System, work machine, and control method

Abstract

The present invention makes it possible to easily ascertain the size of a transport vehicle for transporting a load. An outer shape information acquisition unit acquires outer shape information pertaining to a transport vehicle for transporting a load. A storage unit (160) stores shape data (161A) relating to the shape of the first transport vehicle and loading amount information (161B) pertaining to the first transport vehicle. When the outer shape information pertaining to the transport vehicle matches the shape data (161A), an automation controller (100) controls an operation for loading the load onto the transport vehicle on the basis of the loading amount information (161B).

Description

System, work machine, and control method

[0001] The present disclosure relates to a system, a work machine, and a control method.

[0002] Japanese Patent Laid-Open Publication No. 10-88625 (Patent Document 1) discloses an automatic excavation and loading technology that automatically performs a series of processes of excavating an excavation target using an excavator such as a wheel loader and loading the excavated material into a loading target.

[0003] Japanese Patent Application Publication No. 10-88625

[0004] Dump trucks of various sizes are used as loading targets in excavation and loading operations. In order to perform automatic loading operations, it is preferable to determine the size of the dump truck before performing the loading operation.

[0005] The present disclosure proposes a system, a work machine, and a control method that can easily grasp the size of a transport vehicle that transports a load.

[0006] According to one aspect of the present disclosure, there is provided a system and a work machine including an external shape information acquisition unit, a memory unit, and a controller. The external shape information acquisition unit acquires external shape information of a transport vehicle that transports a load. The memory unit stores first shape data relating to the shape of a first transport vehicle and a first load capacity of the first transport vehicle. When the external shape information matches the first shape data, the controller controls an operation of loading the load onto the transport vehicle based on the first load capacity.

[0007] According to one aspect of the present disclosure, a control method is proposed. The control method includes the following steps: a first step is to acquire external shape information of a transport vehicle that transports a load; a second step is to determine whether the external shape information of the transport vehicle matches first shape data related to the shape of a first transport vehicle; and a third step is to control an operation of loading the load onto the transport vehicle based on a first load capacity of the first transport vehicle if the external shape information matches the first shape data.

[0008] According to the system, work machine, and control method of the present disclosure, the size of the haulage vehicle can be easily determined.

[0009] FIG. 1 is a side view of a wheel loader as an example of a work machine. FIG. 2 is a block diagram showing a schematic configuration of a control system for the wheel loader. FIG. 3 is a block diagram showing a configuration of an automatic control system for the wheel loader. FIG. 4 is a block diagram showing details of the configuration of an automation controller. FIG. 5 is a schematic diagram showing an example of shape data of a first transport vehicle. FIG. 6 is a schematic diagram showing an example of shape data of a second transport vehicle. FIG. 7 is a schematic diagram showing an example of shape data of a third transport vehicle. FIG. 8 is a flowchart showing the flow of excavation and loading work by automatic control. FIG. 9 is a schematic diagram of a process for determining the vehicle rank of a transport vehicle. FIG. 10 is a schematic diagram showing external shape information of another example of a transport vehicle. FIG. 11 is a schematic diagram of another example of a process for determining the vehicle rank of a transport vehicle.

[0010] Hereinafter, the embodiments will be described with reference to the drawings. In the following description, the same parts and components are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated. In the drawings, configurations may be omitted or simplified for the sake of convenience. It is also intended from the beginning that any configurations may be extracted from the embodiments and arbitrarily combined.

[0011] <Overall Configuration of Wheel Loader 1> In the embodiment, a wheel loader 1 will be described as an example of a work machine. Fig. 1 is a side view of a wheel loader 1 as an example of a work machine.

[0012] As shown in Figure 1, the wheel loader 1 mainly comprises a body frame 2, a work implement 3, a traveling device 4, and a cab 5. The body frame 2, the cab 5, etc. make up the body of the wheel loader 1. The work implement 3 and the traveling device 4 are attached to the body of the wheel loader 1. The main body of the wheel loader 1 (work machine main body) comprises the body and the traveling device 4.

