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 a work machine to automatically load transported objects 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 a transporter approaching the work machine, it switches the work machine to a loading mode that operates the work machine to load the transporter (see claim 1 in this 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 the document, even if the work machine is not in a suitable state to load onto a transporter, if it erroneously detects, for example, that a transporter is approaching, control to load (loading control) is performed.

[0005] Therefore, an object of the present invention is to provide an automatic loading system that allows a decision-making entity other than the controller to determine whether or not loading control can be started before 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 results of the position detection unit. The external system can be located 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 to start the loading control. The controller starts the loading control on the condition that the loading control start signal is input to the controller from the external system. [Effects of the Invention]

[0007] The above configuration allows a decision to be made by a decision-maker other than the controller as to whether or not the loading control can be started before the loading control is started. [Brief explanation 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. [Figure 2] FIG. 2 is a block diagram of the automatic loading system 10 shown in FIG. [Figure 3] 2 is a flowchart 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 when the position of the transporter 2 shown in FIG. 1 is correctly detected. [Figure 5] 4 and shows the display unit 71 when the position of the transporter 2 is erroneously detected. FIG. [Figure 6] FIG. 3 is a diagram showing a display unit 71 shown in FIG. 2. DETAILED DESCRIPTION OF THE INVENTION

[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 transported goods L loaded by a work machine 20. The transport vehicle 2 may be a dump truck or a truck. The transport vehicle 2 comprises a transport vehicle main body 3 and a loading platform 5. The transport vehicle main body 3 is movable and supports the loading platform 5. The transport vehicle main body 3 comprises a transport vehicle driver's cab 3a. The loading platform 5 stores the transported goods L. The transported goods L stored in the loading platform 5 may be, for example, soil, sand, stones, waste, etc. 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 capturing operation to capture a transported object L, and a releasing operation to load the captured object L onto the transporter 2 (the capturing operation and the releasing 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 an attitude 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, crawlers. The upper rotating body 23 is mounted on the lower traveling body 21 so as to be able to rotate. 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 rotatably attached to the arm 25b. The tip attachment 25c may be a bucket that scoops up the transported object L (for example, earth 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 unit 21 and a motor that rotates the upper rotating unit 23 relative to the lower traveling unit 21. The drive control unit 31 controls a cylinder that raises and lowers the boom 25a relative to the upper rotating unit 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), which will be described later. 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 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 located outside the work machine 20 (for example, at the work site). If the position detection unit 41 is located outside the work machine 20, it may be able to detect positions that cannot be detected if the position detection unit 41 is mounted only on the work machine 20 (for example, areas shaded by the attachment 25). Furthermore, if the position detection unit 41 is located 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 a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) sensor, 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 that can detect 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 (for example, instructions for control). When the instruction unit 42 issues instructions that can be perceived by a worker, the instruction unit 42 outputs at least one of sound, light, and vibration instructions to the worker. The instruction unit 42 may be mounted on the work machine 20, or may be located 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 (for example, 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 is capable of being arranged outside the work machine 20. 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 also include an automatic determination unit 79.

[0023] The display unit 71 displays various information to allow the operator to determine whether the controller 50 is in a state where 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 to cause 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 the external system 70 to cause the controller 50 to interrupt the standby control C1 (see FIG. 3). The interrupt instruction unit 77 may output an interrupt signal 77s (loading control interrupt signal) to the external system 70 to cause the controller 50 to interrupt the loading control C2 (see FIG. 3). 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 movement operation, a release operation, and a return movement 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 earth and sand, 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 capturing operation was performed to a position where the releasing 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 and swinging operation) that includes an operation in which the upper rotating body 23 swings relative to the lower traveling body 21, and an operation in which the tip attachment 25c moves (for example, 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, a bucket, drops earth and sand, which is the transported object L, onto the loading platform 5 (earth discharging operation). 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 swing operation) that includes an operation in which the upper rotating body 23 swings relative to the lower traveling body 21 and an operation in which the tip attachment 25c moves (for example, moves downward) relative to the upper rotating body 23.

[0032] (Automatically controlled 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). Below, the work machine 20 will be explained mainly with reference to FIG. 1, and the steps of the flowchart, standby control C1, and loading control C2 will be explained with reference to FIG. 3.

