Work machine

Abstract

Provided is a work machine capable of efficiently performing loading work by locating a transport vehicle at an appropriate position with respect to a work machine. A work machine according to the present invention is provided with: a loading preparation assistance device that is a controller which, on the basis of positional information on a work machine and positional information on a transport vehicle, assists in loading preparation in which the transport vehicle approaches the work machine in order to perform loading from the work machine to the transport vehicle; and an actuator control device that controls the operation of an actuator of the work machine in accordance with a command from the loading preparation assistance device. The loading preparation assistance device has a loadable range calculation unit that calculates, on the basis of the movable range of the work machine, a loadable range serving as information indicating a range where the transport vehicle should be stopped during loading, and a loading possibility determination unit that determines the possibility of loading into the transport vehicle, on the basis of the loadable range and information on a loading site in the transport vehicle moved from a standby position on the basis of the loadable range. The loading possibility determination unit determines that loading into the transport vehicle is possible when the loading site in the transport vehicle is included in the loadable range. When loading into the transport vehicle has been determined to be possible, the work machine controls the operation of the actuator by means of the actuator control device to start work of loading into the transport vehicle.

Description

Work machinery

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

[0002] Hydraulic excavators and other work machines are used to load materials such as earth and sand onto transport vehicles such as dump trucks (hereinafter referred to as loading work). In this case, in addition to the time required for the loading work itself, the time required for loading preparations until the transport vehicle approaches the work machine also contributes to productivity at the work site.

[0003] For example, Patent Document 1 describes a system including a haulage vehicle and a work machine that loads materials onto the haulage vehicle. In Patent Document 1, the work machine includes a first position sensor and a first processor, where the first position sensor detects the position of the work machine, the first processor acquires data indicative of the position of the work machine detected by the first position sensor, and determines a target stopping position for the haulage vehicle based on the position of the work machine. The haulage vehicle also includes a communication device, a second position sensor, and a second processor, where the communication device communicates with the work machine, the second position sensor detects the position of the haulage vehicle, and the second processor acquires data indicative of the target stopping position from the work machine and controls the haulage vehicle to move to the target stopping position.

[0004] Patent No. 7156898

[0005] However, the system described in Patent Document 1 may not necessarily be able to optimize the time required for loading work and loading preparation.

[0006] For example, depending on the starting position of the transport vehicle, multiple changes of direction may be required before the transport vehicle reaches the target stopping position determined by the work machine, which may require a significant amount of time for loading preparation.

[0007] Furthermore, depending on the orientation of the transport vehicle relative to the work machine when it stops at the target stopping position, the transport vehicle's passenger seat or the mounting location of the automatic driving sensor may be located on the loading path of the work machine, which could cause the work machine to come into contact with these mounting locations or for materials spilled from the work machine to fall onto these mounting locations.

[0008] The present invention has been made in consideration of the above-mentioned problems, and its object is to provide a work machine that can perform loading operations efficiently by positioning a transport vehicle in an appropriate position relative to the work machine.

[0009] In order to achieve the above object, the work machine of the present invention is a work machine equipped with a loading preparation assistance device which is a controller that assists in loading preparation until the transport vehicle approaches the work machine for loading from the work machine onto the transport vehicle, based on position information of the work machine and position information of the transport vehicle, and an actuator control device which controls the operation of the actuator of the work machine in accordance with commands from the loading preparation assistance device, the loading preparation assistance device having a loading range calculation unit that calculates a loading range as information indicating the range in which the transport vehicle should stop during loading, based on the movable range of the work machine, and a loading feasibility determination unit that determines whether the transport vehicle can be loaded based on information about the loading portion of the transport vehicle that has moved from a standby position based on the loading range and the loading range, the loading feasibility determination unit determines that the transport vehicle can be loaded if the loading portion of the transport vehicle is included in the loading range, and when it is determined that the work machine can be loaded onto the transport vehicle, the actuator control device controls the operation of the actuator to start loading work onto the transport vehicle.

[0010] According to the present invention, the transport vehicle can be positioned relative to the work machine at a position where loading is possible and where the transport vehicle can easily reach, thereby enabling efficient loading operations.

[0011] Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments.

[0012] FIG. 1 is a bird's-eye view showing an example of a loading site where a hydraulic excavator according to an embodiment of the present invention performs work. FIG. 2 is a diagram schematically showing the appearance of a hydraulic excavator according to an embodiment of the present invention. FIG. 3 is a diagram showing a control system for a hydraulic excavator according to an embodiment of the present invention. FIG. 4 is a functional block diagram of an autonomous driving control device according to an embodiment of the present invention. FIG. 5 is a functional block diagram of a loading preparation support device according to an embodiment of the present invention. FIG. 6 is a functional block diagram of a control device for a haulage vehicle according to an embodiment of the present invention. FIG. 7 is a plan view showing an example of a loading possible range according to an embodiment of the present invention. FIG. 8 is a map showing an example of the relationship between the circumferential range of the loading possible range and the maximum load capacity of the haulage vehicle according to an embodiment of the present invention. FIG. 9 is a plan view showing an example of a target travel path of a haulage vehicle according to an embodiment of the present invention. FIG. 10 is a plan view showing an example of a loading possibility determination and a loading prohibition necessity determination according to an embodiment of the present invention. FIG. 11 is a flowchart of processing performed by a loading preparation support device according to an embodiment of the present invention. FIG. 12 is a diagram showing an example of a communication sequence diagram between a haulage vehicle and a hydraulic excavator during loading preparation according to an embodiment of the present invention.

