has an irradiator that irradiates the work object with laser light and a receiver that receives at least a portion of the laser light scattered by the work object. The light reception data acquired by the receiver of the laser radar 21 is output to the measurement controller 81. The measurement controller 81 measures the three-dimensional shape of the work object and its relative position to the work object based on the light reception data from the receiver of the laser radar 21.

[0040] The stereo camera 22 has a first camera 22A and a second camera 22B. In this embodiment, the first camera 22A and the second camera 22B are arranged in a vertical direction. The image data acquired by the first camera 22A and the image data acquired by the second camera 22B are output to the measurement controller 81. The measurement controller 81 performs stereo processing based on the image data acquired by the first camera 22A and the image data acquired by the second camera 22B, and measures the three-dimensional shape of the work object and its relative position.

[0041] A turn signal lamp 19 is provided at the bottom of the housing 17.

[0042] [Control device] FIG. 5 is a block diagram showing an example of a wheel loader 1 according to this embodiment. The control device 80 includes a computer system. The control device 80 includes a measurement controller 81 and a work machine controller 82. Each of the measurement controller 81, the work machine controller 82, the transmission controller 83, and the engine controller 84 has a processor such as a CPU (Central Processing Unit), a main memory including a nonvolatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage, and an interface including an input / output circuit. The functions of each controller are stored in the storage as a program. The processor reads the program from the storage, loads it into the main memory, and executes predetermined processing according to the program. The program may be distributed to each controller via a network.

[0043] The measurement controller 81 is connected to the three-dimensional measuring device 20. The measurement controller 81 acquires measurement data from the three-dimensional measuring device 20. The work machine controller 82 outputs a control signal to control the work machine 10. Furthermore, the transmission controller 83 outputs a control signal to control the transmission device 83. The engine controller 84 outputs a control signal to control the engine 40. Furthermore, the transmission controller 83 and the engine controller 84 are connected to an accelerator pedal 85A and a brake pedal 85B, respectively, and output control signals to control the transmission device 83 and the engine 40 based on signals from the accelerator pedal 85A and the brake pedal 85B.

[0044] The three-dimensional measuring device 20 is connected to a measurement controller 81. Measurement data from the three-dimensional measuring device 20 is output to the measurement controller 81. The measurement controller 81 calculates the relative position between the wheel loader 1 and the work target based on the measurement data from the three-dimensional measuring device 20.

[0045] The work machine controller 82 controls the operation of the work machine 10 based on the calculated data from the measurement controller 81. Control of the operation of the work machine 10 includes control of the operation of at least one of the boom cylinder 13 and the bucket cylinder 14. The wheel loader 1 has a hydraulic pump, a boom control valve that controls the flow rate and direction of hydraulic oil supplied from the hydraulic pump to the boom cylinder 13, and a bucket control valve that controls the flow rate and direction of hydraulic oil supplied from the hydraulic pump to the bucket cylinder 14. The work machine controller 82 outputs a control signal to the boom control valve to control the flow rate and direction of hydraulic oil supplied to the boom cylinder 13. The work machine controller 82 also outputs a control signal to the bucket control valve to control the flow rate and direction of hydraulic oil supplied to the bucket cylinder 14.

[0046] [Operation] Figure 6 is a schematic diagram showing the operation of the wheel loader 1 according to this embodiment. In this embodiment, the wheel loader 1 performs an excavation operation in which an excavation target is excavated with the bucket 12, and a loading operation in which the excavated material scooped up by the bucket 12 during the excavation operation is loaded onto a loading target. An example of the excavation target is natural ground DS. An example of the loading target is a transport vehicle LS such as a dump truck having a vessel BE (dump body).

[0047] The driver of the wheel loader 1 operates the travel operation device to move the wheel loader 1 forward and approach the natural ground DS, as shown by arrow M1 in Figure 6. The three-dimensional measuring device 20 mounted on the wheel loader 1 measures the natural ground DS. The work machine controller 82 controls the work machine 10 based on the calculated data of the measurement controller 81 so that the natural ground DS is excavated with the bucket 12. In other words, the work machine controller 82 controls the work machine 10 so that the tip end 12B of the bucket 12 comes into contact with the ground surface RS, while the wheel loader 1 is moving forward to approach the natural ground DS.