[0013] The traveling device 4 includes traveling wheels 4a, 4b, which cause the body of the wheel loader 1 to travel. The wheel loader 1 is a wheeled vehicle that has traveling wheels 4a, 4b on both the left and right sides of the body as rotating bodies for traveling. The wheel loader 1 is self-propelled by driving the traveling wheels 4a, 4b to rotate, and can perform desired work using the work implement 3.

[0014] In this specification, the direction in which the wheel loader 1 travels straight ahead is referred to as the fore-and-aft direction of the wheel loader 1. In the fore-and-aft direction of the wheel loader 1, the side on which the work implement 3 is arranged relative to the body frame 2 is referred to as the front direction, and the side opposite the front direction is referred to as the rear direction. The left-and-right direction of the wheel loader 1 is the direction perpendicular to the fore-and-aft direction when the wheel loader 1 is viewed from above on flat ground. The right and left sides of the left-and-right direction when looking forward are the right direction and the left direction, respectively. The up-and-down direction of the wheel loader 1 is the direction perpendicular to the plane defined by the fore-and-aft direction and the left-and-right direction. In the up-and-down direction, the side with ground is the bottom side, and the side with sky is the top side.

[0015] The body frame 2 includes a front frame 2a and a rear frame 2b. The front frame 2a is disposed in front of the rear frame 2b. The front frame 2a and the rear frame 2b are attached to each other by a center pin extending in the vertical direction so as to be movable in the left-right direction.

[0016] A pair of left and right steering cylinders 11 are attached across the front frame 2a and the rear frame 2b. The steering cylinders 11 are hydraulic cylinders. The steering cylinders 11 are extended and retracted by hydraulic oil from a steering pump (not shown), thereby changing the direction of travel of the wheel loader 1 to the left and right. The front frame 2a and the rear frame 2b make up a body frame 2 with an articulated structure. The wheel loader 1 is an articulated work machine in which the front frame 2a and the rear frame 2b are connected so that they can be flexibly moved.

[0017] A work implement 3 and a pair of running wheels (front wheels) 4a are attached to the front frame 2a. The work implement 3 is attached to the front of the body of the wheel loader 1. The work implement 3 is supported by the body of the wheel loader 1. Specifically, the work implement 3 is rotatably supported by the body frame 2, more particularly by the front frame 2a. The work implement 3 is disposed in front of the body frame 2.

[0018] The work implement 3 includes a boom 14. A base end of the boom 14 is rotatably attached to the front frame 2a by a boom pin 9. The boom 14 is rotatable relative to the front frame 2a around the boom pin 9. The boom pin 9 supports the work implement 3 rotatably relative to the vehicle body frame 2.

[0019] The work implement 3 includes a bucket 6. The bucket 6 is disposed at the tip of the work implement 3. The bucket 6 is a work tool for excavating and loading. The cutting edge 6a is the tip of the bucket 6. The back surface 6b is part of the outer surface of the bucket 6. The back surface 6b is formed as a flat surface. The back surface 6b extends rearward from the cutting edge 6a. The bucket 6 is rotatably attached to the boom 14 by a bucket pin 17 located at the tip of the boom 14.

[0020] The work implement 3 further includes a bell crank 18 and a link 15. The bell crank 18 is rotatably supported at its approximate center on the boom 14 by a support pin 18a located approximately in the longitudinal center of the boom 14. The link 15 is connected to a connecting pin 18c provided at the lower end (tip) of the bell crank 18. The link 15 connects the bell crank 18 and the bucket 6.

[0021] The front frame 2a and the boom 14 are connected by a pair of boom cylinders 16. The boom cylinders 16 are hydraulic cylinders. The boom cylinders 16 rotate the boom 14 up and down around the boom pin 9. The base end of the boom cylinder 16 is attached to the front frame 2a. The tip of the boom cylinder 16 is attached to the boom 14. The boom cylinder 16 is a hydraulic actuator that moves the boom 14 up and down relative to the front frame 2a. As the boom 14 moves up and down, the bucket 6 attached to the tip of the boom 14 also moves up and down.