[0013] Hereinafter, a hydraulic excavator will be described as an example of a work machine according to an embodiment of the present invention with reference to the drawings. In each drawing, the same reference numerals are used to designate the same components, and redundant description will be omitted where appropriate.

[0014] An embodiment of the present invention will be described with reference to FIGS.

[0015] FIG. 1 shows an example of a loading site A where a hydraulic excavator M1 according to this embodiment performs work.

[0016] 1 , a hydraulic excavator M1 is positioned on a platform-shaped movement area B, excavates an excavation target area D at the end of the movement area B, and loads the excavated objects onto transport vehicles V1, V2, ..., Vi, .... The transport vehicles V1, V2, ..., Vi, ... enter a loading area A from a transport route E, wait their turn (standby) for loading, and after loading the objects, return from the loading area A to the transport route E to transport the objects. Information on the positions of the loading area A and the movement area B and the transport route E is registered in advance in the hydraulic excavator M1 and the transport vehicles V1, V2, ..., Vi, ....

[0017] FIG. 2 is a diagram showing a schematic external view of the hydraulic excavator according to this embodiment, and FIG. 3 is a diagram showing a control system for the hydraulic excavator according to this embodiment.

[0018] 2, the hydraulic excavator M1 is equipped with a bucket 1, which is a work attachment, at the front of the vehicle body, an arm 2 that rotatably supports the bucket 1, and a boom 3 that rotatably supports the base end of the arm 2. The hydraulic excavator M1 further includes an upper rotating body 4 that rotatably supports the base end of the boom 3, and a lower traveling body 5 that rotatably supports the upper rotating body 4.

[0019] The lower traveling body 5 of the hydraulic excavator M1 is provided with a right crawler 5R and a left crawler 5L, which are driven to travel and turn due to the difference in rotation speed between these.

[0020] In this embodiment, the bucket 1 as the controlled object will be referred to as an attachment, the upper revolving body 4 to the arm 2 will be collectively referred to as a front working machine, and the lower traveling body 5 will be referred to as a traveling body.

[0021] In FIG. 3, the control system includes an engine 10 as a power source, and the engine 10 drives a hydraulic pump 11 .

[0022] Hydraulic pump 11 is driven by engine 10 and supplies hydraulic oil to control valve 12. The hydraulic oil is distributed by control valve 12 to drive hydraulic actuators: bucket cylinder 13, arm cylinder 14, boom cylinder 15, swing motor 16, right traveling motor 17R, and left traveling motor 17L. The bucket cylinder 13, arm cylinder 14, and boom cylinder 15 extend and retract with the supply of hydraulic oil, changing the angle of bucket 1 relative to arm 2, the angle of arm 2 relative to boom 3, and the angle of boom 3 relative to upper rotating structure 4, respectively. The swing motor 16 rotates with the supply of hydraulic oil, changing the angle of upper rotating structure 4 relative to lower traveling structure 5, and the right traveling motor 17R and left traveling motor 17L rotate with the supply of hydraulic oil, driving right crawler 5R and left crawler 5L, respectively (see also FIG. 2 ).

[0023] The control system also includes an autonomous driving control device 100, a loading preparation assistance device 200, an engine control device 500, an actuator control device 600, a communication interface 60, positioning devices 51a and 51b, attitude sensors 52a, 52b, 52c, and 52d, and a terrain acquisition device 53.

[0024] In this embodiment, the positioning devices 51a, 51b are devices that acquire position information of the work machine and are the well-known GNSS (Global Navigation Satellite System) (see also FIG. 2 ), but the present invention is not limited to this, and the positioning devices 51a, 51b may also be configured with the well-known SLAM (Simultaneous Localization and Mapping) using a camera or LiDAR.

[0025] Furthermore, in this embodiment, the attitude sensors 52a, 52b, 52c, and 52d are devices that acquire attitude information about the work machine and are well-known angle sensors, for example, potentiometers (see also FIG. 2 ). However, the present invention is not limited to this, and the attitude sensors 52a, 52b, 52c, and 52d may be configured using encoders or IMUs (Inertial Measurement Units), or these may be combined.

[0026] Furthermore, in this embodiment, the terrain acquisition device 53 is a device that acquires terrain information around the work machine, and is a well-known stereo camera or LiDAR, but the present invention is not limited to this, and other three-dimensional measurement devices may be used, or a combination of these may be used. Furthermore, the terrain acquisition device 53 does not necessarily have to be mounted on the hydraulic excavator M1, and may be mounted in the work site environment or on another machine.

[0027] Furthermore, the communication interface 60 may be any device capable of communicating with the haulage vehicle or the haulage vehicle management system, and may be, for example, a wireless communication device. The haulage vehicle management system is a system that manages the operation of the haulage vehicle, but it may also serve as a work machine management system that instructs the autonomous driving control device 100 of the hydraulic excavator M1 on autonomous driving tasks.

[0028] The autonomous driving control device 100 generates an engine control signal and an actuator control signal in response to position information of the haulage vehicle from the haulage vehicle or the haulage vehicle management system via the communication interface 60, position information of the work machine from the positioning devices 51a and 51b, attitude information from the attitude sensors 52a, 52b, 52c, and 52d, topography information from the terrain acquisition device 53, and a loading preparation completion flag from the loading preparation support device 200, and transmits these signals to the engine control device 500 and the actuator control device 600, respectively. In response to these signals, the engine control device 500 controls the rotation speed of the engine 10, and the actuator control device 600 controls the opening and closing degree of the control valve 12, thereby controlling the operation of the hydraulic actuator (described later based on FIG. 4 ).

