Work machinery

Abstract

To provide a work machine which can further accurately detect a vessel position of a transport machine during stopping, and can appropriately support loading operation by the work machine.SOLUTION: A work machine calculates the posture of a work machine at a work site on the basis of posture information of the work machine output from a posture calculation device, sets a loading region where a transport machine is stopped and loading operation from the work machine to the transport machine is performed, determines whether or not the work machine can detect the transport machine stopped in the loading region by an outside measuring device on the basis of the posture of the work machine, and detects the transport machine on the basis of measurement information output from the outside measuring device, if it is determined that the work machine can detect the transport machine.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] Articulated work machines (e.g., hydraulic excavators) having front work mechanisms (e.g., attachments such as a boom, arm, and bucket) driven by a hydraulic actuator are known. This type of work machine performs a transport operation (e.g., a swing operation) to transport excavated earth and other objects toward a machine to be loaded, such as a transport machine (e.g., a dump truck), and a discharge operation (e.g., a dumping operation) to discharge the objects transported by the transport operation onto the machine to be loaded, thereby loading the objects.

[0003] When performing loading work, if the front working implement is rotated at a position where its height (for example, the height of the bucket) is lower than the machine being loaded, there is a possibility that the front working implement will interfere with the machine being loaded during transport operations. Therefore, the operator of the work machine performing loading work needs to link the rotating operation of the upper rotating body with the rotating operation (raising) of the front working implement while checking the position of the machine being loaded, and this requires skilled skill.

[0004] An example of a conventional technique for supporting loading work is described in Patent Document 1. Patent Document 1 discloses a control device for controlling a loading machine that includes a rotating body that can rotate around a rotation center, a work implement attached to the rotating body, an attitude measuring device that measures the attitude of the rotating body, and a depth detecting device that is attached to the rotating body and detects the depth of at least a portion of the periphery of the rotating body within a detection range, the control device including: an attitude information acquiring unit that acquires attitude information indicating the attitude measured by the attitude measuring device; a detection information acquiring unit that acquires depth information indicating the depth detected by the depth detecting device; a target orientation determining unit that determines a target orientation for swing control based on the attitude information and the depth information acquired when the rotating body is stopped swinging; and an output unit that outputs a swing operation signal based on the target orientation. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-33825 Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-mentioned conventional technology, in order to accurately determine the target orientation when assisting loading work, an external measurement device is attached to the side of the work machine, and the target orientation for swing control is determined based on attitude information and depth information acquired when the swing body of the work machine is not swinging, such as during excavation. However, when measuring the transport machine with the external measurement device attached to the work machine, the operator of the work machine checks the stopping position of the transport machine, so it is not possible to accurately determine before the loading work begins whether the work machine is parked in an appropriate position for loading onto the transport machine.

[0007] When a work machine operator loads a transport machine, if the transport machine is not parked in an appropriate position, the operator will need to correct the parked position of the transport machine or adjust the position of the work machine, which reduces the efficiency of the work machine's loading work.However, when detecting the position of the transport machine with a depth detection device, the operator of the work machine cannot determine whether the transport machine is located within the measurement range of an external measurement device attached to the work machine, so the external measurement device of the work machine cannot measure the transport machine before loading the work machine, and it is thought that the loading work cannot be properly supported.

[0008] The present invention has been made in consideration of the above, and aims to provide a work machine that can more accurately detect the vessel position of a transport machine that is stopped and can appropriately assist loading operations by the work machine. [Means for solving the problem]

[0009] The present application includes multiple means for solving the above-mentioned problems, and one example is a work machine having an articulated front working device that performs loading work of loading objects to be transported onto a transport machine, the work machine comprising: an external measurement device that is provided on the work machine and that measures objects around the work machine and the positions of the objects in a predetermined measurement area and outputs the measured results as object position information; an attitude measurement device that measures state quantities related to the attitude of the work machine and outputs the measured results as attitude information; and a controller that calculates the position and attitude of the transport machine relative to the work machine based on the attitude information of the work machine and the object position information, and performs loading assist control of the work machine based on the calculated position and attitude of the transport machine, The controller calculates the posture of the work machine based on the posture information of the work machine output from the posture measurement device, accepts an operation to set a loading area where the transport machine is stopped and where loading work from the work machine onto the transport machine is performed, determines whether the work machine is in a posture that can be calculated by the external measuring device for the transport machine stopped in the loading area based on the posture of the work machine, the measurement area, and the loading area, and if it is determined that the work machine is in a posture that can be calculated for the transport machine, calculates the position and posture of the transport machine within the loading area based on the object position information output from the external measuring device. [Effects of the Invention]

[0010] According to the present invention, the vessel position of a stopped transport machine can be detected more accurately, and loading work by a work machine can be appropriately supported. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a side view schematically showing the appearance of a hydraulic excavator shown as an example of a work machine. [Figure 2] FIG. 2 is a functional block diagram illustrating the hydraulic system and control system of the hydraulic excavator together with the related configuration. [Figure 3] FIG. 2 is a functional block diagram illustrating a controller together with related configurations. [Figure 4] FIG. 2 is a side view showing the reference coordinate system together with the hydraulic excavator. [Figure 5] FIG. 2 is a top view showing a reference coordinate system together with a hydraulic excavator. [Figure 6] FIG. 1 is a diagram illustrating an example of an operation of a hydraulic excavator. [Figure 7] FIG. 10 is a diagram illustrating an example of a loading area setting method. [Figure 8] 10 is a flowchart showing the processing contents of a transport machine detection process. [Figure 9] 10 is a flowchart showing the processing contents of a transport machine detection determination in the transport machine detection processing. [Figure 10] FIG. 10 is a diagram illustrating an example of calculation of the degree of region polymerization. [Figure 11] 10A and 10B are diagrams illustrating an example of output of a turning operation instruction to a display device. [Figure 12] FIG. 10 is a diagram illustrating an example of a process for calculating an allowable stop range. [Figure 13] FIG. 10 is a functional block diagram illustrating the hydraulic system and control system of a hydraulic excavator according to a third embodiment, together with related configurations. [Figure 14] FIG. 10 is a functional block diagram illustrating a controller according to a third embodiment together with related configurations. [Figure 15] FIG. 10 is a diagram illustrating an outline of a loading area acquisition process. [Figure 16] 11 is a flowchart showing the processing content of loading area acquisition processing according to the third embodiment. [Figure 17] FIG. 13 is a diagram illustrating an example of an external measuring device direction output process of a transport machine detection unit in the fourth embodiment. [Figure 18] 13 is a flowchart showing the processing contents of a transport machine detection determination in the transport machine detection processing according to the fourth embodiment. [Figure 19] 13 is a flowchart showing the process of a measurement direction calculation process according to a fourth embodiment. [Figure 20] FIG. 13 is a diagram illustrating an example of transport machine detection determination according to the fifth embodiment. [Figure 21] 13 is a flowchart showing the processing content of transport machine detection determination in the transport machine detection processing according to the fifth embodiment. [Figure 22] FIG. 13 is a diagram illustrating an example of an output to a display device according to a fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0013] First Embodiment A first embodiment of the present invention will be described in detail with reference to FIGS.

[0014] FIG. 1 is a side view that schematically shows the appearance of a hydraulic excavator that is shown as an example of a work machine according to this embodiment.

[0015] In Figure 1, a hydraulic excavator 1 (work machine) is used at a work site to perform excavation work, such as excavating a surface to be excavated, such as the ground, and loading work, such as loading excavated soil and other transport materials onto a loading machine, such as a transport machine starting with a dump truck (described later). The transport machine, such as a dump truck, also performs a transporting operation, transporting the soil and other materials loaded during the loading work to a predetermined location, and a discharging operation, discharging the soil and other materials at the predetermined location. The hydraulic excavator 1 is equipped with a multi-joint front working mechanism 2 (working arm) that holds the object and rotates up and down or back and forth, and a machine body 3 on which the front working mechanism 2 is mounted.