[0048] After the ground DS has been excavated by the bucket 12 and the excavated material has been scooped up by the bucket 12, the driver of the wheel loader 1 operates the travel operating device to move the wheel loader 1 backwards and away from the ground DS, as shown by arrow M2 in Figure 6.

[0049] Next, the driver of the wheel loader 1 operates the travel operation device to move the wheel loader 1 forward while swinging, as shown by arrow M3 in FIG. 6, so that the wheel loader 1 approaches the transport vehicle LS. The three-dimensional measuring device 20 mounted on the wheel loader 1 measures the transport vehicle LS. The work machine controller 82 controls the work machine 10 based on the calculated data of the measurement controller 81 so that the excavated material held in the bucket 12 is loaded into the vessel BE of the transport vehicle LS. That is, the work machine controller 82 controls the work machine 10 so that the boom 11 performs a raising operation while the wheel loader 1 is moving forward so as to approach the transport vehicle LS. After the boom 11 performs a raising operation and the bucket 12 is positioned above the vessel BE, the work machine controller 82 controls the work machine 10 so that the bucket 12 performs a tilting operation. As a result, the excavated material is discharged from the bucket 12 and loaded into the vessel BE.

[0050] After the excavated material has been discharged from the bucket 12 and loaded into the vessel BE, the driver operates the travel control device to move the wheel loader 1 backward, away from the transport vehicle LS, as shown by arrow M4 in Figure 6, and then moves the wheel loader 1 forward again in the direction of the natural ground DS.

[0051] The operator repeats the above operations until the vessel BE is filled with excavated material.

[0052] In this embodiment, the three-dimensional measuring devices 20 are disposed on both sides of the boom 11 in the vehicle width direction. Because the front vehicle body 2F can turn toward the work target earlier than the rear vehicle body 2R, in the example shown in Fig. 6, the natural ground DS is measured first by the three-dimensional measuring device 20 disposed to the right of the center of the front vehicle body 2F in the vehicle width direction. In addition, the transport vehicle LS is measured first by the three-dimensional measuring device 20 disposed to the left of the center of the front vehicle body 2F in the vehicle width direction.

[0053] 7 is a schematic diagram showing excavation work by the wheel loader 1 according to this embodiment. The driver of the wheel loader 1 operates the travel operation device to move the wheel loader 1 forward and approach the natural ground DS.

[0054] As shown in Fig. 7, a three-dimensional measuring device 20 mounted on the wheel loader 1 measures the three-dimensional shape of the natural ground DS. Based on the measurement data from the three-dimensional measuring device 20, the measurement controller 81 identifies the position of the boundary DP between the ground surface RS and the natural ground DS, and calculates the relative position with respect to the wheel loader 1. For this reason, as shown in Fig. 7, it is desirable to place the three-dimensional measuring device 20 above the upper end of the bucket when the bucket 12 is positioned downward, for example, when the bottom surface of the bucket 12 is in contact with the ground.

[0055] Figure 8 is a schematic diagram showing loading work by a wheel loader 1 according to this embodiment. The driver of the wheel loader 1 operates the travel operation device to move the wheel loader 1 forward and approach the transport vehicle LS. As shown in Figure 8(A), a three-dimensional measuring device 20 mounted on the wheel loader 1 measures the three-dimensional shape of the transport vehicle LS. A measurement controller 81 calculates the relative positions of the wheel loader 1 and the transport vehicle LS based on the measurement data from the three-dimensional measuring device 20.

[0056] As shown in Fig. 8(B), when the wheel loader 1 is moving forward to approach the transport vehicle LS, the measurement controller 81 raises the boom 11 while controlling the angle of the bucket 12 based on the measurement data of the three-dimensional measuring device 20 so that the bucket 12 is positioned above the upper end of the vessel BE and so that the excavated material held in the bucket 12 does not spill out of the bucket 12. As shown in Fig. 8(B), when the bucket 12 is positioned above, for example when the boom is raised to its maximum height, it is desirable to position the three-dimensional measuring device 20 below the lower end of the bucket.