[0029] The loading preparation assistance device 200 receives the following information from the transport vehicle or the transport vehicle management system via the communication interface 60: location information of the transport vehicle, loading area information (information indicating the location and dimensions of the loading area (bed) on the transport vehicle: explained later based on Figure 10, etc.), mounting area information (information indicating the location and dimensions of the mounting area on the transport vehicle: explained later based on Figure 10, etc.), maximum loading capacity, loading preparation start flag, and location information of the work machine from the positioning devices 51a, 51b, and based on this, generates a loading range, loading preparation completion flag, and loading preparation error flag, and transmits these to the transport vehicle or the transport vehicle management system, and also transmits the loading preparation completion flag to the autonomous driving control device 100 (explained later based on Figure 5).

[0030] FIG. 4 is a functional block diagram of an autonomous driving control device 100 according to an embodiment of the present invention.

[0031] In FIG. 4 , the autonomous driving control device 100 includes a behavior management unit 110 , an action planning unit 120 , and an action control unit 130 .

[0032] The behavior management unit 110 receives, via the communication interface 60, position information of the transport vehicle from the transport vehicle or the transport vehicle management system, position information of the work machine from the positioning devices 51 a and 51 b, attitude information (attachment attitude information, front work implement attitude information) from the attitude sensors 52 a, 52 b, 52 c, and 52 d, and terrain information from the terrain acquisition device 53, calculates an operation mode and a target state of the hydraulic excavator M1, and transmits these to the operation planning unit 120. Here, the operation mode refers to a classification of operations required for the hydraulic excavator M1 to perform work, and includes, for example, an automatic travel mode, an automatic excavation mode, and an automatic loading mode. The target state refers to a state quantity that indicates a result desired to be obtained by operating the hydraulic excavator M1, and includes, for example, a target position of the hydraulic excavator M1 relative to the work site environment, a target position of the tip of the arm 2 relative to the undercarriage 5, a target angle of the bucket 1 relative to the horizontal plane, and a target terrain of the work site environment.

[0033] The operation planning unit 120 receives the operation mode and target state from the behavior management unit 110, the position information of the work machine from the positioning devices 51a and 51b, and the attitude information (attachment attitude information, front work implement attitude information) from the attitude sensors 52a, 52b, 52c, and 52d, calculates a control mode and target operation, and sends these to the operation control unit 130. The control mode is known trajectory control or speed control, and is calculated for each control object, namely the traveling body, the front work implement, and the attachment. Furthermore, the target operation is calculated for each control object as a target trajectory and target speed until the target state is reached, depending on the control mode and target state.

[0034] The operation control unit 130 receives the control mode and target operation from the operation planning unit 120, work machine position information from the positioning devices 51a and 51b, and attitude information (attachment attitude information and front work implement attitude information) from the attitude sensors 52a, 52b, 52c, and 52d, generates control signals for the traveling body, front work implement, and attachment of the hydraulic excavator M1 in accordance with the target operation, and transmits these signals to the actuator control device 600 as a traveling body control signal, a front work implement control signal, and an attachment control signal, respectively. For example, as in conventional manual operation, the traveling body control signal may be represented by a pedal operation amount, and the front work implement control signal and the attachment control signal may be represented by a lever operation amount. The operation control unit 130 also calculates the required engine speed from each control signal and transmits this as an engine control signal to the engine control device 500.

[0035] The calculations performed by the autonomous driving control device 100 are not directly related to the features of the present invention, and therefore detailed explanations thereof will be omitted.

[0036] FIG. 5 is a functional block diagram of a loading preparation assisting device 200 according to an embodiment of the present invention.

[0037] In Figure 5, the loading preparation support device 200 includes a loading range calculation unit 210, a loading possibility determination unit 220, a loading prohibition necessity determination unit 230, and a loading preparation completion determination unit 240, and starts processing of each unit in response to a loading preparation start flag received from the communication interface 60.

[0038] The loading range calculation unit 210 receives position information of the work machine from the positioning devices 51a, 51b and position information of the haulage vehicle from the communication interface 60, calculates the loading range, and transmits it to the communication interface 60, the loading possibility determination unit 220, and the loading prohibition necessity determination unit 230. The loading range is information indicating the range in which the haulage vehicle should stop when loading. An example of the loading range will be described later. The loading range may also be corrected depending on the maximum load capacity of the haulage vehicle received from the communication interface 60, and an example of a method for doing so will be described later.

[0039] The loading possibility determination unit 220 receives the loading possible range from the loading possible range calculation unit 210 and the position information and loading portion information of the transport vehicle from the communication interface 60, determines whether loading is possible, and transmits the result to the loading preparation completion determination unit 240.

[0040] The loading prohibition necessity determination unit 230 receives the loading range from the loading range calculation unit 210 and the position information and loading part information of the transport vehicle from the communication interface 60, determines whether loading is prohibited, and transmits the result to the loading preparation completion determination unit 240.

[0041] An example of the determination made by the loading permission determining unit 220 and the loading prohibition necessity determining unit 230 will be described later.

[0042] The loading preparation completion determination unit 240 receives the location information of the transport vehicle from the communication interface 60, the possibility of loading from the loading possibility determination unit 220, and the necessity of loading prohibition from the loading prohibition necessity determination unit 230, and determines whether loading preparation (loading preparation until the transport vehicle approaches the work machine) is complete or not, and if it determines that loading preparation is complete, it sends a loading preparation completion flag to the communication interface 60 and the autonomous driving control device 100, or if it determines that loading preparation is not complete, it sends a loading preparation error flag to the communication interface 60.