[0016] The machine body 3 comprises a lower running body 5 which travels using a right running hydraulic motor 4a and a left running hydraulic motor 4b provided on the right and left parts of the lower running body 5, and an upper rotating body 7 which is attached to the upper part of the lower running body 5 via a rotating device and rotates using a rotating hydraulic motor 6 of the rotating device.

[0017] The front working implement 2 is an articulated working implement made up of multiple front members attached to the front of the upper rotating structure 7. The upper rotating structure 7 rotates with the front working implement 2 mounted on it. The front working implement 2 comprises a boom 8 connected to the front of the upper rotating structure 7 so as to be rotatable in the vertical direction, an arm 9 connected to the tip of the boom 8 so as to be rotatable in the vertical direction, and a bucket 10 connected to the tip of the arm 9 so as to be rotatable in the vertical direction.

[0018] The boom 8 is connected to the upper rotating body 7 by a boom pin 8a, and rotates by the extension and retraction of a boom cylinder 11. The arm 9 is connected to the tip of the boom 8 by an arm pin 9a, and rotates by the extension and retraction of an arm cylinder 12. The bucket 10 is connected to the tip of the arm 9 by a bucket pin 10a and a bucket link 16, and rotates by the extension and retraction of a bucket cylinder 13.

[0019] A boom angle sensor 14 that detects the rotation angle of the boom 8 is attached to the boom pin 8a. An arm angle sensor 15 that detects the rotation angle of the arm 9 is attached to the arm pin 9a. A bucket angle sensor 17 that detects the rotation angle of the bucket 10 is attached to the bucket link 16. Note that in FIG. 1, the reference symbols for the boom angle sensor 14, arm angle sensor 15, and bucket angle sensor 17 are shown in parentheses.

[0020] The rotation angles of the boom 8, arm 9, and bucket 10 may be obtained by detecting the angles of the boom 8, arm 9, and bucket 10 with respect to a reference plane such as a horizontal plane using an inertial measurement unit and converting them into rotation angles.The rotation angles of the boom 8, arm 9, and bucket 10 may also be obtained by detecting the strokes of the boom cylinder 11, arm cylinder 12, and bucket cylinder 13 using a stroke sensor and converting them into rotation angles.

[0021] An inclination angle sensor 18 is attached to the upper rotating body 7, which detects the inclination angle of the machine body 3 with respect to a reference plane such as a horizontal plane. A swing angle sensor 19 is attached to the swing device between the lower running body 5 and the upper rotating body 7, which detects the swing angle, which is the relative angle of the upper rotating body 7 with respect to the lower running body 5. An angular velocity sensor 20 is attached to the upper rotating body 7, which detects the angular velocity of the upper rotating body 7.

[0022] The boom angle sensor 14, arm angle sensor 15, bucket angle sensor 17, tilt angle sensor 18, and swing angle sensor 19 constitute a posture measuring device 53 that outputs information relating to the posture of the front working implement 2 as posture information by measuring state quantities related to the posture of the front working implement 2, such as each rotation angle and the swing angle of the upper swing structure 7.

[0023] An operating device for operating the multiple hydraulic actuators 4a, 4b, 6, 11, 12, and 13 is installed in the operator's cab provided on the upper rotating body 7. Specifically, the operating device includes a right travel lever 23a for operating the right travel hydraulic motor 4a, a left travel lever 23b for operating the left travel hydraulic motor 4b, a right operating lever 22a for operating the boom cylinder 11 and the bucket cylinder 13, and a left operating lever 22b for operating the arm cylinder 12 and the swing hydraulic motor 6. The operating levers 22 and 23 are electric levers. Hereinafter, the right travel lever 23a, the left travel lever 23b, the right operating lever 22a, and the left operating lever 22b may be collectively referred to as the operating levers 22 and 23.

[0024] Additionally, an external environment measuring device 70 is attached to the upper rotating body 7 to detect the depth to objects present around the hydraulic excavator 1. The external environment measuring device 70 may be, for example, a LiDAR (Light Detection And Ranging) device or a stereo camera. The external environment measuring device 70 defines a predetermined range around the hydraulic excavator 1 as a measurement area 220 (described later) and can acquire depth information of objects within that area. Multiple external environment measuring devices 70 may be attached to the hydraulic excavator 1.

[0025] <Control System> FIG. 2 is a functional block diagram showing the hydraulic system and control system of the hydraulic excavator together with the related configuration.

[0026] 2, an engine 103, which is a prime mover mounted on the upper rotating body 7, drives a hydraulic pump 102 and a pilot pump 104. A vehicle body control unit 40 (described later) of the controller 54 controls the rotational movement of the front working implement 2, the traveling movement of the undercarriage 5, and the swinging movement of the upper rotating body 7 in accordance with operation information (amount and direction of operation) of control levers 22, 23 by the operator. Specifically, the vehicle body control unit 40 of the controller 54 detects operation information (amount and direction of operation) of the control levers 22, 23 by the operator using sensors 52a-52f such as rotary encoders or potentiometers, and outputs control commands in accordance with the detected operation information to electromagnetic proportional valves 47a-47l. The electromagnetic proportional valves 47a-47l are provided on a pilot line 100, and are activated when a control command is input from the vehicle body control unit 40 of the controller 54 to output pilot pressure to a flow control valve 101, thereby operating the flow control valve 101. Hereinafter, the electromagnetic proportional valves 47a to 47l may be collectively referred to as the electromagnetic proportional valve 47.

[0027] The flow control valve 101 controls the pressure oil supplied from the hydraulic pump 102 to each of the swing hydraulic motor 6, the arm cylinder 12, the boom cylinder 11, the bucket cylinder 13, the right traveling hydraulic motor 4a, and the left traveling hydraulic motor 4b, in accordance with the pilot pressures from the electromagnetic proportional valves 47a to 47l. The electromagnetic proportional valves 47a and 47b output pilot pressures for controlling the pressure oil supplied to the swing hydraulic motor 6 to the flow control valve 101. The electromagnetic proportional valves 47c and 47d output pilot pressures for controlling the pressure oil supplied to the arm cylinder 12 to the flow control valve 101. The electromagnetic proportional valves 47e and 47f output pilot pressures for controlling the pressure oil supplied to the boom cylinder 11 to the flow control valve 101. The electromagnetic proportional valves 47g and 47h output pilot pressures for controlling the pressure oil supplied to the bucket cylinder 13 to the flow control valve 101. The electromagnetic proportional valves 47i and 47j output pilot pressures for controlling the pressure oil supplied to the right traveling hydraulic motor 4a to the flow control valve 101. The electromagnetic proportional valves 47k and 47l output pilot pressures for controlling the pressure oil supplied to the left traveling hydraulic motor 4b to the flow control valve 101.

[0028] The boom cylinder 11, arm cylinder 12, and bucket cylinder 13 each extend and retract using the supplied pressure oil, causing the boom 8, arm 9, and bucket 10 to rotate, changing the position and posture of the bucket 10. The swing hydraulic motor 6 rotates using the supplied pressure oil, causing the upper swing structure 7 to swing. The right traveling hydraulic motor 4a and the left traveling hydraulic motor 4b rotate using the supplied pressure oil, causing the lower traveling structure 5 to travel.

[0029] The controller 54 is a computer in which a CPU (Central Processing Unit) 73, a RAM (Random Access Memory) 72, a ROM (Read Only Memory) 71, an external I / F (Interface) 74, and the like are connected to one another via a bus 75. The external I / F 74 is connected to the display device 55, the external measurement device 70, the attitude measurement device 53, and the storage device 57 (for example, a hard disk drive or a large-capacity flash memory), as well as the operation levers 22 and 23, the solenoid proportional valve 47, and the like.

[0030] <Function block> Fig. 3 is a functional block diagram showing the controller together with the related configuration, Fig. 4 is a side view showing the reference coordinate system together with the hydraulic excavator, and Fig. 5 is a top view.

[0031] 3, the controller 54 includes an attitude calculation unit 81, a toe position calculation unit 82, a coordinate conversion unit 83, a loading area acquisition unit 84, a transport machine detection unit 86, and a vehicle body control unit 40.