[0057] [Measurement range] 9 is a schematic diagram showing the measurement range AR of the three-dimensional measuring device 20 according to this embodiment. The bucket 12 moves in the up and down direction. Therefore, as shown in FIG. 9, there is a possibility that the bucket 12 may enter part of the measurement range AR of the three-dimensional measuring device 20. In this embodiment, the measurement range AR of the three-dimensional measuring device 20 is defined to include a range outside the end 12E of the bucket 12 in the vehicle width direction. Therefore, even if the bucket 12 enters part of the measurement range AR, the three-dimensional measuring device 20 can measure the work object in a range outside the end 12E of the bucket 12.

[0058] [Stereo camera] As described above, in this embodiment, the first camera 22A and the second camera 22B of the stereo camera 22 are arranged in the vertical direction. By arranging the first camera 22A and the second camera 22B in the vertical direction, the stereo camera 22 can measure the vessel BE with high accuracy.

[0059] When the wheel loader 1 approaches the transporter vehicle LS for loading operation, the upper end of the vessel BE photographed by the stereo camera 22 extends substantially in the vehicle width direction (horizontal direction). Therefore, if the first camera 22A and the second camera 22B are arranged in the vehicle width direction, there is a possibility that the measurement accuracy of the upper end of the vessel BE will decrease. By arranging the first camera 22A and the second camera 22B in the vertical direction, the decrease in the measurement accuracy of the upper end of the vessel BE is suppressed.

[0060] The first camera 22A acquires first image data MA of the work object, and the second camera 22B acquires second image data MB of the work object. The measurement controller 81 processes the first image data MA and the second image data MB based on the principle of triangulation to calculate the three-dimensional shape of the work object.

[0061] Specifically, the measurement controller 81 calculates the distance from the stereo camera 22 to the measurement point of the work object based on the parallax indicating the distance between the projection point of the measurement point in the first image data MA and the projection point of the measurement point in the second image data MB.

[0062] If the first camera MA and the second camera MB are arranged in the vehicle width direction, when the upper end of the vessel BE is image-processed using a stereo method, many corresponding pixels PXb that are close to the target pixel PXa will exist on the epipolar line. As a result, the probability of successful search will decrease, and the measurement accuracy of the upper end of the vessel BE may decrease.

[0063] In this embodiment, the first camera MA and the second camera MB are arranged in a vertical direction perpendicular to the direction in which the upper end of the vessel BE extends. Therefore, when performing image processing of the upper end of the vessel BE using a stereo method, the number of corresponding pixels PXb that are close to the target pixel PXa on the epipolar line is small. Therefore, the probability of successful search increases, and a decrease in measurement accuracy of the upper end of the vessel BE is suppressed.

[0064] [effect] As described above, according to this embodiment, three-dimensional measuring device 20 is disposed outside headlights 8 in the vehicle width direction. This allows three-dimensional measuring device 20 to measure a work target that exists in an area outside end 12E of bucket 12. This allows three-dimensional measuring device 20 to accurately measure the relative position of a work target that is disposed outside end 12E of bucket 12 within measurement range AR.

[0065] In addition, the work machine 10 is prevented from entering the measurement range AR of the three-dimensional measuring device 20. If the three-dimensional measuring device 20 is disposed in the center in the vehicle width direction, there is a high possibility that the work machine 10 will enter the measurement range AR of the three-dimensional measuring device 20, which may result in a blind spot for the work object. As a result, it becomes difficult for the three-dimensional measuring device 20 to properly measure the work object. In this embodiment, the three-dimensional measuring device 20 is disposed outside the headlights 8 in the vehicle width direction. Therefore, the work machine 10 is prevented from entering the measurement range AR of the three-dimensional measuring device 20, and the three-dimensional measuring device 20 can properly measure the relative position of the work object disposed in the measurement range AR.

[0066] Furthermore, the three-dimensional measuring device 20 is positioned above the upper end of the bucket when the bucket 12 is in a downward position, for example, when the bottom surface of the bucket 12 is on the ground, and is positioned below the lower end of the bucket 12 when the bucket 12 is in an upward position, for example, when the boom 11 is raised to its maximum height. Therefore, the relative position of the work object can be reliably measured in both situations, when approaching the ground DS with the bucket 12 in a downward position, and when approaching the transport vehicle with the bucket 12 in an upward position.