[0033] The standby control C1 (see step S12 shown in FIG. 3) is 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 control for making the work machine 20 perform a capturing operation (e.g., excavation), perform a lifting and moving operation (e.g., swinging), and then wait in a standby position. The "standby position" is a position for loading the captured transported object L onto the transporter 2, and is a position for waiting for a release operation (preparation position). The standby position is a position in which the work machine 20 can immediately perform a release operation when the controller 50 outputs a command to perform the release operation. Specifically, for example, the standby position is a position in which the tip attachment 25c (e.g., a bucket containing earth and sand) that has captured the transported object L stops at a position (in the air) where a release operation is scheduled to be performed (e.g., an earth unloading 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 that causes the work machine 20 to repeatedly perform a series of operations including a capturing operation and an releasing operation. More specifically, the loading control C2 is a control that causes the work machine 20 to repeatedly perform a series of operations that are performed in this order: a releasing operation (e.g., dumping soil), a return movement operation (e.g., swinging), a capturing operation (e.g., digging), and a lifting movement operation (e.g., swinging). The loading control C2 is performed based on the detection results of the position detection unit 41. At least a portion of the operations of the loading operation (the releasing operation, the return movement operation, the capturing operation, and the lifting movement operation) is performed based on the detection results of the position detection unit 41. Specifically, for example, the releasing operation is performed as follows. The controller 50 calculates the three-dimensional position and shape of the platform 5 based on the detection results of the position detection unit 41. Then, the controller 50 causes the tip attachment 25c to release the transported item L at a specific position on the platform 5. Specifically, for example, the capturing 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 earth and sand) (see FIG. 6) before capture based on the detection result of the position detection unit 41. Then, the controller 50 causes the tip attachment 25c to capture the transported object L at a specific position of the transported object L before capture (e.g., point Qc shown in FIG. 6).

[0035] The controller 50 determines which operation will be performed at the start of the loading control C2 (see FIG. 3) from among the opening operation, return movement operation, capturing operation, and lifting movement operation, based on the state of the work machine 20 immediately before the start of the loading control C2. For example, if 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, if 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 the start of standby control C1) Before the controller 50 (see FIG. 2) starts the standby control C1, an operator checks whether the situation allows the standby control C1 to be started (validity). For example, the operator may check whether there are any obstacles around the position where the work machine 20 shown in FIG. 1 will be working. For example, the operator 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 operator may check the position of the transported object L before capture, or the presence or absence and amount of the transported object L. For example, the operator may check whether there are any transported objects 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 to allow the operator to determine whether the situation allows the standby control C1 to be started (see [Examples B] to [Examples E] described below for specific examples).

[0038] When the worker determines that the situation allows the standby control C1 (see FIG. 3) to be started, he or she 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 worker determines that the situation does not allow the standby control C1 to be started, he or she 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 makes a determination 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 determines whether the position of the transporter 2 relative to the work machine 20 is within a predetermined range. This "predetermined range" is set in the controller 50 in advance (before the determination of step S21) (the same applies to the "threshold value" below). For example, the controller 50 determines whether 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 the 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 to make a determination regarding the position of the transporter 2 relative to the work machine 20 (the determination 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 to stop 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 perceives the stop instruction (for example, a horn sound) stops the transporter 2. For example, if the instruction unit 42 outputs a stop instruction using an electrical signal, the transporter 2 that receives the stop instruction may automatically stop.

[0042] (Verifying the validity of the start of loading control C2) Before the controller 50 starts the loading control C2 (see FIG. 3), the worker confirms whether or not the loading control C2 can be started (validity). At this time, the worker may confirm the validity of the detection result of the position detection unit 41. The worker may also confirm the validity of the position of the transporter 2 relative to the work machine 20. The worker may also confirm the validity of the position of the transported object L (see FIG. 6) before capture relative to the work machine 20. The worker may also confirm 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 the information on, for example, 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 vehicle 2) about the position of the vehicle 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 vehicle 2 displayed by the external system 70 may be, for example, a point representing a specific position of the platform 5 (e.g., four points P5a, P5b, P5c, and P5d representing the four corners of the platform 5), or a line or figure indicating the extent of the platform 5. The external system 70 may also display values ​​(coordinates, distance, etc.) related to the detected position information of the vehicle 2. The external system 70 displays the detected position information of the vehicle 2 superimposed on a two-dimensional image of the vehicle 2 (e.g., an image of the platform 5). A worker viewing this display can compare the detected position information of the vehicle 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 (for example, four points P5a, P5b, P5c, and P5d) matches or nearly matches the parts of the two-dimensional image of the transporter 2 that correspond to the detected position information (for example, 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 invalid.