[0032] A vehicle body coordinate system 400 is set in advance in the controller 54 as a reference coordinate system for specifying the positions and postures of the components of the hydraulic excavator 1. As shown in FIGS. 4 and 5 , the vehicle body coordinate system 400 in this embodiment is defined as a right-handed coordinate system whose origin is the intersection of a swing center line 120, which is the rotation axis of the upper swing body 7, and a plane where the lower running body 5 and the ground G meet. In the vehicle body coordinate system 400, the forward movement direction of the lower running body 5 is defined as the positive direction of the X axis. In the vehicle body coordinate system 400 in this embodiment, the direction in which the swing center line 120 extends upward is defined as the positive direction of the Z axis. In the vehicle body coordinate system 400 in this embodiment, the direction perpendicular to the X axis and the Z axis is defined as the positive direction of the Y axis.

[0033] In this embodiment, the coordinate system serving as the reference for the external measuring device 70 is a sensor coordinate system 300, the coordinate system serving as the reference for the hydraulic excavator 1 is a vehicle body coordinate system 400, and the coordinate system serving as the reference for the work site is a site coordinate system 500. In the vehicle body coordinate system 400 of this embodiment, the swing angle θsw of the upper swing structure 7 is defined as 0 degrees when the front working implement 2 is parallel to the X axis.

[0034] <Operation overview> First, an outline of the operation of the hydraulic excavator 1 in this embodiment will be described.

[0035] FIG. 6 is a diagram illustrating an example of the operation of the hydraulic excavator.

[0036] As shown in Fig. 6, the hydraulic excavator 1 first appropriately sets a loading area 210, which serves as a guide for the stopping position of the transport machine 200, so that the transport machine 200 stops within a measurement area 220, which is an area where the external measuring device 70 can measure depth information about the surroundings, and so that the external measuring device 70 can acquire depth information about the transport machine 200. Then, when the hydraulic excavator 1 waits for the transport machine 200 that is about to stop within the set loading area 210, the hydraulic excavator 1 instructs the operator to perform a swing operation via the display device 55 or the like so that the swing angle θsw of the hydraulic excavator 1 is such that the measurement area 220 encompasses the loading area 210. Then, by detecting the transport machine 200 that has stopped within the loading area 210, it becomes possible for the hydraulic excavator 1 to reliably perform the loading assist described below when loading earth and sand into the transport machine 200.

[0037] In this embodiment, as shown in Fig. 6, it is assumed that the transport machine 200 stops in a loading area 210 (here, the loading area 210 is set in a vehicle body coordinate system) designated by the hydraulic excavator 1. Specifically, it is assumed that the position of the transport machine 200 is managed at the work site by a transport machine position and dispatch management system such as an Fleet Management System (FMS). Furthermore, in this embodiment, it is assumed that the transport machine 200 travels autonomously and stops accurately within the loading area 210 designated by the hydraulic excavator 1.

[0038] 6, the loading area 210 is represented by a rectangle in the vehicle body coordinate system 400, and the coordinate values ​​(Xpd1, Ypd1) to (Xpd4, Ypd4) of each vertex Pd1 to Pd4 of the area on the XY plane are stored in the storage device 57. Note that the loading area 210 is not limited to a rectangle, and may be, for example, a triangle, a polygon with pentagons or more (including a concave polygon), a circle, or the like.

[0039] Furthermore, the measurement area 220 is a sector on the XY plane represented by the X and Y coordinates of the mounting position of the external environment measuring device 70 in the vehicle body coordinate system 400, the measurable distance Lsr, and the measurable horizontal angle of view θsr. Note that the measurement area 220 is not limited to a sector shape, and may be, for example, a polygonal area obtained by projecting the effective measurement area 220 of the external environment measuring device 70 onto the XY plane in the vehicle body coordinate system 400, taking the mounting angle of view into consideration. In this embodiment, the measurement area 220 is determined by measuring the mounting angle of the external environment measuring device 70 before operation of the hydraulic excavator 1 and storing the result in a predetermined area of ​​the storage device 57.

[0040] The processing of the controller 54 of the hydraulic excavator 1 will be described in detail below.

[0041] <Posture calculation unit 81> The attitude calculation unit 81 calculates the attitudes and the like of the components of the hydraulic excavator 1 in the vehicle body coordinate system 400 from the detection signal of the attitude measurement device 53. Specifically, the attitude calculation unit 81 calculates the rotation angle θbm of the boom 8 with respect to the X-axis from the detection signal of the rotation angle of the boom 8 output from the boom angle sensor 14. The attitude calculation unit 81 calculates the rotation angle θam of the arm 9 with respect to the boom 8 from the detection signal of the rotation angle of the arm 9 output from the arm angle sensor 15. The attitude calculation unit 81 calculates the rotation angle θbk of the bucket 10 with respect to the arm 9 from the detection signal of the rotation angle of the bucket 10 output from the bucket angle sensor 17. The attitude calculation unit 81 calculates the swing angle θsw of the upper swing structure 7 with respect to the X-axis (undercarriage 5) from the detection signal of the swing angle of the upper swing structure 7 output from the swing angle sensor 19.

[0042] Furthermore, the posture calculation unit 81 calculates the inclination angle θ of the machine body 3 (lower traveling body 5) relative to the reference plane DP from the detection signal of the inclination angle of the machine body 3 output from the inclination angle sensor 18. The reference plane DP is, for example, a horizontal plane perpendicular to the direction of gravity. The inclination angle θ includes θp, which is a rotation angle about the Y axis, and θr, which is a rotation angle about the X axis.

[0043] Furthermore, the attitude calculation unit 81 calculates the swing angular velocity ωsw of the upper swing body 7 from the detection signal of the attitude measurement device 53.

[0044] <Toe position calculation unit 82> The toe position calculation unit 82 calculates a position (toe position) 130 of the tip of the bucket 10 based on the calculated rotation angles θbm, θam, θbk of the front working implement 2 and the rotation angle θsw of the upper rotating body 7, as well as the dimension Lbm of the boom 8, the dimension Lam of the arm 9, and the dimension Lbk of the bucket 10. Note that the dimension Lbm of the boom 8 is the length from the boom pin 8a to the arm pin 9a. The dimension Lam of the arm 9 is the length from the arm pin 9a to the bucket pin 10a. The dimension Lbk of the bucket 10 is the length from the bucket pin 10a to the tip of the bucket 10 (for example, the tip of the teeth).

[0045] <Coordinate conversion unit 83> The coordinate conversion unit 83 converts the reference coordinate system of the depth information acquired by the external measurement device 70 from the sensor coordinate system 300 to the vehicle body coordinate system 400, using the vehicle body attitude information output by the attitude calculation unit 81. The depth information output by the external measurement device 70 is assumed to be given as a set of three-dimensional point data (point cloud data) represented by the sensor coordinate system 300.

[0046] For conversion from point data (Xps, Yps, Zps) in the sensor coordinate system 300 output by the external measuring device 70 to point data Pv (Xpv, Ypv, Zpv) in the vehicle body coordinate system 400, for example, the following (Equations 1) to (Equations 3) are used.

[0047]

number

[0048]

number

[0049]

number

[0050] Here, in the above (Equation 1) to (Equation 3), Rsv is a rotation matrix from the sensor coordinate system 300 to the vehicle body coordinate system 400, and αs, βs, and γs are angles formed by the axes of the external measuring device 70 in the vehicle body coordinate system 400.

[0051] When the external world measuring device 70 is fixed to the hydraulic excavator 1, the angle formed by these elements can be determined, for example, by measuring the attitude of the external world measuring device 70 in the vehicle body coordinate system 400 in advance and storing the angle in advance in the storage device 57. Furthermore, when the external world measuring device 70 performs measurements while changing its attitude with respect to the hydraulic excavator 1, an attitude measuring sensor may be attached to the external world measuring device 70, and the coordinate transformation matrix may be calculated using the angle detected by the attitude measuring sensor. θsw is the swing angle of the upper swing body 7, and is output from the attitude calculation unit 81.