[0043] 6 is an example of a functional block diagram of the control device 300 for the transport vehicle according to an embodiment of the present invention. In this embodiment, only the functional blocks of the control device 300 for the transport vehicle that are related to loading preparation will be described, and the description of the other functional blocks will be omitted.

[0044] In Figure 6, the transport vehicle control device 300 includes a loading preparation start determination unit 310, a vehicle information transmission unit 320, a vehicle position transmission unit 330, a driving route calculation unit 340, a route following control unit 350, a stop maintenance control unit 360, and a loading preparation notification unit 370.

[0045] The loading preparation start determination unit 310 receives position information of other vehicles and position information of the transport vehicle from the communication interface 80 and positioning devices 71a, 71b mounted on the transport vehicle, respectively, and determines the start of loading preparation based on this position information. When it determines that loading preparation has started, it transmits a loading preparation start flag to the communication interface 60 of the work machine M1 via the vehicle information transmission unit 320, the vehicle position transmission unit 330, and the communication interface 80. Specifically, the order in which other vehicles and the transport vehicle arrived at the loading site A shown in Figure 1 is stored, and when another vehicle returns from the loading site A to the transport route E, the order of the transport vehicle is advanced, and when the transport vehicle at the standby position becomes first in order, it determines that loading preparation has started.

[0046] When the vehicle information transmission unit 320 receives the loading preparation start flag from the loading preparation start determination unit 310, it transmits the maximum load capacity, mounted part information, and loaded part information of the transport vehicle to the communication interface 60 of the work machine M1 via the communication interface 80. Details of the mounted part information and loaded part information of the transport vehicle will be described later. In addition, the vehicle information transmission unit 320 constantly transmits the mounted part information and loaded part information of the transport vehicle to the travel route calculation unit 340.

[0047] The vehicle position transmission unit 330 receives the position information of the transport vehicle, the loading preparation start flag, and the loading preparation completion flag from the positioning devices 71a, 71b, the loading preparation start determination unit 310, and the communication interface 80, respectively, and constantly transmits the position information of the transport vehicle to the communication interfaces of the other vehicles via the communication interface 80, and during the period from when the loading preparation start flag is received until when the loading preparation completion flag is received, transmits the position information of the transport vehicle to the communication interface 60 of the work machine M1 via the communication interface 80.

[0048] The travel route calculation unit 340 receives the location information of the transport vehicle, the mounted portion information of the transport vehicle, and the loaded portion information from the positioning devices 71a, 71b and the vehicle information transmission unit 320, respectively, and when it receives either the loading range or the loading preparation error flag from the communication interface 80, it calculates a target travel route so that the loaded portion of the transport vehicle is included in the loading range and so that the mounted portion of the transport vehicle is not included in the loading range, and transmits the target travel route to the route following control unit 350. Note that the target travel route may be calculated using a known route search method, but a method of selecting the shortest route from all drivable routes in a brute force manner is used. An example of the target travel route will be described later.

[0049] The route following control unit 350 receives the position information and target driving route of the transport vehicle from the positioning devices 71a, 71b and the driving route calculation unit 340, respectively, and transmits a driving control signal to the driving drive unit 91 mounted on the transport vehicle so as to align the position of the transport vehicle with the target driving route.

[0050] When the stop maintenance control unit 360 receives the loading preparation completion flag from the communication interface 80, it transmits a parking brake control signal to the parking brake driving device 93 mounted on the transport vehicle, and activates the parking brake of the transport vehicle.

[0051] When the loading preparation notification unit 370 receives the possible loading range from the communication interface 80, it transmits a display control signal to a display device 81 provided in the transport vehicle or the transport vehicle management system, and causes the possible loading range to be displayed on the display device 81. When the loading preparation notification unit 370 receives either a loading preparation error flag or a loading preparation completion flag from the communication interface 80, it causes the display device 81 provided in the transport vehicle or the transport vehicle management system to display it.

[0052] Although this embodiment describes an automatically traveling transport vehicle, the application of the present invention is not limited to this, and may also be a transport vehicle driven by an operator on board or remotely. Furthermore, each block described in the transport vehicle control device 300 does not necessarily have to be mounted on the transport vehicle, but may be implemented in a transport vehicle management system.

[0053] FIG. 7 is a plan view showing an example of a loading range according to an embodiment of the present invention, and FIG. 8 is a map showing an example of the relationship between the circumferential range of the loading range according to an embodiment of the present invention and the maximum load capacity of the transport vehicle.

[0054] 7, the loading range is generated, for example, as a substantially sector-shaped area C. Here, the loading range C is defined by a radial range R and a circumferential range T on the side of the hydraulic excavator M1 on which the transport vehicle V1 is waiting, that is, on the left side of the undercarriage 5 of the hydraulic excavator M1 in the drawing. The radial range R is set, for example, based on the range of movement of the bucket 1 relative to the hydraulic excavator M1, with respect to the vehicle body swing center. Furthermore, the circumferential range T is set, for example, around the vehicle body swing center, based on the balance between the time required for loading preparation and the time required for the loading operation itself.

[0055] For example, as shown in Fig. 8, the circumferential range T may be set in accordance with the maximum load capacity of the transport vehicle V1, so that the larger the maximum load capacity of the transport vehicle, the smaller the circumferential range T (in the circumferential direction). In this way, for a transport vehicle with a large maximum load capacity and a relatively large number of loading operations, the circumferential range T is set to be small (in the circumferential direction), which reduces the amount of swing of the hydraulic excavator M1 during loading operations, and the transport vehicle can be positioned at a position where the time required for the loading operation itself is not too long, so that loading operations can be performed. On the other hand, for a transport vehicle with a small maximum load capacity and a relatively small number of loading operations, the circumferential range T is set to be large (in the circumferential direction), which makes it easier for the transport vehicle to reach the loading position, thereby shortening the time required for loading preparation.