[0045] [Example B] For example, the external system 70 may display information (detected position information of the transported object L) regarding 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 regarding the position of the transported object L (e.g., a pile of earth and sand) before it was captured by the work machine 20 (see FIG. 1). The detected position information of the transported object L displayed by the external system 70 may be, for example, a point representing a specific position of the transported object L (e.g., point Ra representing a vertex), or a graphic representing the range of the transported object L. The external system 70 may display values ​​(coordinates, distance, etc.) related to the detected position information of the transported object L. As in [Example A] above, the external system 70 displays the detected position information of the transported object L superimposed on a two-dimensional image of the transported object L. A worker viewing this display can determine the validity of the detection results 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 about a target trajectory Qa in the loading control C2 (see FIG. 3). The target trajectory Qa is a target trajectory of the end attachment 25c (see FIG. 1) between a position (point Qc) where the capturing operation is performed and a position (point Qb) where the releasing operation is performed, and is calculated by the controller 50 (see FIG. 1). The external system 70 may display information about the target trajectory Qa in the lifting movement operation, or information about the target trajectory Qa in the return movement operation. When the target trajectory Qa is automatically corrected depending on 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 superimpose the information about the target trajectory Qa on a two-dimensional image of the position where the attachment 25 (see FIG. 1) is expected to pass. A worker who sees this display can determine the validity of the information about 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 the target position at which 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 based on 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 superimpose information about the target loading position (point Qb) on a two-dimensional image of the transporter 2 (e.g., the loading platform 5). A worker viewing this display can determine whether the target loading position (point Qb) is appropriate (e.g., whether it is an appropriate position on the loading platform 5).

[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 the target position where the work machine 20 shown in FIG. 1 performs the 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 based on 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 superimpose information about the target capture position (point Qc) on a two-dimensional image of the transported object L before capture. A worker viewing 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 is in a state in which it is possible to start, he or she operates the loading control start instruction unit 75 shown in Fig. 2 to cause the external system 70 to output a loading control start signal 75s to the controller 50. When the operator determines that the loading control C2 (see Fig. 3) is not in a state in which it is possible to start, he or she does not cause the external system 70 to output a loading control start signal 75s to the controller 50.

[0050] (Operation of controller 50, etc.) The controller 50 determines whether or not a 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 "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 also satisfied. The conditions for the controller 50 to start the loading control C2 (see FIG. 3) (step S32 shown in FIG. 3) include the input of the loading control start signal 75s from the external system 70 to the controller 50. The above "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] While the loading control C2 (see FIG. 3) is being performed, the controller 50 determines whether to terminate the loading control C2 (step S41 shown in FIG. 3). For example, the controller 50 terminates the loading control C2 when the amount of goods L loaded onto the transport vehicle 2 exceeds a predetermined amount. The amount of 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 interrupt signal 77s is input from the external system 70 shown in FIG. 2. If the controller 50 determines not to terminate the loading control C2, it continues the loading control C2. If a signal to resume the loading control C2 (e.g., a loading control start signal 75s) is input while the loading control C2 is interrupted, the controller 50 may resume the loading control C2.