[0052] Tsv is a translation vector from the origin of the vehicle body coordinate system 400 to the sensor coordinate system 300. Lsx, Lsy, and Lsz are equal to the origin coordinates of the sensor coordinate system 300 as seen from the vehicle body coordinate system 400. The attachment position of the external measuring device 70 is often fixed relative to the hydraulic excavator 1. In such cases, therefore, it is sufficient to measure the attachment position of the external measuring device 70 on the hydraulic excavator 1 in advance and store this measurement value in the storage device 57 in advance.

[0053] <Loading area acquisition unit 84> The loading area acquisition unit 84 acquires the loading area 210, which is the stopping area of ​​the transport machine 200, and stores it in the storage device 57.

[0054] The operator of the hydraulic excavator 1 sets the loading area 210 via the display device 55 .

[0055] FIG. 7 is a diagram showing an example of a loading area setting method.

[0056] As shown in FIG. 7 , the toe position 130 output from the toe position calculation unit 82 is displayed on the display device 55, and the operator sets the loading area 210 by pressing a loading area setting button 230 displayed on the display device 55 at the loading position. The enter button does not have to be present on the screen and may be based on a specific lever operation, for example. The rotation angle of the loading area 210 at this time is set, for example, so that the longitudinal direction of the rectangle of the loading area 210 coincides with the direction of the front working implement 2 of the hydraulic excavator 1. The loading area 210 is calculated so that the toe position 130 coincides with the center of the rear wheel axle of the transport machine 200. The method of calculating the loading area 210 from the toe position 130 is not limited to this, and the operator may set the longitudinal direction of the rectangle via the display device 55.

[0057] When the loading area 210 is set by the hydraulic excavator 1, the loading area 210 may be shared from the hydraulic excavator 1 to the transport machine 200 using wireless communication or the like. By sharing information about the loading area 210 between the hydraulic excavator 1 and the transport machine 200, it is possible to specify the stopping position of the transport machine 200. Furthermore, the position of the work machine in the site coordinate system 500 may be measured using a positioning device such as GNSS or a position calculation device such as a TS (Total Station), and this may be transmitted together with information about the loading area 210 to the transport machine 200 or an FMS or the like provided at the work site, or vehicle-to-vehicle communication may be used to share the loading area 210 between the hydraulic excavator 1 and the transport machine 200. In this embodiment, the method of communicating information about the loading area 210 between the hydraulic excavator 1 and the transport machine 200 is not limited to the one described above.

[0058] The loading area 210 may also be designated by a site manager or the like using an FMS, etc. In this case, the stopping position of the transport machine 200 can be designated by sharing information about the loading area 210 between the hydraulic excavator 1 and the transport machine 200 using a communication device or the like.

[0059] <Transportation Machine Detection Unit 86> When the swing speed of the hydraulic excavator 1 is equal to or lower than a predetermined speed, the transport machine detection unit 86 determines whether the loading area 210 acquired by the loading area acquisition unit 84 is included in the measurement area 220 of the external environment measurement device 70, and if it is included, performs transport machine detection processing, and if it is not included, outputs information indicating the swing angle of the hydraulic excavator 1.

[0060] Furthermore, the transport machine detection unit 86 calculates the position and posture of the transport machine 200 using point cloud data, which is the measurement result of the external measurement device 70 in the vehicle body coordinate system 400 output by the coordinate conversion unit 83. The calculation method for the transport machine 200, for example, may be such that a 3D mesh model obtained by measuring the transport machine 200 in advance is stored in the storage device 57, and the position of the 3D mesh model is compared with the point cloud data converted into the vehicle body coordinate system 400 obtained from the coordinate conversion unit 83, thereby calculating the position and posture of the target transport machine 200. Note that the detection method is not limited to this, and for example, the transport machine 200 may be detected by processing to extract a specific plane of the transport machine 200 from the point cloud data obtained from the external measurement device 70. In this embodiment, the detection method for the transport machine is not limited to the above-described one.

[0061] <Loading assist control> The vehicle body control unit 40 controls the operation of the hydraulic excavator 1, for example, controls to assist the loading operation of the operator, based on the position and attitude information of the transport machine.

[0062] The loading assist control method is, for example, when the transport machine 200 has been detected and the operator of the hydraulic excavator 1 turns down the swing operation lever to start loading onto the transport machine 200, the boom is automatically raised to a height that does not interfere with the transport machine 200 based on the position and posture information of the transport machine, thereby avoiding interference with the transport machine 200.

[0063] <Transportation machine detection process> Fig. 8 is a flowchart showing the processing contents of the transport machine detection processing, Fig. 9 is a flowchart showing the processing contents of the transport machine detection determination in the transport machine detection processing, Fig. 10 is a diagram showing an example of calculation of the area overlap degree, and Fig. 11 is a diagram showing an example of output of a turning operation instruction to a display device.

[0064] In the transport machine detection process, first, the controller 54 acquires the loading area 210 (step S111). The loading area acquisition unit 84 acquires the loading area 210, which is an area where the transport machine 200 is stopped and where the hydraulic excavator 1 performs loading work on the transport machine 200.

[0065] Next, the controller 54 performs a transport machine detection determination (step S112). In the transport machine detection determination, as described in the processing of the transport machine detection unit 86, it is determined whether the measurement area 220 includes the loading area 210 set in step S111, and if it does not include the measurement area 220, a turning operation instruction is given to the operator so as to obtain an appropriate turning angle. The details of the transport machine detection determination will be described later.

[0066] Next, the controller 54 determines whether or not the transport machine detection determination in step S112 has been completed (step S113). If the determination result in step S113 is YES, that is, if the transport machine detection determination has been completed, the process proceeds to the next process (step S114), and if the determination result is NO, that is, if the transport machine detection determination has not been completed, the process returns to the process in step S112.

[0067] If the determination result in step S113 is YES, the controller 54 waits until the transport machine 200 has completely stopped in the loading area 210 (step S114).

[0068] Next, the controller 54 performs a transport machine detection process (step S115). The transport machine detection unit 86 detects the transport machine 200 stopped in the loading area 210 based on the depth information output from the external environment measuring device 70.

[0069] Next, the controller 54 detects an operation command for the loading operation by the operator and determines whether to start the loading assist control (step S116). The start determination is made by determining that the loading operation by the operator has started, that is, the loading assist control has started, for example, when the operator operates the right operating lever 22a for operating the boom 8 by a certain amount.

[0070] If it is determined in step S116 that the loading operation by the operator has started, the controller 54 performs loading assist control in response to the operation by the operator (step S117).

[0071] Next, the controller 54 determines whether loading onto the transport machine 200 has been completed (step S118). The completion of loading is determined, for example, when the operator issues a command to end loading to the transport machine 200 using a warning sound or a predetermined communication device. If the determination result in step S118 is YES, that is, if it is determined that loading has been completed, the process proceeds to the next process (step S119). If the determination result in step S118 is NO, that is, if it is determined that loading has not been completed, the process returns to step S114, and operation of the operating lever 22 by the operator is detected to perform loading assist control. Note that the completion of loading may also be determined when the external environment measuring device 70 detects that the transport machine 200 has moved.

[0072] If the determination result in step S118 is YES, the controller 54 determines whether work has ended (step S119). The determination whether work has ended is made, for example, based on whether the engine of the hydraulic excavator 1 has stopped. If the determination result in step S119 is YES, that is, if it is determined that work has ended, the hydraulic excavator 1 ends the series of processes. On the other hand, if the determination result in step S119 is NO, that is, if it is determined that work has not ended, the process returns to step S112, and before the next transport machine 200 stops, a transport machine detection determination is made and loading is performed onto the transport machine 200.

[0073] <Transportation Machine Detection Determination: Step S112> Here, the processing contents of the transport machine detection determination in the transport machine detection processing will be described.