[0022] The bucket cylinder 19 connects the bell crank 18 and the front frame 2a. The base end of the bucket cylinder 19 is attached to the front frame 2a. The tip of the bucket cylinder 19 is attached to a connecting pin 18b provided at the upper end (base end) of the bell crank 18. The bucket cylinder 19 is a hydraulic actuator that rotates the bucket 6 up and down relative to the boom 14. The bucket cylinder 19 is an implement cylinder that drives the bucket 6. The bucket cylinder 19 drives the bucket 6 to rotate around the bucket pin 17. The bucket 6 is configured to be movable relative to the boom 14. The bucket 6 is configured to be movable relative to the front frame 2a.

[0023] The boom cylinder 16 and the bucket cylinder 19 constitute a work implement actuator that drives the work implement 3 .

[0024] A cab 5 in which the operator sits, and a pair of running wheels (rear wheels) 4b are attached to the rear frame 2b. The box-shaped cab 5 is located behind the boom 14. The cab 5 is mounted on the rear frame 2b. The cab 5 is placed on the body frame 2. Inside the cab 5, a seat in which the operator of the wheel loader 1 sits, an operating device 8 (described later), and the like are arranged.

[0025] The cab 5 is provided with a perception device 111. The perception device 111 is disposed, for example, on the ceiling of the cab 5. The perception device 111 is mounted, for example, on the top surface of the cab 5. The perception device 111 is disposed, for example, in the front of the cab 5. The perception device 111 is attached to the cab 5 facing forward, for example, and is capable of acquiring information about the area in front of the cab 5. Details of the perception device 111 will be described later.

[0026] <System Configuration> FIG. 2 is a block diagram showing the schematic configuration of a control system that controls the wheel loader 1.

[0027] The engine 21 is a drive source, such as a diesel engine, that generates drive power for driving the work implement 3 and the traveling device 4. Instead of the engine 21, a motor driven by an electricity storage device may be used as the drive source, or both the engine and the motor may be used. The output of the engine 21 is controlled by adjusting the amount of fuel injected into the cylinder of the engine 21.

[0028] The driving force generated by the engine 21 is transmitted to the transmission 23. The transmission 23 changes the driving force to an appropriate torque and rotational speed. An axle 25 is connected to the output shaft of the transmission 23. The driving force changed by the transmission 23 is transmitted to the axle 25. The driving force is transmitted from the axle 25 to the running wheels 4a, 4b (FIG. 1). This causes the wheel loader 1 to travel. In the wheel loader 1 of this embodiment, both the running wheels 4a and 4b constitute driving wheels that receive the driving force and cause the wheel loader 1 to travel.

[0029] A portion of the driving force of the engine 21 is transmitted to the work implement pump 13. The work implement pump 13 is a hydraulic pump that is driven by the engine 21 and operates the work implement 3 by the hydraulic oil that it discharges. The work implement 3 is driven by the hydraulic oil from the work implement pump 13. The hydraulic oil discharged from the work implement pump 13 is supplied to the boom cylinder 16 and the bucket cylinder 19 via a main valve 32. The boom cylinder 16 receives the supply of hydraulic oil and extends and contracts, thereby raising and lowering the boom 14. The bucket cylinder 19 receives the supply of hydraulic oil and extends and contracts, thereby rotating the bucket 6 up and down.

[0030] The wheel loader 1 is equipped with a vehicle body controller 50. The vehicle body controller 50 includes an engine controller 60, a transmission controller 70, and a work machine controller 80.

[0031] The vehicle body controller 50 is generally implemented by reading various programs using a CPU (Central Processing Unit). The vehicle body controller 50 has a memory (not shown). The memory functions as a work memory and stores various programs for implementing the functions of the wheel loader 1.

[0032] The operating device 8 is provided in the cab 5. The operating device 8 is operated by an operator. The operating device 8 is equipped with a plurality of types of operating members that the operator operates to operate the wheel loader 1. The operating device 8 includes an accelerator pedal 41 and a work implement operating lever 42. The operating device 8 may also include a steering handle, a shift lever, etc., which are not shown.