[0056] 7, the loading range C is set to the left of the undercarriage 5 of the hydraulic excavator M1, but it may also be based on the direction of the excavation target area D relative to the position of the hydraulic excavator M1, or may be set to avoid the excavation target area D and the movement area B of the hydraulic excavator M1. Also, it may be set to the right of the hydraulic excavator M1 depending on the position of the transport vehicle V1 waiting and the positional relationship of the movement area B with respect to the loading site A and the transport route E. In any case, the transport vehicle or the transport vehicle management system can set a position that is easy for the transport vehicle V1 to reach as the target stopping position as long as it is within the loading range, so that loading work can be performed at a position that is both possible for loading and easy for the transport vehicle to reach.

[0057] FIG. 9 is a plan view showing an example of a target travel route of a transport vehicle according to an embodiment of the present invention, and FIG. 10 is a plan view showing an example of a loading possibility determination and a loading prohibition necessity determination according to an embodiment of the present invention.

[0058] 9, the dashed line extending from the transport vehicle V1 indicates a travelable range based on the steering characteristics of the transport vehicle. Furthermore, since the transport vehicle V1 cannot travel through the movement area B (and the excavation target area D included therein), the range within the loading range C that the transport vehicle V1 can reach is the area C1 surrounded by a thick solid line in the figure. The travel route calculation unit 340 of the transport vehicle V1 plans multiple travel routes (dotted lines in the figure) that pass through the reachable range C1 and reach a position where the loading portion of the transport vehicle is included in the loading range C but is not included in the loading range C, and selects the shortest route among them as the target travel route.

[0059] 10, whether loading is possible or not is determined depending on whether a loading area L for loading an object, which is a first area of ​​the transport vehicle V1 that has traveled (moved) through a reachable area C1 from the standby position along the selected target travel route, is included in the loading range C. For example, if the ratio of the range LC of the loading area included in the loading range C to the loading area L of the transport vehicle V1 is equal to or greater than a predetermined value, it may be determined that loading is possible, and if the ratio of the range LC of the loading area included in the loading range C is less than the predetermined value, it may be determined that loading is not possible.

[0060] 10, whether or not a loading prohibition is necessary is determined depending on whether or not the mounting portion H of the passenger seat and the sensor for automatic driving, which is the second portion of the transport vehicle V1 that has traveled (moved) through the reachable range C1 from the standby position along the selected target travel route, is included in the loading range C. For example, if even a part of the mounting portion H of the transport vehicle V1 is included in the loading range C, it may be determined that a loading prohibition is necessary, and if the mounting portion H of the transport vehicle V1 is not included in the loading range C at all, it may be determined that a loading prohibition is not necessary.

[0061] FIG. 11 is a flowchart of the process performed by the loading preparation support device according to the embodiment of the present invention.

[0062] In FIG. 11, in step S2001, the process is performed based on whether or not a loading preparation start flag is set, which is received from a transport vehicle that is waiting (in other words, present at a waiting position away from the loading range) or the transport vehicle management system. If the loading preparation start flag is set, the process proceeds to step S2002.

[0063] In step S2002, the loading range is determined, and the process proceeds to step S2003.

[0064] In step S2003, it is determined whether the transport vehicle is moving or not, and if it is moving, the process proceeds to step S2004.

[0065] In step S2004, the process proceeds to step S2005 depending on whether the transport vehicle is stopped or not. If the transport vehicle is stopped, the process proceeds to step S2005. In other words, if the transport vehicle stops after moving from the standby position along the target travel route, the process proceeds to step S2005.

[0066] In step S2005, depending on whether the loading area L, which is the first part of the transport vehicle V1, is within the loading range, if the loading area L, which is the first part of the transport vehicle V1, is within the loading range, it is determined that loading is possible and the process proceeds to step S2006, otherwise it is determined that loading is not possible and the process proceeds to step S2008.

[0067] In step S2006, depending on whether the second part of the transport vehicle V1, the loading part H, is outside the loading range or not, if the second part of the transport vehicle V1, the loading part H, is outside the loading range, it is determined that loading prohibition is not necessary and the process proceeds to step S2007, otherwise it is determined that loading prohibition is necessary and the process proceeds to step S2008.

[0068] In step S2007, a loading preparation completion flag is set to indicate that the loading preparation is complete. That is, when the loading portion L of the transport vehicle V1 is included in the loading range (within the loading range) but the (entire) mounting portion H of the transport vehicle V1 is not included in the loading range (outside the loading range), a loading preparation completion flag is transmitted to the transport vehicle or the transport vehicle management system via the communication interfaces 60 and 80 to indicate that the loading preparation is complete.

[0069] On the other hand, in step S2008, a loading preparation error flag is set to indicate that loading preparation is incomplete. That is, when the loading portion L of the transport vehicle V1 is not included in the loading range (outside the loading range), or when (at least a part of) the mounting portion H of the transport vehicle V1 is included in the loading range (within the loading range), more specifically, even when the loading portion L of the transport vehicle V1 is included in the loading range (within the loading range), when (at least a part of) the mounting portion H of the transport vehicle V1 is included in the loading range (within the loading range), a loading preparation error flag is sent to the transport vehicle or the transport vehicle management system via the communication interfaces 60 and 80 to indicate that loading preparation is incomplete.