[0074] 9, first, the transport machine detection unit 86 determines whether or not the swing angular velocity ωsw output by the posture calculation unit 81 is smaller than a predetermined angular velocity Ωsw (step S201). If the determination result in step S201 is YES, that is, if the swing angular velocity ωsw of the hydraulic excavator 1 is smaller than the predetermined angular velocity Ωsw, it is determined that the transport machine 200 is stopped and waiting, and the process proceeds to the next step (step S202). On the other hand, if the determination result in step S201 is NO, that is, if the swing angular velocity ωsw of the hydraulic excavator 1 is equal to or greater than the predetermined angular velocity Ωsw, the transport machine detection unit 86 determines that the hydraulic excavator 1 is performing loading work, and repeats the determination until the swing angular velocity ωsw becomes smaller than Ωsw.

[0075] If the determination result in step S201 is YES, the transport machine detection unit 86 acquires the measurement area 220 from a predetermined location in the storage device 57 (step S202).

[0076] Next, the transport machine detection unit 86 acquires the loading area 210 acquired by the loading area acquisition unit 84 from a predetermined location in the storage device 57 (step S203).

[0077] Next, the transport machine detection unit 86 performs an overlap degree calculation process (step S204). The overlap degree Acover of the measurement area 220 and the loading area 210 is calculated from the storage device 57. Acover is given by the following (Equation 4).

[0078]

number

[0079] Here, in the above (Equation 4), So is the area of ​​the loading area 210, and Scover is the area of ​​the range where the loading area 210 and the measurement area 220 overlap.

[0080] The area Scover of the overlapping range of the loading area 210 and the measurement area 220 can be solved as a numerical calculation problem because it can be reduced to the problem of finding the area of ​​the intersection area of ​​two convex polygons when the measurement area 220 is approximated by a polygon (Ps0 to Psn) as shown in Fig. 10. Therefore, first, the loading area 210 and the measurement area 220 are approximated by polygons, and the vertex coordinates of the common area between them are calculated, and then the area Scover of the common area can be found based on the vertex information of the calculated common area.

[0081] Next, the transport machine detection unit 86 determines whether the overlap degree Acover calculated in step S205 is greater than a threshold value Ath (step S205). If the determination result in step S205 is YES, that is, if Acover is greater than Ath, the process proceeds to the next process (step S206), and if the determination result is NO, that is, if Acover is equal to or less than Ath, the process proceeds to another next process (step S207).

[0082] If the determination result in step S205 is YES, the transport machine detection unit 86 returns a determination result to start the transport machine detection process (step S206), and ends the transport machine detection determination process.

[0083] If the determination result in step S205 is NO, the transport machine detection unit 86 outputs a swing operation instruction (step S207). The swing operation instruction is given, for example, by outputting to the display device 55 a display of the loading area 210 and the measurement area 220, as well as a display urging the operator to swing, as shown in Fig. 11. Thereafter, the process returns to step S201, and the processes from step S201 to S205 are repeated until an appropriate swing angle is obtained.

[0084] The effects of the present embodiment configured as above will be described.

[0085] In conventional technology, when a work machine operator loads a transport machine, if the transport machine is not parked in an appropriate position, the operator must correct the parked position of the transport machine or adjust the position of the work machine, which reduces the efficiency of the work machine's loading work.In addition, when detecting the position of the transport machine with a depth detection device, the operator of the work machine cannot determine whether the transport machine is located within the measurement area of ​​an external measurement device attached to the work machine, so the external measurement device of the work machine cannot detect the transport machine before loading the work machine, and it was thought that the loading work could not be properly supported.

[0086] In contrast to this, in the present embodiment, the hydraulic excavator 1 waits for the transport machine 200 at a rotation angle such that the measurement area 220 encompasses the loading area 210, and when the transport machine 200 stops in the loading area 210, the vessel position of the transport machine 200 parked at the loading position can be accurately detected, and the loading assist control can appropriately assist the loading work by the work machine, thereby improving the operability of the hydraulic excavator 1.

[0087] <Second embodiment> A second embodiment of the present invention will be described with reference to Fig. 12. In the figure, the same members as those in the other embodiments are given the same reference numerals, and the description thereof will be omitted.

[0088] In the first embodiment, the loading area 210 is set on the assumption that the transport machine 200 will reliably stop in the loading area 210, for example, when the transport machine 200 autonomously travels and stops under the control of a traffic control center. However, for example, when the transport machine 200 operated by an operator stops in the loading area 210, it is assumed that a deviation will occur in the stopping position. Therefore, in this embodiment, a case will be shown in which an allowable stopping range 211 is calculated taking into account a deviation in the stopping position for a transport machine 200 that is manually operated by an operator, and the calculated range is used as the loading area 210 for transport machine detection determination.

[0089] FIG. 12 is a diagram illustrating an example of a process for calculating the permissible stop range.

[0090] In this embodiment, the loading area acquisition unit 84 calculates an allowable stopping range 211 that takes into account the deviation of the stopping position in addition to the loading area 210 of the transport machine 200, stores it in the storage device 57, and uses the allowable stopping range 211 instead of the loading area 210 in the transport machine detection determination process.

[0091] As shown in FIG. 12, the permissible stopping range 211 is represented by a rectangle in the vehicle body coordinate system 400, and the coordinate values ​​(Xal1, Yal1) to (Xal4, Yal4) of the vertices Pal1 to Pal4 of the range on the XY plane are stored in the storage device 57.

[0092] In this embodiment, as in the first embodiment, a permissible stopping range 211 is set by adding Dr in the longitudinal direction and Dθ in the lateral direction as shown in FIG. 12 to a loading area 210 set by the excavator operator via the display device 55. Predetermined values ​​are used for Dr and Dθ. Dr is, for example, the length that the toe position can assume when taking into account the arm angle at which the hydraulic excavator 1 can release soil. Dθ is, for example, set in advance as θdump in relation to the swing direction of the loading position, and is set as Ltip·tan(θdump / 2) depending on the length Ltip from the current swing center position of the hydraulic excavator 1 to the toe position.

[0093] The other configurations are the same as those in the first embodiment.

[0094] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0095] Furthermore, in this embodiment, by setting the permissible stopping range 211 and setting the permissible stopping range 211 as the loading area 210, even if a deviation occurs from a predetermined stopping position when the transport machine 200 is manually operated by the operator, the vessel position of the transport machine 200 stopped within the permissible stopping range 211 can be accurately detected, and the operability of the hydraulic excavator 1 can be improved by the loading assist control.

[0096] <Third embodiment> A third embodiment of the present invention will be described with reference to Figures 13 to 16. In the figures, the same members as those in the other embodiments are given the same reference numerals, and the description thereof will be omitted.

[0097] In this embodiment, the loading area acquisition unit 84 sets the loading area 210 using the results detected by the transport machine detection unit 86, and also moves the loading area 210 acquired by the loading area acquisition unit 84 in accordance with the amount of movement of the hydraulic excavator 1.

[0098] In the first and second embodiments, it is assumed that the transport machine stops at a position designated by the hydraulic excavator 1. However, some work sites do not have a system for managing the positions and dispatch of transport machines, such as an Fleet Management System (FMS), and the hydraulic excavator 1 cannot designate a stop position for the transport machine 200.

[0099] In this embodiment, attention is paid to the fact that at such a work site, the operator of the transport machine 200 visually checks the position of the hydraulic excavator 1, determines a position suitable for loading, and stops the transport machine 200 in the same positional relationship with the hydraulic excavator 1 each time. In other words, the area in which the transport machine 200 that was the target of the previous loading cycle was detected can be considered to be the stopping position of another transport machine 200 that is the target of the next loading cycle. Therefore, in this embodiment, when the transport machine 200 is approaching to stop, the detection rate of the transport machine 200 can be improved by turning the hydraulic excavator 1 so that the measurement area 220 of the external measuring device 70 is oriented so as to include the loading area 210.

[0100] FIG. 13 is a functional block diagram showing the hydraulic system and control system of the hydraulic excavator according to this embodiment together with the related configuration.

[0101] The external I / F 74 of the controller 54 is connected to the display device 55, the position measurement device 60, the external measurement device 70, the attitude measurement device 53, and the memory device 57 (such as a hard disk drive or large-capacity flash memory), as well as the operating levers 22, 23, the electromagnetic proportional valve 47, etc.

