Automatic loading system

Abstract

To automatically determine whether or not loading control or stand-by control can be started, before the loading control or the stand-by control is started.SOLUTION: An automatic loading system 10 includes a controller 50, and an automatic determination part 79. The automatic determination part 79 automatically determines whether or not loading control C2 can be started, and automatically determines whether stand-by control C1 can be started. The controller 50 starts the loading control C2, on the basis of the determination result that the loading control C2 can or cannot be started by the automatic determination part 79. The controller 50 starts the stand-by control C1, on the basis of the determination result that the stand-by control C1 can or cannot be started by the automatic determination part 79.SELECTED DRAWING: Figure 2

Description

Technical Field

[0006] , , , ,

[0001] The present invention relates to an automatic loading system for a work machine to automatically load a transported object onto a transport vehicle.

Background Art

[0002] For example, Patent Document 1 etc. describes a conventional automatic loading system. In the technology described in the same document, when a controller that controls a work machine detects the approach of a transport vehicle to the work machine, the work machine is set to a loading mode in which the work machine is operated to perform loading onto the transport vehicle (see Claim 1 of the same document).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology described in the same document, even if the work machine is not in a state suitable for loading onto the transport vehicle, for example, if the approach of the transport vehicle is erroneously detected, control for performing loading (loading control) is performed.

[0005] Therefore, an object of the present invention is to provide an automatic loading system that can automatically determine the validity of the start of loading control.

Means for Solving the Problems

[0006] [[ID = 45]] [[ID = 46]]The automatic loading system includes a controller and an automatic determination unit. The loading control is control for repeatedly causing the work machine to perform a series of operations including a capturing operation for capturing a transported object and a releasing operation for loading the captured transported object onto the transport vehicle. The controller starts the loading control based on a determination result by the automatic determination unit as to whether or not the situation allows the start of the loading control. [Effects of the Invention]

[0007] With the above configuration, the appropriateness of starting the loading control can be automatically determined. [Brief explanation of the drawing]

[0008] [Figure 1] This diagram shows the automatic loading system 10, and is a side view of the transport vehicle 2 and the work machine 20. [Figure 2] Figure 1 is a block diagram of the automated loading system 10. [Figure 3] Figure 1 is a flowchart showing the operation of the automated loading system 10. [Figure 4] This figure shows the display unit 71 shown in Figure 2 when the position of the transport vehicle 2 shown in Figure 1 is correctly detected. [Figure 5] This is a diagram corresponding to Figure 4, showing the display unit 71 when the position of the transport vehicle 2 is incorrectly detected. [Figure 6] This figure shows the display unit 71 as shown in Figure 2. [Modes for carrying out the invention]

[0009] Referring to Figures 1 to 3, an automated loading system 10 for loading goods L onto the transport vehicle 2 shown in Figure 1 will be described.

[0010] The transport vehicle 2 is a vehicle equipped with a cargo bed 5. The transport vehicle 2 is a vehicle for transporting goods L loaded by the work machine 20. The transport vehicle 2 may be a dump truck or a regular truck. The transport vehicle 2 comprises a transport vehicle body 3 and a cargo bed 5. The transport vehicle body 3 is drivable and supports the cargo bed 5. The transport vehicle body 3 is equipped with a transport vehicle driver's cab 3a. The cargo bed 5 accommodates the goods L. The goods L accommodated in the cargo bed 5 may be, for example, soil, stones, or waste. The cargo bed 5 may be movable relative to the transport vehicle body 3 or it may be fixed to the transport vehicle body 3.

[0011] The automatic loading system 10 is a system that allows a work machine 20 to automatically load goods L onto a transport vehicle 2. The automatic loading system 10 comprises a work machine 20, a position detection unit 41, an instruction unit 42 as shown in Figure 2, a controller 50, and an external system 70.

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

[0013] The lower traveling body 21 drives the work machine 20 shown in Figure 1. The lower traveling body 21 is equipped with, for example, crawler tracks. The upper slewing body 23 is rotatably mounted on the lower traveling body 21. The upper slewing body 23 is equipped with a work machine operator's cab 23a.