[0070] FIG. 12 is an example of a communication sequence diagram between a transport vehicle and a hydraulic excavator during preparation for loading according to an embodiment of the present invention.

[0071] 12, loading preparation is started when a loading preparation start flag is transmitted from the transport vehicle (loading preparation start determination unit 310). Following the loading preparation start flag, the transport vehicle transmits the maximum load capacity, mounted part information, loaded part information, and position information of the transport vehicle (vehicle information transmission unit 320, vehicle position transmission unit 330). Upon receiving the loading preparation start flag, the hydraulic excavator refers to the maximum load capacity and position information of the transport vehicle, calculates the possible loading range, and transmits the calculated range to the transport vehicle (loading range calculation unit 210).

[0072] The transport vehicle calculates a target travel route based on the received loading range and starts traveling (travel route calculation unit 340, route following control unit 350). Furthermore, while traveling along the target travel route, the transport vehicle periodically transmits its position information to the hydraulic excavator (vehicle position transmission unit 330).

[0073] Based on the received location information of the transport vehicle, the hydraulic excavator determines that the transport vehicle has stopped, and determines that the loading portion, which is the first portion of the transport vehicle, is included in the loading range and that the mounting portion, which is the second portion of the transport vehicle, is not included in the loading range, and if either of these conditions is not met, sends a loading preparation error flag (loading possibility determination unit 220, loading prohibition necessity determination unit 230, loading preparation completion determination unit 240).

[0074] When the transport vehicle receives a loading preparation error flag, it again calculates a target driving route based on the loading range and begins driving (driving route calculation unit 340, route following control unit 350), and periodically transmits the position information of the transport vehicle to the hydraulic excavator (vehicle position transmission unit 330).

[0075] The hydraulic excavator makes the above determination based on the received location information of the transport vehicle, and if the loading portion, which is the first portion of the transport vehicle, is included in the loading range and the mounting portion, which is the second portion of the transport vehicle, is not included in the loading range, it sends a loading readiness completion flag (loading possibility determination unit 220, loading prohibition necessity determination unit 230, loading readiness completion determination unit 240).

[0076] When the transport vehicle receives the loading preparation completion flag, it activates the parking brake of the transport vehicle and proceeds to the loading operation (stop maintenance control unit 360). In this way, it is possible to support the loading preparation until the transport vehicle approaches the hydraulic excavator for loading from the hydraulic excavator onto the transport vehicle.

[0077] As described above, the work machine (hydraulic excavator M1) of this embodiment is a work machine equipped with a controller (loading preparation assistance device 200) that assists in loading preparations until the transport vehicle approaches the work machine for loading from the work machine onto the transport vehicle, based on position information of the work machine and position information of the transport vehicle, and when starting the loading preparations, the controller (loading preparation assistance device 200) determines a loading range (around the vehicle body) based on the movable range of the work machine as information indicating the range within which the transport vehicle should stop during loading, transmits (notifies) the loading range to the transport vehicle that is present in a standby position away from the loading range or to the management system of the transport vehicle, and starts loading onto the transport vehicle (determines that loading is possible) when the loading portion of the transport vehicle that has moved (and stopped) from the standby position (along the target travel route) based on the loading range is included in the loading range (determines that loading is possible).

[0078] In addition, the controller (loading preparation support device 200) will not start loading onto the transport vehicle (determines that loading is prohibited) if the passenger seat or the mounting location of the automatic driving sensor of the transport vehicle that has moved (and stopped) from the waiting position (along the target driving route) based on the loading range is included in the loading range.

[0079] In addition, the controller (loading preparation support device 200) starts loading onto the transport vehicle (determines that loading is possible) when the proportion of the range of the loading area included in the loading range to the loading area of ​​the transport vehicle becomes equal to or greater than a predetermined value.

[0080] In addition, the controller (loading preparation support device 200) will not start loading onto the transport vehicle (determines that loading is prohibited) if at least a portion of the loading area of ​​the transport vehicle is included in the loading range (determines that loading is prohibited).

[0081] Furthermore, the controller (loading preparation assist device 200) determines the circumferential range around the vehicle body of the loading possible range based on the maximum load capacity of the transport vehicle.

[0082] Furthermore, the controller (loading preparation assistance device 200) reduces the circumferential range of the loading range around the vehicle body in the circumferential direction as the maximum load capacity of the transport vehicle increases.

[0083] Furthermore, the controller (loading preparation support device 200) calculates the loading possible range after receiving a loading preparation start flag transmitted from the transport vehicle or the transport vehicle management system.

[0084] Furthermore, the controller (loading preparation assistance device 200) determines the loading range based on the movable range of the work machine and the position information of the transport vehicle.

[0085] In addition, when the controller (loading preparation support device 200) determines that the loading portion of the transport vehicle is included in the loading range, but determines that the entire loading portion of the transport vehicle is not included in the loading range, the controller sends a loading preparation completion flag to the transport vehicle or the transport vehicle's management system.

[0086] In addition, the controller (loading preparation support device 200) sends a loading preparation error flag to the transport vehicle or the transport vehicle's management system when the loading portion of the transport vehicle is (determined to be) not included in the loading range, or when the controller (determines to be) that (at least a part of) the loading portion of the transport vehicle is included in the loading range.

[0087] In addition, even if the loading portion of the transport vehicle is (determined to be) within the loading range, if the controller (loading preparation support device 200) determines that the loading portion of the transport vehicle (at least a part of it) is (determined to be) within the loading range, it sends a loading preparation error flag to the transport vehicle or the transport vehicle's management system.