[0102] FIG. 14 is a functional block diagram showing an information processing device according to this embodiment together with related components.

[0103] The controller 54 includes a position information calculation unit 87 in addition to an attitude calculation unit 81 , a toe position calculation unit 82 , a coordinate conversion unit 83 , a loading area acquisition unit 84 , and a transport machine detection unit 86 .

[0104] <Coordinate system> In this embodiment, in order to take into consideration the movement of the hydraulic excavator 1, the loading area 210 and the measurement area 220 are treated on the site coordinate system 500. For conversion of point data indicated by coordinate values ​​Pv (Xv, Yv, Zv) in the vehicle body coordinate system 400 into data Pg (Xg, Yg, Zg) in the site coordinate system 500, for example, the following (Equations 5) to (Equations 7) are used.

[0105]

number

[0106]

number

[0107]

number

[0108] Here, in the above (Equation 5) to (Equation 7), Rvg is a rotation matrix from the vehicle body coordinate system 400 to the site coordinate system 500, and θr, θp, and θy are angles formed by the axes of the vehicle body coordinate system 400 in the site coordinate system 500. These values ​​can be calculated using the value calculated by the attitude calculation unit 81 from the output of the attitude measurement device 53, the azimuth calculated by the position information calculation unit 87, the turning angle output by the attitude calculation unit 81, and the tilt angle of the vehicle body.

[0109] Furthermore, Tvg is a translation vector from the origin of the site coordinate system 500 to the origin of the vehicle body coordinate system 400. The output result of the position information calculation unit 87 can be used for Tvg.

[0110] <Position information calculation unit 87> The position information calculation unit 87 outputs the position of the origin of the vehicle body coordinate system 400 in the on-site coordinate system 500 of the hydraulic excavator 1 and the orientation θdir of the front working implement 2 in the on-site coordinate system 500, based on the position information acquired from the position measurement device 60. The position measurement device 60 may be, for example, a positioning device such as GNSS or a TS (Total Station). The position detection method is not limited to this, and the position may be calculated based on information about the hydraulic excavator 1 detected by a camera fixed at the site, for example. Furthermore, at least two position measurement devices are used to calculate the orientation of the hydraulic excavator 1.

[0111] <Loading area acquisition unit 84> The loading area acquisition unit 84 calculates the loading area 210 using the detection result of the position information calculation unit 87 .

[0112] <Loading area acquisition process> Fig. 15 is a diagram showing an outline of the loading area acquisition process, and Fig. 16 is a flowchart showing the processing contents of the loading area acquisition process according to this embodiment.

[0113] 15, the loading area acquisition unit 84 determines whether the position and attitude information of the transport machine 200 most recently detected by the transport machine detection unit 86 is held (step S301). For example, this can be determined by referring to a predetermined location in the storage device 57 of the information processing device, using the presence or absence of the position and attitude information of the transport machine 200 most recently detected. If the determination result in step S301 is YES, that is, if it is determined that the position and attitude information of the transport machine 200 is held, the process proceeds to the next process (step S302), and if the determination result is NO, that is, if it is determined that the position and attitude information of the transport machine 200 is not held, the process proceeds to another next process (step S303).

[0114] If the determination result in step S301 is YES, the loading area acquisition unit 84 acquires the position and posture information of the transport machine 200 detected by the transport machine detection unit 86 (step S302).

[0115] Furthermore, if the determination result in step S301 is NO, the loading area acquisition unit 84 determines that there is no position and attitude information of the transport machine 200 in the storage device 57, and sets an initial loading area 210 (step S303). The method of setting the initial loading area 210 may be, for example, as shown in FIG. 7 shown in the first embodiment, in which the operator presses the loading area setting button 230 on the display device 55 using toe position information of the hydraulic excavator 1. Furthermore, this method is not limited to this, and a predetermined position may be set in advance for the hydraulic excavator 1 based on the operation of the work site where the hydraulic excavator 1 is to operate.

[0116] After the processing of step S302 is completed, the loading area acquisition unit 84 subsequently acquires the current position and attitude information of the hydraulic excavator 1 in the site coordinate system 500 calculated by the position information calculation unit 87 (step S304).

[0117] Next, the loading area acquisition unit 84 determines whether the vehicle body has moved (step S305). The determination of whether the vehicle body has moved is made by comparing the position and orientation information of the hydraulic excavator 1 acquired in step S304 on the XY plane on the site coordinate system 500 with the previous position and orientation information stored in the storage device 57 in step S308, which will be described later. If the position and orientation information is not stored in the storage device 57, it is determined that the vehicle body has not moved. If the determination result in step S305 is YES, that is, if it is determined that the vehicle body has moved, the process proceeds to the next process (step S307). On the other hand, if the determination result in step S305 is NO, that is, if it is determined that the vehicle body has not moved, the process proceeds to another subsequent process (step S306).

[0118] If the determination result in step S305 is NO, the loading area acquisition unit 84 sets the loading area 210 based on the detection result of the transport machine detection unit 86 (step S306). The method of setting the loading area 210 is, for example, to calculate four vertices of the loading area 210 on the XY plane based on the position and posture of the transport machine 200 output by the transport machine detection unit 86.

[0119] Furthermore, if the determination result in step S305 is YSE, the loading area acquisition unit 84 sets the loading area 210 based on the detection result of the transport machine detection unit 86, taking into account the movement of the vehicle body (step S307). The method of setting the loading area 210 is, for example, to calculate the four vertices of a rectangle when viewed on the XY plane based on the position and posture of the transport machine 200 output by the transport machine detection unit 86, and then add the movement amount Lmove(Xm, Ym) of the vehicle body to each of the output four vertices, as shown in Fig. 15 .

[0120] When the processing of any one of steps S303, S306, and S307 is completed, the loading area acquisition unit 84 then outputs the position and orientation information of the hydraulic excavator 1 acquired in step S304 to the storage device 57 (step S308), and the processing ends.

[0121] The other configurations are the same as those in the first embodiment.

[0122] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0123] Furthermore, in this embodiment, by setting the loading area 210 using the detection results of the transport machine detection unit 86 and the movement amount of the hydraulic excavator 1, it becomes possible to set the loading area 210 even at a site where a system for managing the positions and dispatch of the transport machine 200 has not been introduced. This makes it possible for the hydraulic excavator 1 to wait for the transport machine 200 at a swing angle such that the measurement area 220 encompasses the loading area 210, and when the transport machine 200 stops in the loading area 210, it is possible to accurately detect the vessel position of the transport machine 200, and the operability of the hydraulic excavator 1 can be improved by loading assistance.

[0124] <Fourth embodiment> A third embodiment of the present invention will be described with reference to Figures 17 to 19. In the figures, the same members as those in the other embodiments are given the same reference numerals, and the description thereof will be omitted.

[0125] This embodiment shows a case where the mounting angle of the external environment measuring device 70 is movable and the measurement angle is changeable. In this embodiment, the external environment measuring device 70 has an actuator that can be controlled to a specified mounting angle. This embodiment is applicable to both a transport machine 200 operated by an operator and an autonomously traveling transport machine 200, and can be used in combination with any of the first to third embodiments.

[0126] FIG. 17 is a diagram illustrating an example of the external measurement device direction output process of the transport machine detection and determination unit in this embodiment.

[0127] <Transportation Machine Detection Unit 86> The transport machine detection unit 86 in this embodiment determines whether the loading area 210 acquired by the loading area acquisition unit 84 is included in the measurement area 220 of the external measuring device 70, and if it is included, performs transport machine detection processing, and if it is not included, calculates the mounting angle γs of the external measuring device 70 about the Z axis so that the measurement area 220 can include the loading area 210, as shown in Figure 17, and sends a control command to the external measuring device 70.

[0128] <Transportation machine detection judgment> FIG. 18 is a flowchart showing the processing contents of the transport machine detection determination in the transport machine detection processing according to this embodiment.

[0129] In FIG. 18, the processing from steps S201 to S204 is the same as the processing shown in FIG. 9 in the first embodiment, and therefore a description thereof will be omitted.