[0033] The accelerator pedal 41 is operated to set a target rotation speed of the engine 21. The engine controller 60 controls the output of the engine 21 based on the amount of operation of the accelerator pedal 41. When the amount of operation (depression amount) of the accelerator pedal 41 is increased, the output of the engine 21 increases. When the amount of operation of the accelerator pedal 41 is decreased, the output of the engine 21 decreases. The transmission controller 70 controls the transmission 23 based on the amount of operation of the accelerator pedal 41.

[0034] The work implement control lever 42 is operated to operate the work implement 3. The work implement controller 80 controls the electromagnetic proportional control valves 35, 36 based on the amount of operation of the work implement control lever 42.

[0035] The electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 retracts and the bucket 6 moves in the dump direction (the direction in which the cutting edge of the bucket 6 moves down). The electromagnetic proportional control valve 35 also switches the main valve 32 so that the bucket cylinder 19 extends and the bucket 6 moves in the tilt direction (the direction in which the cutting edge of the bucket 6 moves up). The electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 retracts and the boom 14 moves down. The electromagnetic proportional control valve 36 also switches the main valve 32 so that the boom cylinder 16 extends and the boom 14 moves up.

[0036] The machine monitor 51 displays various types of information upon receiving command signals as input from the vehicle body controller 50. The various types of information displayed on the machine monitor 51 may be, for example, information relating to the work performed by the wheel loader 1, vehicle body information such as the remaining fuel amount, coolant temperature, and hydraulic oil temperature, and peripheral images captured of the area around the wheel loader 1. The machine monitor 51 may be a touch panel, and in this case, a signal generated when the operator touches a part of the machine monitor 51 is output from the machine monitor 51 to the vehicle body controller 50.

[0037] <Automatic Control System of Wheel Loader 1> When automating the work of the wheel loader 1, it is desirable to reproduce the operations of a skilled operator through automatic control. Figure 3 is a block diagram showing the configuration of the automatic control system of the wheel loader 1.

[0038] The automation controller 100 is configured to be able to send and receive signals to and from the vehicle body controller 50 described with reference to Fig. 2. The automation controller 100 is also configured to be able to send and receive signals to and from an external environment information acquisition unit 110. The external environment information acquisition unit 110 has a perception device 111 and a position information acquisition device 112. The perception device 111 and the position information acquisition device 112 are mounted on the wheel loader 1.

[0039] The perception device 111 acquires information about the surroundings of the wheel loader 1. As shown in FIG. 1 , the perception device 111 is attached, for example, to the front part of the top surface of the cab 5. The perception device 111 detects objects at the work site where the wheel loader 1 is working, for example objects around (in front of) the main body of the wheel loader 1 (work machine main body), specifically, an excavation target to be excavated by the work implement 3, a loading target onto which the excavation target mounted on the work implement 3 is loaded, etc. The loading target is, for example, a transport vehicle that transports loads, such as a dump truck. The perception device 111 corresponds to an example of a "shape information acquisition unit" that acquires shape information of the transport vehicle.

[0040] The perception device 111 detects the direction of an object outside the wheel loader 1 and the distance to the object in a non-contact manner. The perception device 111 is, for example, a LiDAR (Light Detection and Ranging) device that emits laser light to acquire information about the object. The perception device 111 may also be a visual sensor including a camera. The perception device 111 may also be a Radar (Radio Detection and Ranging) device that acquires information about the object by emitting radio waves. The perception device 111 may also be an infrared sensor.

[0041] The position information acquisition device 112 acquires information about the current position of the wheel loader 1. For example, the position information acquisition device 112 uses a satellite positioning system to acquire position information of the wheel loader 1 in a global coordinate system based on the Earth. The position information acquisition device 112 uses, for example, GNSS (Global Navigation Satellite Systems) and has a GNSS receiver. The satellite positioning system calculates the position of the GNSS receiver antenna using positioning signals received by the GNSS receiver from satellites, thereby calculating the position of the wheel loader 1.

[0042] Information about the surroundings of the wheel loader 1 acquired by the perception device 111 and position information about the wheel loader 1 acquired by the position information acquisition device 112 are input to the automation controller 100 .