[0052] When the loading control C2 (see FIG. 3) is completed (YES in step S41 shown in FIG. 3), the controller 50 notifies the user that the loading control C2 has been completed (this notification is referred to as a completion notification). The controller 50 causes the instruction unit 42 to output the completion notification. For example, if the instruction unit 42 is a device that issues instructions that can be perceived by a person (such as a horn), the driver of the transporter 2 shown in FIG. 1 may perceive the completion notification (for example, by hearing the sound of the horn) and cause the transporter 2 to run (start). For example, if the instruction unit 42 (see FIG. 2) outputs the completion notification using an electrical signal, the transporter 2 that receives the completion notification may automatically run (start). For example, the external system 70 may receive the completion notification from the controller 50 and output information that loading has been completed. For example, the display unit 71 (see FIG. 2) may display an indication that loading has been completed. The instruction unit 42 that issues the stop instruction (see step S22 shown in FIG. 3) and the instruction unit 42 that issues the end notification (see step S42 shown in FIG. 3) may or may not be shared.

[0053] (Variation) In the above example, the operator confirmed the appropriateness of starting automatic control (the standby control C1 and the loading control C2 shown in FIG. 3). Meanwhile, as shown in FIG. 2, the external system 70 may be provided with an automatic determination unit 79 that automatically determines the appropriateness of starting automatic control. In this case, the automatic determination unit 79 determines the appropriateness of starting automatic control using, for example, AI (Artificial Intelligence). If the automatic determination unit 79 determines that the start of the standby control C1 (see FIG. 3) is appropriate, it outputs a standby control start signal 73s to the external system 70. If the automatic determination unit 79 determines that the start of the standby control C1 is inappropriate, it does not output the standby control start signal 73s to the external system 70. If the automatic determination unit 79 determines that the start of the loading control C2 (see FIG. 3) is appropriate, it outputs a loading control start signal 75s to the external system 70. If the automatic determination unit 79 determines that the start of the loading control C2 is inappropriate, it does not output the loading control start signal 75s to the external system 70.

[0054] Specifically, in the above [Example A], for example, the worker compared the detected position information of the transporter 2 shown in FIG. 4 (for example, four points P5a to P5d) with the parts of the two-dimensional image of the transporter 2 that correspond to the detected position information (for example, the positions of the four corners of the loading platform 5). On the other hand, in this modified example, the automatic determination unit 79 (see FIG. 2) automatically performs this comparison by, for example, image processing. Then, when the automatic determination unit 79 determines that the start of loading control C2 is appropriate, 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 Figure 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 item L, and an release operation to load the captured item 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 Figure 3) based on the detection results of the position detection unit 41. The external system 70 can be located outside the work machine 20, and is capable of communicating with the controller 50. The loading control C2 (see Figure 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) will not start 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) starts, it is possible to create room for a decision-making entity other than the controller 50 to determine 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 determined 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 (for example, 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 that causes the work machine 20 shown in FIG. 1 to perform a capturing operation and to 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 determine whether or not the situation allows the standby control C1 to be started.

[0062] In the above-mentioned [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] (Effect of the third invention) [Configuration 3] As shown in FIG. 4, the external system 70 displays information relating to the position of the transport vehicle 2 detected by the position detection unit 41 (see FIG. 1).

[0064] The above [Configuration 3] allows the external system 70 to have 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). This allows the worker to easily determine whether or not the situation allows for starting 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 article L onto the transporter 2.

[0066] The above [Configuration 4] allows the external system 70 to have the worker confirm the validity of the information regarding the loading position (point Qb) of the transported goods L. This allows the worker to easily determine whether or not the situation allows for starting automatic control (standby control C1 or loading control C2 shown in FIG. 3).

[0067] (Effect of the fifth 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 regarding a target trajectory Qa of the end attachment 25c between a position where the capture operation is performed and a position where the release operation is performed.

[0068] According to the above [Configuration 5], the external system 70 allows the worker to confirm information related to the target trajectory Qa of the attachment 25. This allows the worker to easily determine whether or not the situation allows for starting automatic control (standby control C1 or 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 the steps in the flowchart shown in FIG. 3 may be changed, or some steps may not be performed. For example, thresholds, ranges, etc. (see, for example, step S21) may be constant, may be changed manually, or may be automatically changed according to certain conditions. For example, the number of components may be changed, or some components may not be provided. For example, what has been described as multiple different parts may be combined into 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 a single entity, or may be provided as multiple parts. Specifically, for example, the external system 70 may be provided as a separate entity (e.g., 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 determination unit 79 (e.g., a server). [Explanation of symbols]

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

Claims

1. a work machine that performs a capturing operation to capture an object to be transported and a releasing operation to load the captured object onto a transport vehicle; a position detection unit that detects the 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 disposable external to the work machine and in communication with the controller; Equipped with the loading control is a control that causes the work machine to repeatedly perform a series of operations including the capturing operation and the releasing operation, The external system automatically determines whether or not the loading control can be started, 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; the determination of whether or not the loading control by the external system is in a state in which it is possible to start the loading control includes determining the validity of detected position information, which is information about the position detected by the position detection unit and is used by the controller for the loading control. Automatic loading system.