[0130] After the process in step S204 is completed, the transport machine detection unit 86 subsequently determines whether the overlap degree Acover is greater than the threshold value Ath (step S245). If the determination result in step S245 is YES, that is, if Acover is greater than Ath, the process proceeds to the next process (step S206), and if the determination result is NO, that is, if Acover is equal to or less than Ath, the process proceeds to another next process (step S247).

[0131] The process of step S206 is the same as the process shown in FIG. 9 in the first embodiment, and therefore a description thereof will be omitted.

[0132] If the determination result in step S245 is NO, the transport machine detection unit 86 performs a process of calculating the measurement direction of the external environment measuring device 70 (step S247).

[0133] <Calculation of measurement direction of external measurement device> FIG. 19 is a flowchart showing the process of the measured direction calculation process according to this embodiment.

[0134] 17, in this embodiment, when the degree of polymerization Acover between the loading area 210 and the measurement area 220 is equal to or less than the threshold value Ath, the angle γs about the Z axis of the external environment measuring device 70 at which the degree of polymerization Acover becomes greater than the threshold value Ath is calculated and output to the external environment measuring device 70. Note that the measurement supplement calculation process of the external environment measuring device 70 may include not only angle adjustment of γs, but also, for example, angle αs about the X axis and angle βs about the Y axis.

[0135] In FIG. 19, first, the transport machine detection unit 86 updates the mounting angle γs of the external measuring device 70 around the Z axis to γs+δγs using a predetermined δγs, and performs the process of step S402 (step S401).

[0136] Next, the transport machine detection unit 86 calculates the degree of polymerization Acover using (Equation 4) (step S402).

[0137] Next, the transport machine detection unit 86 determines whether Acover is greater than the threshold value Ath (step S403). If the determination result in step S403 is YES, that is, if Acover is greater than the threshold value Ath, the process proceeds to the next process (step S404). If the determination result in step S403 is NO, that is, if Acover is equal to or less than the threshold value Ath, the process returns to step S401, and γs is updated.

[0138] If the determination result in step S403 is YES, the transport machine detection unit 86 outputs the updated mounting angle γs of the external environment measuring device 70 around the Z axis to the external environment measuring device 70 (step S404), and ends the process.

[0139] The other configurations are the same as those in the first embodiment.

[0140] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0141] Furthermore, in this embodiment, if the mounting angle of the external environment measuring device 70 attached to the hydraulic excavator 1 is movable, the external environment measuring device 70 rotates so that the measurement area 220 encompasses the loading area 210 regardless of the state of the hydraulic excavator 1, and therefore, when the transport machine 200 stops in the loading area 210, the vessel position of the transport machine 200 can be accurately detected, and loading assist control can improve the operability of the hydraulic excavator 1. Furthermore, since there is no need for the hydraulic excavator 1 to perform an operation to adjust the swing angle in order to detect the transport machine 200, the productivity of the hydraulic excavator 1 is improved.

[0142] <Fifth embodiment> A fifth embodiment of the present invention will be described with reference to Figures 20 to 22. In the figures, the same members as those in the other embodiments are given the same reference numerals, and the description thereof will be omitted.

[0143] This embodiment illustrates a case in which a plurality of external world measuring devices 70 are attached to the hydraulic excavator 1, and transport machine detection processing is performed in the measurement areas of these plurality of external world measuring devices 70 (for example, measurement areas 220a, 220b, and 220c of the plurality of external world measuring devices 70 shown in FIG. 20 ). That is, in this embodiment, while the hydraulic excavator 1 is waiting for the transport machine 200 to stop, it selects the external world measuring device 70 that is most suitable for detecting the transport machine 200 in its current attitude (that is, one of the plurality of measurement areas 220a, 220b, and 220c), and determines whether the hydraulic excavator 1 is facing at a swing angle suitable for detecting the transport machine 200 in the measurement area of ​​the selected external world measuring device 70. When the front working implement 2 appears in the measurement area of ​​the external world measuring device 70 (for example, measurement area 220a), the controller 45 outputs an instruction for the front working implement 2 to move out of the measurement area of ​​the external world measuring device 70, and then performs transport machine detection processing.

[0144] This embodiment is applicable to both the transport machine 200 operated by an operator and the transport machine 200 that travels autonomously, and can be used in combination with any of the first to third embodiments.

[0145] Fig. 20 is a diagram showing an example of transport machine detection determination according to this embodiment. Fig. 21 is a flowchart showing the processing contents of transport machine detection determination in the transport machine detection processing according to this embodiment. Fig. 22 is a diagram showing an example of output to the display device according to this embodiment.

[0146] As shown in FIG. 20, a plurality of external measurement devices (for example, devices similar to external measurement device 70 in FIG. 1) that detect the depth to objects present around the hydraulic excavator 1 are attached to the upper rotating body 7 of the hydraulic excavator 1, and a predetermined range in front of where the front working implement 2 of the upper rotating body 7 is installed is defined as measurement area 220a, a predetermined range on the left side of the upper rotating body 7 is defined as measurement area 220b, and a predetermined range on the right side of the upper rotating body 7 is defined as measurement area 220c, and depth information of objects within each of these areas can be obtained.

[0147] <Transportation Machine Detection Unit 86> In this embodiment, the transport machine detection unit 86 calculates the degree of overlap Acover between the measurement area 220 of all external environment measuring devices 70 attached to the hydraulic excavator 1 and the loading area 210, and determines whether the measurement area 220 of the external environment measuring device 70 with the largest Acover value is oriented in a direction that includes the loading area 210.

[0148] <Transportation machine detection judgment> 21, first, the transport machine detection unit 86 determines whether or not the swing angular velocity ωsw output by the posture calculation unit 81 is smaller than a predetermined angular velocity Ωsw (step S201). If the determination result in step S201 is YES, that is, if the swing angular velocity ωsw of the hydraulic excavator 1 is smaller than the predetermined angular velocity Ωsw, it is determined that the transport machine 200 is stopped and waiting, and the process proceeds to the next process (step S252). If the determination result in step S201 is NO, that is, if the swing angular velocity ωsw of the hydraulic excavator 1 is equal to or greater than the predetermined angular velocity Ωsw, the transport machine detection unit 86 determines that the hydraulic excavator 1 is performing loading work, and repeats the determination until the swing angular velocity ωsw becomes smaller than Ωsw.

[0149] If the determination result in step S201 is YES, the transport machine detection unit 86 acquires the measurement areas 220 of all the external environment measuring devices 70 attached to the hydraulic excavator 1 (step S252).

[0150] Next, the transport machine detection unit 86 acquires the loading area 210 acquired by the loading area acquisition unit 84 (step S253).

[0151] Next, the transport machine detection unit 86 calculates the overlapping degree Acover between the measurement areas 220 of all the external environment measuring devices 70 attached to the hydraulic excavator 1 and the loading area 210 (step S254). Acover is given by (Equation 4).

[0152] Next, the transport machine detection unit 86 selects the external measuring device 70 having the maximum value of the overlap degree Acover calculated in step S254 (step S255).

[0153] Next, the transport machine detection unit 86 determines whether the degree of overlap Acover of the external measuring device 70 selected in step S255 is greater than the threshold value Ath (step S256). If the determination result in step S256 is YES, that is, if Acover is greater than Ath, the process proceeds to the next step (step S256), and if the determination result is NO, that is, if Acover is equal to or less than Ath, the process proceeds to another next step (step S257).

[0154] If the determination result in step S256 is YES, the transport machine detection unit 86 determines whether or not the front working implement 2 is reflected in the measurement area of ​​the external world measuring device 70 selected in step S255 (step S257). Whether or not the front working implement 2 is reflected in the measurement area of ​​the external world measuring device 70 can be determined by storing in advance in the storage device 57 a combination of the external world measuring device 70 in which the front working implement 2 is reflected and the range of the joint angle of the front working implement 2 when reflection occurs, and comparing this with the calculation result of the attitude calculation unit 81. If the determination result in step S257 is YES, that is, if the front working implement 2 is reflected, the process proceeds to the next process (step S259), and if the determination result is NO, that is, if the front working implement 2 is not reflected, the process proceeds to another subsequent process (step S258).