[0014] Attachment 25 is mounted on the upper slewing body 23 in a luffable manner. Attachment 25 is a device for capturing, moving, and releasing the transported object L. Attachment 25 comprises a boom 25a, an arm 25b, and a tip attachment 25c. The boom 25a is mounted on the upper slewing body 23 in a luffable manner (rotatable up and down). The arm 25b is mounted on the boom 25a in a rotatable manner (pushing and pulling). The tip attachment 25c is provided at the tip of attachment 25 and is rotatably mounted on the arm 25b. The tip attachment 25c may be a bucket for scooping up the transported object L (e.g., soil or sand), or a device for gripping the transported object L (e.g., a grapple).

[0015] The drive control unit 31 (see Figure 2) controls the actuator (not shown) that drives the work machine 20. More specifically, the drive control unit 31 controls the motor that drives the lower traveling body 21, and the motor that rotates the upper slewing body 23 relative to the lower traveling body 21. The drive control unit 31 controls the cylinder that raises and lowers the boom 25a relative to the upper slewing body 23, the cylinder that rotates the arm 25b relative to the boom 25a, and the cylinder that rotates the tip attachment 25c relative to the arm 25b. When the tip attachment 25c itself is operating (e.g., opening and closing), the drive control unit 31 controls the actuator that operates the tip attachment 25c.

[0016] The attitude detection unit 33 (see Figure 2) detects the attitude of the work machine 20 in order to perform standby control C1 (step S12 in Figure 3) and loading control C2 (step S32 in Figure 3), which will be described later. More specifically, the attitude detection unit 33 detects the rotation angle of the upper slewing body 23 relative to the lower traveling body 21. The attitude detection unit 33 also detects the rotation angle (elevation angle) of the boom 25a relative to the upper slewing 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 transport vehicle 2 relative to the work machine 20. More specifically, the position detection unit 41 detects the three-dimensional position information of the transport vehicle 2 and the three-dimensional shape information of the transport vehicle 2. The position detection unit 41 may also detect the position of the transport vehicle 2 based on the three-dimensional information and the two-dimensional information (image). The position detection unit 41 may also detect the position of only a part of the transport vehicle 2; for example, it may detect the position of only the loading platform 5 of the transport vehicle 2.

[0018] This position detection unit 41 may be provided alone or in plurality. The position detection unit 41 may be mounted on the working machine 20 or may be arranged outside the working machine 20 (for example, at the work site). When the position detection unit 41 is arranged outside the working machine 20, there are cases where positions that cannot be detected when the position detection unit 41 is mounted only on the working machine 20 (for example, parts shaded by the attachment 25, etc.) can be detected. Also, when the position detection unit 41 is arranged outside the working machine 20, even if the working machine 20 does not have the position detection unit 41, the automatic loading system 10 of the present embodiment can be applied.

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

[0020] The instruction unit 42 (see FIG. 2) gives an instruction described later. The instruction unit 42 may give an instruction perceptible to an operator (person), or may output an instruction by an electric signal (for example, an instruction for control, etc.). When the instruction unit 42 gives an instruction perceptible to the operator, the instruction unit 42 outputs at least one of sound, light, and vibration as an instruction to the operator. The instruction unit 42 may be mounted on the working machine 20 or may be arranged outside the working 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 working machine 20, etc.), a speaker, a light, or a display device (monitor, etc.).

[0021] The controller 50 is a computer that performs operations such as input / output of signals, calculations such as determination and calculation, and storage of information. The controller 50 is mounted on the machine tool 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) described later. The controller 50 controls the operation of the machine tool 20 by outputting a command to the drive control unit 31 (see FIG. 2).

[0022] The external system 70 is a computer provided separately from the controller 50. The external system 70 can communicate with the controller 50. The external system 70 can be arranged outside the machine tool 20. The external system 70 may be, for example, something installed outside the machine tool 20 (such as a server), or a portable device (such as a mobile terminal, a tablet terminal, etc.). Note that the external system 70 only needs to be able to be arranged outside the machine tool 20, and may be arranged inside the machine tool 20 (for example, inside the machine tool operation room 23a). The communication between the external system 70 and the controller 50 may be wireless communication or wired communication. As shown in FIG. 2, the external system 70 includes a display unit 71, a standby control start instruction unit 73, a loading control start instruction unit 75, and an interruption instruction unit 77. The external system 70 may include an automatic determination unit 79.

[0023] The display unit 71 displays various information. The display unit 71 performs a display for allowing an operator to determine whether the controller 50 is in a situation where automatic control (specifically, standby control C1 and loading control C2 shown in FIG. 3) can be started (see FIGS. 4 to 6).