[0088] More specifically, the work machine (hydraulic excavator M1) of this embodiment is a work machine that is equipped with a loading preparation support device 200, which is a controller that supports loading preparation until the transport vehicle approaches the work machine in order to load the work machine onto the transport vehicle, based on position information of the work machine and position information of the transport vehicle, and an actuator control device 600 that controls the operation of the actuators of the work machine in accordance with commands from the loading preparation support device 200, and the loading preparation support device 200 calculates a loading range (vehicle position) based on the movable range of the work machine as information indicating the range in which the transport vehicle should stop during loading. and a loading feasibility determination unit 220 that determines whether loading onto the transport vehicle is possible based on the loading range and information on the loading portion of the transport vehicle that has moved (and stopped) from a standby position based on the loading range, and the loading feasibility determination unit 220 determines that loading onto the transport vehicle is possible when the loading portion of the transport vehicle is included in the loading range, and when it is determined that loading onto the transport vehicle is possible, the work machine (hydraulic excavator M1) controls the operation of the actuator by the actuator control device 600 to start loading work onto the transport vehicle.

[0089] The loading preparation assistance device 200 also has a loading prohibition necessity determination unit 230 that determines whether loading onto the transport vehicle needs to be prohibited based on the loading range and information on the passenger seat or the mounting portion of the automatic driving sensor of the transport vehicle that has moved from the waiting position based on the loading range, and the loading prohibition necessity determination unit 230 determines that loading onto the transport vehicle needs to be prohibited when the mounting portion of the transport vehicle is included in the loading range, and the work machine (hydraulic excavator M1) does not start loading work onto the transport vehicle when it is determined that loading onto the transport vehicle needs to be prohibited.

[0090] Furthermore, the loading possibility determination unit 220 determines that loading onto the transport vehicle is possible when the ratio of the range of the loading portion included in the loading possible range to the loading portion of the transport vehicle is equal to or greater than a predetermined value.

[0091] Furthermore, the loading prohibition necessity determining unit 230 determines that loading onto the transport vehicle needs to be prohibited when at least a part of the mounting portion of the transport vehicle is included in the loading possible range.

[0092] The loading range calculation unit 210 also determines the circumferential range of the loading range around the vehicle body based on the maximum load capacity of the transport vehicle.

[0093] Furthermore, the loading range calculation unit 210 reduces the circumferential range of the loading range around the vehicle body in the circumferential direction as the maximum load capacity of the transport vehicle increases.

[0094] The loading range calculation unit 210 calculates the loading range after receiving a loading preparation start flag transmitted from the transport vehicle or the transport vehicle management system.

[0095] Furthermore, the loading range calculation unit 210 determines the loading range based on the range of movement of the work machine and the position information of the transport vehicle.

[0096] The loading preparation support device 200 also has a loading preparation completion determination unit 240 that determines whether preparations for loading onto the transport vehicle have been completed, and when the loading possibility determination unit 220 determines that loading onto the transport vehicle is possible and the loading prohibition necessity determination unit 230 determines that loading onto the transport vehicle does not need to be prohibited, the loading preparation completion determination unit 240 transmits a loading preparation completion flag to the transport vehicle or the transport vehicle's management system.

[0097] In addition, the loading preparation assistance device 200 has a loading preparation completion determination unit 240 that determines whether preparations for loading onto the transport vehicle have been completed, and the loading preparation completion determination unit 240 transmits a loading preparation error flag to the transport vehicle or the transport vehicle's management system when the loading possibility determination unit 220 determines that loading onto the transport vehicle is not possible, or when the loading prohibition necessity determination unit 230 determines that loading onto the transport vehicle must be prohibited.

[0098] In addition, the loading preparation assistance device 200 has a loading preparation completion determination unit 240 that determines whether preparations for loading onto the transport vehicle have been completed, and even if the loading possibility determination unit 220 determines that loading onto the transport vehicle is possible, if the loading prohibition necessity determination unit 230 determines that loading onto the transport vehicle must be prohibited, the loading preparation completion determination unit 240 sends a loading preparation error flag to the transport vehicle or the transport vehicle's management system.

[0099] That is, the controller (loading preparation support device 200) of the work machine (hydraulic excavator M1) in this embodiment transmits the loading range of the work machine to the transport vehicle, and thereby performs loading work at a position where loading is possible and which the transport vehicle can easily reach.

[0100] As described above, the controller (loading preparation assistance device 200) of the work machine (hydraulic excavator M1) of this embodiment enables the transport vehicle to be positioned relative to the work machine at a position where loading is possible and the transport vehicle can easily reach the work machine, thereby performing the loading operation. Furthermore, the loading operation can be performed at a position where the work machine or an object is unlikely to come into contact with the passenger seat of the transport vehicle or the mounting portion of the autonomous driving sensor. Furthermore, the transport vehicle can be positioned at a position where the time required for the loading operation itself will not be too long. Furthermore, by calculating the loading range after receiving a loading preparation start flag transmitted from the transport vehicle or the transport vehicle management system, the transport vehicle can start loading preparation at the timing it wants to start, for example, when its turn comes first, thereby reducing the possibility of other transport vehicles starting loading preparation by mistake. Furthermore, by determining the loading range based on the position information of the transport vehicle in addition to the movable range of the work machine, the loading range can be set on the side of the work machine closest to the transport vehicle. Furthermore, by transmitting a loading preparation completion flag from the work machine to the transport vehicle, the transport vehicle can be made to maintain a stopped position when loading work is performed. Furthermore, by transmitting a loading preparation error flag from the work machine to the transport vehicle, the transport vehicle can be made to correct its position if its position is not suitable for loading work.