[0067] Furthermore, the three-dimensional measuring device 20 is supported on the front body 2F. This allows the three-dimensional measuring device 20 to measure the work object in front of the front body 2F under the same conditions, whether the joint mechanism 9 is bent or not. Furthermore, the work object can be measured more quickly than when the three-dimensional measuring device 20 is installed on the rear body 2R.

[0068] The three-dimensional measuring device 20 is supported by a housing 17 that supports the headlight 8. That is, the three-dimensional measuring device 20 is disposed near the headlight 8. The headlight 8 illuminates the measurement range AR of the three-dimensional measuring device 20. Therefore, the three-dimensional measuring device 20 can properly measure the work object illuminated by the headlight 8. In particular, when the three-dimensional measuring device 20 is a photomeasuring device such as a stereo camera 22, the photomeasuring device can properly measure the work object by illuminating the work object with illumination light.

[0069] The three-dimensional measuring device 20 is disposed inward in the vehicle width direction from the end 12E of the bucket 12. This prevents the vehicle width of the wheel loader 1 from increasing.

[0070] The measurement range AR of the three-dimensional measuring device 20 includes a range outside the end 12E of the bucket 12 in the vehicle width direction. As a result, even if the bucket 12 enters part of the measurement range AR of the three-dimensional measuring device 20 due to a change in the attitude of the work implement 10, as shown in Figure 9, the three-dimensional measuring device 20 can measure the work object in a range outside the end 12E of the bucket 12.

[0071] The three-dimensional measuring devices 20 are disposed on both sides of the boom 11 in the vehicle width direction. Furthermore, since the front vehicle body 2F can turn toward the work target before the rear vehicle body 2R, as described with reference to FIG. 6 , when work targets (an excavation target and a loading target) are disposed on the right front and left front of the wheel loader 1, and the wheel loader 1 approaches each work target while turning, at least one of the three-dimensional measuring devices 20 disposed on both sides of the boom 11 in the vehicle width direction can measure the work target first. For example, when the wheel loader 1 moves forward while turning right and approaches the natural ground DS, at least the three-dimensional measuring device 20 disposed to the right of the boom 11 can measure the natural ground DS first. Furthermore, when the wheel loader 1 moves forward while turning left and approaches the transport vehicle LS, at least the three-dimensional measuring device 20 disposed to the left of the boom 11 can measure the transport vehicle LS first.

[0072] The first camera 22A and the second camera 22B of the stereo camera 22 are arranged in the vertical direction, which allows the stereo camera 22 to measure the vessel BE well.

[0073] In the above-described embodiment, the three-dimensional measuring device 20 may be disposed around the headlight 8. Furthermore, the three-dimensional measuring device 20 may be supported by the uppermost and outermost member in the vehicle width direction among a plurality of members attached to the vehicle body front portion 2F.

[0074] In the above-described embodiment, both the laser radar 21 and the stereo camera 22 are provided on the wheel loader 1 as the three-dimensional measuring device 20. However, either the laser radar 21 or the stereo camera 22 may be provided on the wheel loader 1. Furthermore, the three-dimensional measuring device 20 is not limited to the laser radar 21 and the stereo camera 22 as long as it can measure the three-dimensional shape of the work target and its relative position to the work target.

[0075] In the above embodiment, the transmission controller 83 and the engine controller 84 are operated by the driver, but the control signals may be generated based on calculation data output from the measurement controller 81. Also, the driver's cab 3 may not be provided.

[0076] Furthermore, the operation of both the traveling device 4 and the operation of the work machine 10 may be operated by the driver. Furthermore, the measurement data of the three-dimensional measurement device 20 and the relative position of the wheel loader 1 and the work target may be displayed on a display device arranged in the cab 3. The driver can recognize the measurement data of the three-dimensional measurement device 20 via the display device.