[0024] The standby control start instruction unit 73 causes the standby control start signal 73s to output to the external system 70. The standby control start signal 73s is a signal to cause the controller 50 to start standby control C1 (see Figure 3). The standby control start instruction unit 73 causes the standby control start signal 73s to output to the external system 70 in response to the operator's operation. The operation performed on the standby control start instruction unit 73 may be, for example, an operation on a touch panel, an operation on 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 to cause the controller 50 to start loading control C2 (see Figure 3). The loading control start instruction unit 75 outputs the loading control start signal 75s to the external system 70 in response to the operator's operation.

[0026] The interruption instruction unit 77 causes the controller 50 to output an interruption signal 77s to the external system 70 to interrupt automatic control. The interruption instruction unit 77 outputs an interruption signal 77s to the external system 70 in accordance with the operator's operation. The interruption instruction unit 77 may also cause the controller 50 to output an interruption signal 77s (standby control interruption signal) to the external system 70 to interrupt standby control C1 (see Figure 3). The interruption instruction unit 77 may also cause the controller 50 to output an interruption signal 77s (loading control interruption signal) to the external system 70 to interrupt loading control C2 (see Figure 3). The automatic judgment unit 79 will be described later.

[0027] (Operation of the work machine 20) The work machine 20 shown in Figure 1 performs capturing, lifting, releasing, and returning movements.

[0028] The capture operation is the operation in which the tip attachment 25c captures the transported material L. For example, the capture operation may also be the operation in which the bucket, which is the tip attachment 25c, excavates and scoops up the transported material L, which is soil (excavation operation). For example, the capture operation may also be the operation in which the tip attachment 25c grips the transported material L by clamping it.

[0029] The lifting movement is the movement of the tip attachment 25c from the position where the capture operation was performed to the position where the release operation is performed (moving the transported object L). The lifting movement is the movement of the tip attachment 25c along a target trajectory (see target trajectory Qa shown in Figure 6). Specifically, for example, the lifting movement is a movement (lifting and rotating movement) that includes the movement of the upper rotating body 23 rotating relative to the lower traveling body 21 and the movement of the tip attachment 25c relative to the upper rotating body 23 (for example, moving upwards).

[0030] The release operation is the operation in which the tip attachment 25c releases the transported material L on the transport vehicle 2 (more specifically, the loading platform 5) and loads the transported material L onto the transport vehicle 2. For example, the release operation may also be the operation in which the bucket of the tip attachment 25c drops the transported material L, which is soil, onto the loading platform 5 (soil removal operation). For example, the release operation may also be the operation in which the tip attachment 25c releases the transported material L that it was gripping and drops it onto the loading platform 5.

[0031] The return movement is the movement (return) of the tip attachment 25c from the position where the release movement was performed to the position where the capture movement is performed. The return movement is the movement of the tip attachment 25c along the target trajectory (see target trajectory Qa shown in Figure 6). Specifically, for example, the return movement is a movement (return rotation movement) that includes the movement of the upper rotating body 23 rotating relative to the lower traveling body 21 and the movement of the tip attachment 25c relative to the upper rotating body 23 (for example, moving downwards).

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

[0033] Standby control C1 (see step S12 shown in Figure 3) is a control that causes the work machine 20 shown in Figure 1 to perform a capture operation and then to wait in a standby position. More specifically, standby control C1 is a control that causes the work machine 20 to perform a capture operation (e.g., excavation), a lifting and moving operation (e.g., rotation), and then wait in a standby position. The above-mentioned "standby position" is the position for loading the captured transported material L onto the transport vehicle 2, and is the position in which the release operation is awaited (preparation position). The standby position is such that the work machine 20 can immediately perform the release operation if the controller 50 outputs a command to perform the release operation. Specifically, for example, the standby position is the position in which the tip attachment 25c (e.g., a bucket containing soil) that is capturing the transported material L is stopped at the position (in the air) where the release operation is scheduled to be performed (e.g., soil discharge standby position). The position of the work machine 20 shown in Figure 1 is an example of a standby position.