[0101] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, in the above-described embodiments, the present invention is applied to a hydraulic excavator equipped with a standard bucket as a working implement at the tip of the front working mechanism. However, the application of the present invention is not limited to this and can also be applied to a work machine equipped with an attachment having a gripping mechanism, for example. Furthermore, in the above-described embodiments, the present invention is applied to a hydraulic excavator that performs loading operations through autonomous driving. However, the application of the present invention is not limited to this and can also be applied to a work machine that is operated by an operator on board or remotely. Furthermore, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to a machine that includes all of the configurations described.

[0102] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the programs, tables, and files that implement each function can be stored in a memory, a storage device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0103] In addition, the control lines and information lines shown are those that are considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the product. In reality, it can be assumed that almost all components are interconnected.

[0104] 1...Bucket, 2...Arm, 3...Boom, 10...Engine, 11...Hydraulic pump, 12...Control valve, 51a, 51b...Positioning device, 52a, 52b, 52c, 52d...Attitude sensor, 100...Autonomous driving control device, 110...Action management unit, 120...Movement planning unit, 130...Movement control unit, 200...Loading preparation support device (controller), 210...Loadable range calculation unit, 220...Loading possibility determination unit, 230...Loading prohibition necessity determination unit, 240...Loading preparation completion determination unit, 300...Transport vehicle control device, 500...Engine control device, 600...Actuator control device, M1...Hydraulic excavator (work machine), V1...Transport vehicle

Claims

1. A work machine comprising a loading preparation support device which is a controller that supports loading preparation until the transport vehicle approaches the work machine for loading from the work machine to the transport vehicle based on position information of the work machine and position information of a transport vehicle, and an actuator control device which controls the operation of the actuator of the work machine in accordance with commands from the loading preparation support device, wherein the loading preparation support device has a loading possible range calculation unit which calculates a loading possible range as information indicating the range in which the transport vehicle should be stopped during loading based on the movable range of the work machine, and a loading feasibility determination unit which determines whether or not loading onto the transport vehicle is possible based on information of the loading portion of the transport vehicle that has moved from a standby position based on the loading possible range and the loading possible range, wherein the loading feasibility determination unit determines that loading onto the transport vehicle is possible when the loading portion of the transport vehicle is included in the loading possible range, and when it is determined that loading onto the transport vehicle is possible, the work machine controls the operation of the actuator by the actuator control device to start loading onto the transport vehicle.

2. A work machine as described in claim 1, wherein the loading preparation assistance device has a loading prohibition necessity determination unit which determines whether or not loading onto the transport vehicle is prohibited based on information about the passenger seat or the mounting portion of the automatic driving sensor of the transport vehicle that has moved from the waiting position based on the loading range and the loading range, the loading prohibition necessity determination unit determines that loading onto the transport vehicle needs to be prohibited when the mounting portion of the transport vehicle is included in the loading range, and the work machine does not start loading work onto the transport vehicle when it is determined that loading onto the transport vehicle needs to be prohibited.

3. A work machine as described in claim 1, characterized in that the loading feasibility determination unit determines that loading onto the transport vehicle is possible when the proportion of the range of the loading area included in the loading range to the loading area of ​​the transport vehicle is equal to or greater than a predetermined value.

4. A work machine as described in claim 2, characterized in that the loading prohibition necessity determination unit determines that loading onto the transport vehicle needs to be prohibited when at least a portion of the loading area of ​​the transport vehicle is included in the loading possible range.

5. A work machine as claimed in claim 1, characterized in that the loading range calculation unit determines the circumferential range around the vehicle body of the loading range based on the maximum load capacity of the transport vehicle.

6. A work machine as claimed in claim 1, characterized in that the loading range calculation unit reduces the circumferential range of the loading range around the vehicle body in the circumferential direction as the maximum load capacity of the transport vehicle increases.

7. A work machine as claimed in claim 1, characterized in that the loading range calculation unit calculates the loading range after receiving a loading preparation start flag transmitted from the transport vehicle or a management system for the transport vehicle.

8. A work machine as claimed in claim 1, characterized in that the loading range calculation unit determines the loading range based on the movable range of the work machine and position information of the transport vehicle.

9. A work machine as described in claim 2, wherein the loading preparation assistance device has a loading preparation completion determination unit which determines whether preparations for loading onto the transport vehicle are complete, and the loading preparation completion determination unit transmits a loading preparation completion flag to the transport vehicle or the transport vehicle's management system when the loading possibility determination unit determines that loading onto the transport vehicle is possible and when the loading prohibition necessity determination unit determines that loading onto the transport vehicle is not necessary.

10. A work machine as described in claim 2, wherein the loading preparation assistance device has a loading preparation completion determination unit which determines whether preparations for loading onto the transport vehicle are complete, and the loading preparation completion determination unit transmits a loading preparation error flag to the transport vehicle or the management system of the transport vehicle when the loading possibility determination unit determines that loading onto the transport vehicle is not possible or when the loading prohibition necessity determination unit determines that loading onto the transport vehicle is necessary.

11. A work machine as described in claim 2, wherein the loading preparation assistance device has a loading preparation completion determination unit which determines whether preparations for loading onto the transport vehicle are complete, and the loading preparation completion determination unit transmits a loading preparation error flag to the transport vehicle or the transport vehicle's management system when the loading possibility determination unit determines that loading onto the transport vehicle is possible, even if the loading prohibition necessity determination unit determines that loading onto the transport vehicle is prohibited.

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