[0077] In the above-described embodiment, the wheel loader 1 may be provided with a position detection device such as a GPS sensor and an attitude detection device such as an inertial measurement unit (IMU), and the position and attitude of the wheel loader 1 may be detected. The position of the excavation target in the site coordinate system may be detected based on the detection data of the position detection device and the attitude detection device.

[0078] In each of the above-described embodiments, the work site where the wheel loader 1 performs work may be a mining site, a construction site, or a building site.

[0079] The wheel loader 1 may be used for snow removal work, work in the agriculture and livestock industry, or work in forestry.

[0080] In the above-described embodiment, the bucket 12 may have a plurality of blades or a straight cutting edge.

[0081] The working member connected to the tip of the boom 11 does not have to be the bucket 12, but may be a snow plow or snow bucket used for snow removal work, a bale grab or fork used in agricultural and livestock work, or a fork or bucket used in forestry work. [Explanation of symbols]

[0082] 1...wheel loader (work machine), 2...body, 2F...front body, 2R...rear body, 3...driver's cab, 4...traveling gear, 5...wheel, 5F...front wheel, 5R...rear wheel, 6...tire, 6F...front tire, 6R...rear tire, 7...front fender, 7A...first member, 7B...second member, 8...headlight, 9...joint mechanism, 10...work machine, 11...boom, 12...bucket, 12B...tip, 12E...end, 13...boom cylinder, 14...bucket cylinder, 15...bell crank, 16...link, 17...housing, 18...support member, 19...turn signal lamp, 20... Three-dimensional measuring device, 21...laser radar, 22...stereo camera, 22A...first camera, 22B...second camera, 40...engine, 80...controller, 81...measurement controller, 82...work equipment controller, 83...transmission controller, 84...engine controller, 85A...accelerator pedal, 85B...brake pedal, AR...measurement range, BE...vessel (dump body), DS...ground mass (excavation target), FX...rotation axis, MA...first image data, MB...second image data, LS...transport vehicle (loading target), RX...rotation axis, RS...ground surface.

Claims

1. a front part of the vehicle body where the front wheels are attached; a rear body portion connected to the front body portion via a joint mechanism and having rear wheels mounted thereon; a work implement connected to the front part of the vehicle body; a headlamp supported on the front portion of the vehicle body and disposed above the front wheel; a three-dimensional measuring device that is arranged around the headlight in a vehicle width direction parallel to the rotation axis of the front wheel and that measures a work target forward of the front portion of the vehicle body; a measurement controller; the three-dimensional measuring device includes a first stereo camera disposed on the right side in the vehicle width direction and a second stereo camera disposed on the left side, each of the first stereo camera and the second stereo camera includes a first camera and a second camera; the measurement controller performs stereo processing based on the image data acquired by the first camera and the image data acquired by the second camera to measure a three-dimensional shape of a work object and a relative position of the work object. Work machinery.

2. The work machine includes a boom connected to a front portion of a vehicle body and a bucket connected to the boom, the three-dimensional measuring device is disposed inward of an end of the bucket in the vehicle width direction; 2. The work machine according to claim 1.

3. the three-dimensional measuring device is disposed on the outer side of the boom in the vehicle width direction; 3. The work machine according to claim 2.

4. a measurement range of the three-dimensional measuring device includes a range outside an end of the bucket in the vehicle width direction, 3. The work machine according to claim 2.

5. the three-dimensional measuring devices are disposed on the right and left sides in the vehicle width direction, A work machine according to any one of claims 1 to 4.

6. front fenders on the right and left sides of the front of the vehicle body; The three-dimensional measuring device is disposed above the front fender. A work machine according to any one of claims 1 to 5.

7. the three-dimensional measuring device is disposed in the vicinity of the headlight; A work machine according to any one of claims 1 to 6.

8. The first camera and the second camera are arranged in an up-down direction. A work machine according to any one of claims 1 to 7.

9. The work machine includes a boom connected to the front portion of the vehicle body and a bucket connected to the boom, the three-dimensional measuring device is disposed above an upper end of the bucket when the bucket is in a downward position, and is disposed below a lower end of the bucket when the bucket is in an upward position; A work machine according to any one of claims 1 to 8.

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