[0034] Loading control C2 (see step S32 shown in Figure 3) is a control that causes the work machine 20 to repeatedly perform a series of operations including a capture operation and an release operation. More specifically, loading control C2 is a control that causes the work machine 20 to repeatedly perform a series of operations in the following order: release operation (e.g., soil removal), return movement operation (e.g., rotation), capture operation (e.g., excavation), and lifting movement operation (e.g., rotation). Loading control C2 is performed based on the detection results of the position detection unit 41. At least a part of each operation of the loading operation (release operation, return movement operation, capture operation, lifting movement operation) is performed based on the detection results of the position detection unit 41. Specifically, for example, the release operation is performed as follows: The controller 50 calculates the three-dimensional position and shape of the loading platform 5 based on the detection results of the position detection unit 41. Then, the controller 50 causes the end attachment 25c to release the transported material L at a specific position on the loading platform 5. Specifically, for example, the capture operation is performed as follows: Based on the detection results of the position detection unit 41, the controller 50 calculates the three-dimensional position and shape of the transported object L (e.g., a pile of soil) (see Figure 6) before capture. Then, the controller 50 causes the tip attachment 25c to capture the transported object L at a specific position on the transported object L before capture (e.g., point Qc shown in Figure 6).

[0035] Based on the state of the work machine 20 immediately before the start of loading control C2 (see Figure 3), the controller 50 determines which operation to perform at the start of loading control C2: release operation, return movement operation, capture operation, or lifting movement operation. For example, if loading control C2 is started while the work machine 20 is stopped in a standby position, such as when the controller 50 has performed standby control C1 (see Figure 3), the controller 50 will start loading control C2 with the release operation. For example, if loading control C2 is started when the tip attachment 25c has not captured the transported object L (for example, the bucket is empty), the controller 50 may start loading control C2 with the return movement operation or the capture operation.

[0036] (Conditions for starting automatic control, etc.) The controller 50 starts standby control C1 (see Figure 3) when it receives a standby control start signal 73s from the external system 70 shown in Figure 2. The controller 50 also starts loading control C2 (see Figure 3) when it receives a loading control start signal 75s from the external system 70. The operation of the automatic loading system 10 will be explained with reference to the flowchart shown in Figure 3.

[0037] (Verification of the validity of starting standby control C1) Before the controller 50 (see Figure 2) starts standby control C1, the operator checks whether the situation is suitable for starting standby control C1 (validity). For example, the operator may check for obstacles around the position where the work machine 20 shown in Figure 1 will perform its work. For example, the operator may check the validity of the transported object L that the work machine 20 is to capture (transported object L before capture (see Figure 6)). For example, the operator may check the position of the transported object L before capture, or check the presence or quantity of the transported object L. For example, the operator may check for the presence of transported object L that has been transported from a belt conveyor (not shown) or a machine other than the work machine 20. As shown in Figure 6, the external system 70 may output information (for example, displayed on the display unit 71) to allow the operator to determine whether the situation is suitable for starting standby control C1 (see [Example B] to [Example E] below for specific examples).

[0038] If the operator determines that it is possible to start standby control C1 (see Figure 3), they operate the standby control start instruction unit 73 shown in Figure 2 to cause the external system 70 to output a standby control start signal 73s to the controller 50. If the operator determines that it is not possible to start standby control C1, they do not cause the external system 70 to output a standby control start signal 73s to the controller 50.

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

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

[0041] When the determination in step S21 is made, the transport vehicle 2 shown in Figure 1 may be moving toward the work machine 20. In this case, if the position of the transport vehicle 2 relative to the work machine 20 is within a predetermined range (for example, the distance is below a threshold) (if the result is YES in step S21 shown in Figure 3), the controller 50 causes the instruction unit 42 (see Figure 2) to issue a stop instruction. The above "stop instruction" is an instruction to stop the transport vehicle 2 that is moving toward the work machine 20. For example, if the instruction unit 42 (see Figure 2) issues a stop instruction that can be perceived by a person, the driver in the transport vehicle's cab 3a who perceives the stop instruction (for example, the sound of a horn) will stop the transport vehicle 2. For example, if the instruction unit 42 outputs a stop instruction by an electrical signal, the transport vehicle 2 may stop automatically upon receiving the stop instruction.