[0155] The result of the determination in step S257 is NO In this case, the transport machine detection unit 86 returns a determination result that the transport machine detection process should be started for the external measuring device 70 with the largest Acover value (step S258), and ends the transport machine detection determination process.

[0156] In addition, the determination result in step S257 is YES In this case, the transport machine detection unit 86 outputs an instruction to move the front working implement 2 out of the measurement area of ​​the external environment measuring device 70 (step S259), and ends the transport machine detection determination process. The instruction may be, for example, as shown in FIG. 22 , by displaying a front lift command 240 on the display device 55 to prompt the operator to operate it. Note that the instruction method is not limited to this, and the amount of operation of the front may also be output to the vehicle body control unit 40 as a control command.

[0157] If the determination result in step S256 is NO, the transport machine detection unit 86 outputs a swing operation instruction (step S260) and ends the transport machine detection determination process. The swing command is output to the display device 55, for example, as shown in Fig. 11, by displaying the loading area 210 and the measurement area 220, as well as a display urging the operator to swing.

[0158] The other configurations are the same as those in the first embodiment.

[0159] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0160] Furthermore, in this embodiment, even when a plurality of external environment measuring devices 70 are attached to the hydraulic excavator 1, it is possible to select the external environment measuring device 70 that is most suitable for detecting the transport machine 200. Furthermore, it is possible to calculate a rotation angle such that the measurement area 220 of the selected external environment measuring device 70 encompasses the loading area 210, so when the transport machine 200 stops in the loading area 210, it is possible to accurately detect the vessel position of the transport machine 200, and loading assist control can improve the operability of the hydraulic excavator 1. Furthermore, since the transport machine 200 can be detected using an appropriate one of the plurality of external environment measuring devices 70, the processing efficiency of the transport machine detection process is improved.

[0161] <Additional Notes> The present invention is not limited to the above-described embodiments, but includes various modifications and combinations within the scope of the invention.

[0162] For example, in the above embodiment, it is assumed that an operator rides on the hydraulic excavator 1 and performs operations such as excavating earth and sand and loading the transport machine, but the present invention is not limited to this and may be applied, for example, when operating the hydraulic excavator 1 from a remote control room. The above embodiment can also be applied to an autonomously operating work machine. In this case, a command is sent to the vehicle body control unit 40 to perform a rotation operation so that the measurement area 220 includes the loading area 210.

[0163] Furthermore, the present invention is not limited to those having all of the configurations described in the above embodiments, and includes those in which some of the configurations are omitted. Furthermore, the above-described configurations, functions, etc. may be realized in part or in whole by designing, for example, an integrated circuit. Furthermore, the above-described configurations, functions, etc. may be realized in software by a processor interpreting and executing a program that realizes each function. [Explanation of symbols]

[0164] 1...hydraulic excavator, 2...front working device, 3...machine body, 4a...right hydraulic motor for traveling, 4b...left hydraulic motor for traveling, 5...lower traveling body, 6...swing hydraulic motor, 7...upper rotating body, 8...boom, 8a...boom pin, 9...arm, 9a...arm pin, 10...bucket, 10a...bucket pin, 11...boom cylinder, 12...arm cylinder, 13...bucket cylinder, 14...boom angle sensor, 15...arm angle sensor, 16...bucket link, 17...bucket angle sensor, 18...tilt angle sensor, 19...swing angle sensor, 20...angular velocity sensor, 22...operating lever, 22a...right operating lever, 22b...left operating lever, 23...operating lever, 23a...right traveling lever, 23b...left traveling lever, 40...machine body control unit, 47a to 47 l...electromagnetic proportional valve, 52a to 52f...sensor, 53...attitude measurement device, 54...controller, 55...display device, 57...storage device, 60...position measurement device, 70...external measurement device, 74...external I / F, 75...bus, 81...attitude calculation unit, 82...toe position calculation unit, 83...coordinate conversion unit, 84...loading area acquisition unit, 86...transportation machine detection unit, 87...position information calculation unit, 100...pilot line, 101...flow control valve, 102...hydraulic pump, 103...engine, 104...pilot pump, 120...swing center line, 130...toe position, 200...transportation machine, 210...loading area, 211...stop tolerance range, 220...measurement area, 230...loading area setting button, 240...command, 300...sensor coordinate system, 400...vehicle coordinate system, 500...site coordinate system

Claims

1. A work machine having an articulated front work device that performs loading work of loading an object to be transported onto a transport machine, an external environment measuring device that is provided on the work machine and that measures objects around the work machine and the positions of the objects in a predetermined measurement area and outputs the results as object position information; a posture measuring device that measures a state quantity related to the posture of the work machine and outputs the measured state quantity as posture information; a controller that calculates a position and attitude of a transport machine relative to the work machine based on the attitude information of the work machine and the object position information, and performs loading assist control of the work machine based on the calculated position and attitude of the transport machine, The controller calculating the posture of the work machine based on the posture information of the work machine output from the posture measurement device; accepting an operation to set a loading area where the transport machine is stopped and where loading work from the work machine to the transport machine is performed; determining whether the work machine is in a posture that allows the transport machine stopped in the loading area to be calculated by the external environment measuring device based on the posture of the work machine, the measurement area, and the loading area; a work machine that, when it determines that the transport machine is in a posture that allows calculation, calculates the position and posture of the transport machine within the loading area based on the object position information output from the external measuring device.

2. 2. The work machine according to claim 1, The controller A work machine characterized in that it determines whether the work machine is in a position that allows it to calculate the position and attitude of the transport machine based on a degree of overlap that indicates the degree of overlap between the loading area and the measurement area.

3. 3. The work machine according to claim 2, The controller calculating the position of the tip of the front working implement of the work machine based on the attitude information of the work machine output from the attitude measurement device; A work machine characterized in that an operation to set the loading area is accepted depending on the position of the tip of the front working implement.

4. 4. The work machine according to claim 3, The controller When receiving an operation to set the loading area, an allowable range of a stopping position of the transport machine is calculated as an allowable stopping range; A construction machine characterized in that, when the degree of overlap between the allowable stopping range and the measurement area is equal to or greater than a predetermined degree, it is determined that the construction machine is facing in a direction that allows the position and attitude of the transport machine to be calculated.

5. 4. The work machine according to claim 3, a position measuring device that outputs self-position information relating to the position of the work machine in a site coordinate system; The controller A work machine characterized in that it determines whether the work machine has moved based on the self-position information, and when it is determined that the work machine has moved, it moves the position of the loading area in accordance with the amount of movement of the work machine.

6. 4. The work machine according to claim 3, The controller A work machine characterized in that position information of the work machine in a site coordinate system is obtained from outside by a communication device as self-position information, whether or not the work machine has moved is determined based on the obtained self-position information, and if it is determined that the work machine has moved, the position of the loading area is moved in accordance with the amount of movement of the work machine.

7. 4. The work machine according to claim 3, the external environment measuring device is capable of adjusting the measurement area, The controller a work machine characterized in that, when the degree of overlap between the adjustable range of the measurement area in the external measurement device and the loading area is equal to or greater than a predetermined degree, it is determined that the work machine is facing in a direction that allows the position and attitude of the transport machine to be calculated, and after adjusting the measurement area so that the measurement area overlaps the loading area as much as possible, the position and attitude of the transport machine is calculated.

8. 4. The work machine according to claim 3, the external environment measuring device has a plurality of measurement areas different from each other, a controller that determines that the work machine is facing in a direction that allows the position and posture of the transport machine to be calculated when the degree of overlap between at least one of the plurality of measurement areas in the external measuring device and the loading area is equal to or greater than a predetermined degree, and that detects the position and posture of the transport machine using the measurement area that has a large area overlapping with the loading area among the plurality of measurement areas.

9. 4. The work machine according to claim 3, The controller a detection unit that determines whether the front working device is reflected in a measurement area of ​​the external environment measuring device, and detects the position and attitude of the transport machine when it is determined that the front working device is not reflected in the measurement area.

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