2. An automatic loading system according to claim 1, the determination of whether or not the loading control by the external system can be started includes determining the validity of the detected position information by comparing the detected position information of the detection object detected by the position detection unit with a two-dimensional image of the detection object; Automatic loading system.

3. An automatic loading system according to claim 1, The determination of whether or not the loading control by the external system can be started includes determining the validity of one or more pieces of detected position information of the transport vehicle and the detected position information of the transported item. Automatic loading system.

4. a work machine that performs a capturing operation to capture an object to be transported and a releasing operation to load the captured object onto a transport vehicle; a position detection unit that detects the 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 disposable external to the work machine and in communication with the controller; Equipped with the loading control is a control that causes the work machine to repeatedly perform a series of operations including the capturing operation and the releasing operation, The external system automatically determines whether or not the loading control can be started, 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; The determination of whether or not the loading control by the external system can be started includes determining the validity of the position of the transported object detected by the position detection unit. Automatic loading system.

5. a work machine that performs a capturing operation to capture an object to be transported and a releasing operation to load the captured object onto a transport vehicle; a position detection unit that detects the 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 disposable external to the work machine and in communication with the controller; Equipped with The work machine is equipped with a tip attachment that performs work on the transported object, the loading control is a control that causes the work machine to repeatedly perform a series of operations including the capturing operation and the releasing operation, The external system automatically determines whether or not the loading control can be started, 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; the determination of whether or not the loading control by the external system is in a state in which it is possible to start the loading control includes determining the validity of attachment target position information, which is information regarding a target position of the end attachment and is used by the controller for the loading control; Automatic loading system.

6. An automatic loading system according to claim 5, The determination of whether or not the loading control by the external system can be started is made by comparing the attachment target position information with a two-dimensional image of a position where the end attachment will work. Automatic loading system.

7. The automatic loading system according to any one of claims 1 to 6, 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 standby in a specific posture for loading the captured transported object onto the transporter, The external system automatically determines whether or not the standby control can be started, the external system is capable of outputting a standby control start signal for starting the standby control, the controller starts the standby control on the condition that the standby control start signal is input to the controller from the external system. Automatic loading system.

8. An automatic loading system according to claim 7, The determination of whether or not the standby control by the external system is possible to start includes determining the validity of transported object detected position information, which is information about the position of the transported object detected by the position detection unit and is used by the controller for the loading control. Automatic loading system.

9. An automatic loading system according to claim 8, The determination of whether or not the situation allows the external system to start the standby control includes determining the validity of the transported object detection position information by comparing the transported object detection position information with a two-dimensional image of the transported object. Automatic loading system.

10. The automatic loading system according to claim 7, The determination of whether or not the situation allows the external system to start the standby control includes determining the validity of the position of the transported object detected by the position detection unit. Automatic loading system.

11. The automatic loading system according to claim 7, The work machine is equipped with a tip attachment that performs work on the transported object, The determination of whether or not the standby control by the external system is in a state in which it is possible to start the standby control includes determining the validity of attachment target position information, which is information regarding a target position of the end attachment and is used by the controller for the loading control. Automatic loading system.

12. The automatic loading system according to claim 11, The determination of whether or not the standby control by the external system can be started is made by comparing the attachment target position information with a two-dimensional image of a position where the end attachment will work. Automatic loading system.

13. The automatic loading system according to claim 7, The determination of whether or not the situation allows the start of the standby control by the external system includes determining the validity of one or more pieces of information among the presence or absence of obstacles around the position where the work machine will perform work, the presence or absence of the transported object, and the amount of the transported object. Automatic loading system.

Images