[0042] (Verification of the validity of starting loading control C2) Before the controller 50 starts the loading control C2 (see Figure 3), the operator confirms whether the situation is suitable for starting the loading control C2 (validity). At this time, the operator may also confirm the validity of the detection result of the position detection unit 41. The operator may also confirm the validity of the position of the transport vehicle 2 relative to the work machine 20. The operator may also confirm the validity of the position of the transport object L (see Figure 6) before capture relative to the work machine 20. The operator may also confirm the validity of the target trajectory Qa (see Figure 6) and target position (for example, points Qc and Qb shown in Figure 6) of the tip attachment 25c in the loading control C2.

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

[0044] [Example A] For example, the external system 70 shown in Figure 1 (more specifically, the display unit 71 (see Figure 4)) may display information regarding the position of the transport vehicle 2 (e.g., the loading platform 5) relative to the work machine 20, as detected by the position detection unit 41 (detected position information of the transport vehicle 2). As shown in Figure 4, the detected position information of the transport vehicle 2 displayed by the external system 70 may be, for example, points representing specific positions on the loading platform 5 (e.g., four points P5a, P5b, P5c, P5d indicating the four corners of the loading platform 5), or lines or shapes indicating the range of the loading platform 5. The external system 70 may also display values ​​related to the detected position information of the transport vehicle 2 (such as coordinates or distance). The external system 70 displays the detected position information of the transport vehicle 2 superimposed on a two-dimensional image of the transport vehicle 2 (e.g., an image of the loading platform 5). The operator who sees this display can judge the validity of the detected position information by comparing the detected position information of the transport vehicle 2 with the two-dimensional image. Specifically, for example, the operator checks whether the detected position information of the transport vehicle 2 (e.g., four points P5a, P5b, P5c, P5d) matches or nearly matches the corresponding parts of the two-dimensional image of the transport vehicle 2 (e.g., the positions of the four corners of the loading platform 5). If they match or nearly match, the operator can determine that the detection result of the position detection unit 41 shown in Figure 1 is valid. If they are significantly different (see Figure 5), the operator can determine that the detection result of the position detection unit 41 is not valid.

[0045] [Example B] For example, the external system 70 may display information regarding the position of the transported object L relative to the work machine 20 (see Figure 1) as detected by the position detection unit 41 (see Figure 1) (detected position information of the transported object L). For example, the external system 70 may display information regarding the position of the transported object L (e.g., a pile of earth) before it is captured by the work machine 20 (see Figure 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 figure indicating the range of the transported object L. The external system 70 may also display values ​​related to the detected position information of the transported object L (e.g., coordinates or distance). The external system 70 displays the detected position information of the transported object L and a two-dimensional image of the transported object L superimposed, similar to [Example A] above. The operator who sees this display can judge the validity of the detection result of the position detection unit 41 (see Figure 1).

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

[0047] [Example D] For example, the external system 70 may display information regarding the target loading position (point Qb) in the loading control C2 (see Figure 3). The target loading position (point Qb) is the target position at which the work machine 20 shown in Figure 1 performs the release operation, and is calculated by the controller 50. As shown in Figure 6, the external system 70 may display the target loading position (point Qb). The external system 70 may display the correction result of the target loading position (point Qb) if the target loading position (point Qb) is automatically corrected according to the position of the transport vehicle 2 detected by the position detection unit 41 (see Figure 1), or if the target loading position (point Qb) is manually corrected. The external system 70 may also display information regarding the target loading position (point Qb) and a two-dimensional image of the transport vehicle 2 (e.g., the loading platform 5) superimposed. By viewing this display, the operator can determine whether the target loading position (point Qb) is appropriate (e.g., whether it is in an appropriate position on the loading platform 5).

[0048] [Example E] The external system 70 may display information regarding the target acquisition position (point Qc) in the loading control C2 (see Figure 3). The target acquisition position (point Qc) is the target position where the work machine 20 shown in Figure 1 performs the acquisition operation, and is calculated by the controller 50. As shown in Figure 6, the external system 70 may display the target acquisition position (point Qc). The external system 70 may display the correction result of the target acquisition position (point Qc) if the target acquisition position (point Qc) is automatically corrected according to the position of the transported object L detected by the position detection unit 41 (see Figure 1), or if the target acquisition position (point Qc) is manually corrected. The external system 70 may also display information regarding the target acquisition position (point Qc) and a two-dimensional image of the transported object L before acquisition superimposed. By viewing this display, the operator can determine whether the target acquisition position (point Qc) is valid or not (for example, whether it is an appropriate position within the transported object L before acquisition).

[0049] If the operator determines that the loading control C2 (step S32) shown in Figure 3 is ready to be started, they operate the loading control start instruction unit 75 shown in Figure 2 to cause the external system 70 to output a loading control start signal 75s to the controller 50. If the operator determines that the loading control C2 (see Figure 3) is not ready to be started, they do 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 Figure 3). The controller 50 starts loading control C2 (see Figure 3) on the condition that a loading control start signal 75s has been input to the controller 50 from the external system 70 (step S32 shown in Figure 3). The above "condition" may be either a necessary condition or a sufficient condition. The controller 50 may also start loading control C2 (see Figure 3) if any other condition (additional condition) different from the input of the loading control start signal 75s is met. The condition for the controller 50 to start loading control C2 (see Figure 3) (step S32 shown in Figure 3) includes the input of a 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 transport vehicle 2 relative to the work machine 20 shown in Figure 1 is within a predetermined range (YES in step S21 shown in Figure 3). An additional condition may be that the stop instruction for the transport vehicle 2 (step S22 shown in Figure 3) has been completed.

[0051] When performing loading control C2 (see Figure 3), the controller 50 determines whether or not to terminate loading control C2 (step S41 shown in Figure 3). For example, the controller 50 terminates 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 sensors other than the position detection unit 41. For example, the controller 50 may interrupt loading control C2 if an interruption signal 77s is input from the external system 70 shown in Figure 2. If the controller 50 determines that loading control C2 should not be terminated, it continues loading control C2. When loading control C2 is interrupted, the controller 50 may restart loading control C2 if a signal to restart loading control C2 (for example, a loading control start signal 75s) is input.

[0052] When the controller 50 has finished loading control C2 (see Figure 3) (if the answer is YES in step S41 shown in Figure 3), it notifies that loading control C2 has finished (this notification is called a completion notification). The controller 50 causes the instruction unit 42 to output the completion notification. For example, if the instruction unit 42 gives instructions that can be perceived by a person (e.g., a horn), the driver of the transport vehicle 2 shown in Figure 1 may perceive the completion notification (e.g., hear the sound of the horn) and start driving (depart) the transport vehicle 2. For example, if the instruction unit 42 (see Figure 2) outputs a completion notification by an electrical signal, the transport vehicle 2 may automatically start driving (depart) after receiving the completion notification. For example, an external system 70 may receive the completion notification from the controller 50 and output that loading has finished. For example, a display unit 71 (see Figure 2) may display that loading has finished. The instruction unit 42 that issues a stop instruction (see step S22 in Figure 3) and the instruction unit 42 that issues a termination notification (see step S42 in Figure 3) may or may not be used for both purposes.

[0053] (modified version) In the above example, the operator confirmed the validity of starting the automatic control (standby control C1 and loading control C2 shown in Figure 3). On the other hand, as shown in Figure 2, the external system 70 may include an automatic determination unit 79 that automatically determines the validity of starting the automatic control. In this case, the automatic determination unit 79 uses, for example, AI (Artificial Intelligence) to determine the validity of starting the automatic control. If the automatic determination unit 79 determines that starting standby control C1 (see Figure 3) is valid, it outputs a standby control start signal 73s to the external system 70. If the automatic determination unit 79 determines that starting standby control C1 is not valid, it does not output a standby control start signal 73s to the external system 70. If the automatic determination unit 79 determines that starting loading control C2 (see Figure 3) is valid, it outputs a loading control start signal 75s to the external system 70. If the automatic determination unit 79 determines that starting loading control C2 is not valid, it does not output a loading control start signal 75s to the external system 70.

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

[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 comprises 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 the transported goods L, and an release operation to load the captured transported goods L onto the transport vehicle 2. The position detection unit 41 detects the position of the transport vehicle 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. 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 Figure 2, the external system 70 is capable of outputting a loading control start signal 75s to initiate loading control C2 (see Figure 3). The controller 50 starts loading control C2 (see Figure 3) on the condition that the loading control start signal 75s is input to the controller 50 from the external system 70.

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

[0058] For example, loading control C2 (see Figure 3) is performed based on the detection result of the position detection unit 41, and the validity of the detection result of the position detection unit 41 can be judged by a decision-making entity other than the controller 50. The decision-making entity other than the controller 50 is a worker (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 Figure 3). Standby control C1 (see Figure 3) is a control that causes the work machine 20 shown in Figure 1 to perform a capture operation and then puts the work machine 20 into standby in a specific position for loading the captured transported object L onto the transport vehicle 2.

[0060] [Configuration 2] As shown in Figure 2, the external system 70 is capable of outputting a standby control start signal 73s to initiate standby control C1 (see Figure 3). The controller 50 initiates standby control C1 (see Figure 3) on the condition that the standby control start signal 73s is input to the controller 50 from the external system 70.

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

[0062] In the above configurations [Configuration 1] and [Configuration 2], the external system 70 outputs different types of signals (standby control start signal 73s and loading control start signal 75s). Therefore, by changing the type of signal output by the external system 70, the controller 50 can be instructed to start multiple types of automatic control (specifically, standby control C1 and loading control C2 shown in Figure 3).

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

[0064] With the above configuration [3], the external system 70 allows the operator to confirm the validity of the information regarding the position of the transport vehicle 2 detected by the position detection unit 41 (see Figure 1). Therefore, the operator can easily determine whether or not the situation is such that automatic control (standby control C1 or loading control C2 shown in Figure 3) can be started.

[0065] (Effects of the fourth invention) [Configuration 4] As shown in Figure 6, the external system 70 displays information regarding the position (loading position (point Qb)) where the work machine 20 (see Figure 1) loads the transported goods L onto the transport vehicle 2.

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

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

[0068] As described in [Configuration 5] above, the external system 70 allows the operator to confirm information regarding the target trajectory Qa of the attachment 25. Therefore, the operator can easily determine whether or not the situation is ready for automatic control (standby control C1 or loading control C2 shown in Figure 3).

[0069] (Other variations) The above embodiments may be modified in various ways. For example, the arrangement, shape, and connection of each component of the above embodiments may be changed. For example, the order of the steps in the flowchart shown in Figure 3 may be changed, or some steps may be omitted. For example, thresholds and ranges (see, for example, step S21) may be constant, changed by manual operation, or changed automatically according to some condition. For example, the number of components may be changed, or some components may be omitted. For example, what has been described as multiple distinct parts may be considered as a single part. For example, what has been described as a single part may be divided into multiple distinct parts. For example, the external system 70 may be a single unit or divided into multiple parts. Specifically, for example, the external system 70 may be divided into a part (e.g., a tablet terminal) comprising a display unit 71, a standby control start instruction unit 73, a loading control start instruction unit 75, and a interruption instruction unit 77, and an automatic judgment unit 79 (e.g., a server). [Explanation of symbols]

[0070] 2 Transport vehicle 10. Automated Loading System 20 Working Machines 25c tip attachment 41 Position detection unit 50 controllers 70 External Systems 73s Standby control start signal 75s Loading control start signal 79 Automatic judgment section L Transported goods Qa Target Trajectory Qc Target acquisition position (the position where the acquisition operation is performed) Qb Target loading position (the position where the unloading operation takes place)

Claims

1. A controller capable of performing loading control based on the position of the transport vehicle relative to the work machine, and also capable of performing standby control, An automatic determination unit that automatically determines whether the loading control can be started and whether the standby control can be started, Equipped with, The loading control is a control that causes the work machine to repeatedly perform a series of operations, including a capture operation to capture the transported object and an release operation to load the captured transported object onto the transport vehicle, using the tip attachment of the work machine. The standby control is a control that causes the work machine to perform the capture operation and load the captured transported object onto the transport vehicle, wherein the tip attachment, which is capturing the transported object, is stopped at a position where the release operation is planned to be performed, and the work machine is in standby mode. Based on the determination result by the automatic determination unit regarding whether or not the loading control can be started, the controller starts the loading control. Based on the determination result by the automatic determination unit regarding whether or not the standby control can be started, the controller starts the standby control. Automatic loading system.

2. An automated loading system according to claim 1, The aforementioned automatic determination unit, The position of the transported object relative to the work machine, The target trajectory is the target path of the tip attachment between the position where the capture operation of the work machine is performed and the position where the release operation is performed, The target loading position is the target position at which the work machine performs the opening operation, The target acquisition position is the target position at which the work machine performs the acquisition operation, Based on one or more pieces of information, it is determined whether the situation is such that the standby control can be started. Based on the determination result by the automatic determination unit regarding whether or not the standby control can be started, the controller starts the standby control. Automatic loading system.

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