[0043] The vehicle body controller 50 is configured to be able to send and receive signals to and from the vehicle information acquisition unit 120. Information about the wheel loader 1 acquired by the vehicle information acquisition unit 120 is input to the vehicle body controller 50. The vehicle information acquisition unit 120 is made up of various sensors mounted on the wheel loader 1. The vehicle information acquisition unit 120 has an articulation angle sensor 121, a vehicle speed sensor 122, a boom angle sensor 123, a bucket angle sensor 124, and a boom cylinder pressure sensor 125.

[0044] The articulation angle sensor 121 detects the articulation angle, which is the angle between the front frame 2 a and the rear frame 2 b, and generates a signal of the detected articulation angle. The articulation angle sensor 121 outputs the signal of the articulation angle to the vehicle body controller 50.

[0045] The vehicle speed sensor 122 detects the travel speed of the wheel loader 1 caused by the traveling device 4, for example, by detecting the rotational speed of the output shaft of the transmission 23, and generates a signal of the detected vehicle speed. The vehicle speed sensor 122 outputs the vehicle speed signal to the vehicle body controller 50.

[0046] The boom angle sensor 123 is configured, for example, by a rotary encoder provided on the boom pin 9, which is the attachment portion of the boom 14 to the body frame 2. The boom angle sensor 123 detects the angle (boom angle) of the boom 14 with respect to the horizontal direction, and generates a signal of the detected angle of the boom 14. The boom angle sensor 123 outputs the signal of the angle of the boom 14 to the body controller 50.

[0047] Bucket angle sensor 124 is configured, for example, by a rotary encoder provided on support pin 18a, which is the rotation axis of bell crank 18. Bucket angle sensor 124 detects the angle of bell crank 18 relative to boom 14 (bell crank angle) and generates a signal of the detected angle of bell crank 18. Vehicle information acquisition unit 120 or vehicle body controller 50 calculates the angle of bucket 6 relative to boom 14 (bucket angle) from the detected angle of bell crank 18.

[0048] The boom angle sensor 123 may be a stroke sensor disposed on the boom cylinder 16. The bucket angle sensor 124 may be a potentiometer or a proximity switch attached to the bucket pin 17, or may be a stroke sensor disposed on the bucket cylinder 19.

[0049] Boom cylinder pressure sensor 125 detects the pressure on the bottom side of boom cylinder 16 (boom bottom pressure) and generates a signal of the detected boom bottom pressure. The boom bottom pressure increases when bucket 6 is loaded and decreases when bucket 6 is empty. Boom cylinder pressure sensor 125 outputs the boom bottom pressure signal to vehicle body controller 50.

[0050] The vehicle body controller 50 outputs the information input from the vehicle information acquisition unit 120 to the automation controller 100. The automation controller 100 inputs the detection values ​​of the vehicle speed sensor 122, the boom angle sensor 123, and the bucket angle sensor 124 via the vehicle body controller 50.

[0051] The electromagnetic proportional control valve 140 is configured to be able to send and receive signals to and from the vehicle body controller 50. The electromagnetic proportional control valve 140 is driven in response to a command signal from the vehicle body controller 50. The electromagnetic proportional control valve 140 includes a brake EPC (electromagnetic proportional control valve) 141 for actuating the brakes of the traveling device 4, a steering EPC 142 for adjusting the traveling direction of the wheel loader 1, and a work implement EPC 143 for operating the work implement 3.

[0052] The electromagnetic proportional control valves 35, 36 shown in Fig. 2 constitute the work machine EPC 143. The transmission 23 shown in Fig. 2 is realized as a mechanical transmission. The transmission 23 may be a hydrostatic transmission (HST), or may be a hydraulic mechanical transmission (HMT) that combines an HST and a mechanical transmission. The power transmission device that transmits power from the engine 21 to the running wheels 4a, 4b may include an electric drive device such as a diesel-electric system, or may include any combination of an HMT, an HST, and an electric drive device.

[0053] The transmission controller 70 has a brake control unit 71 and an accelerator control unit 72. The brake control unit 71 outputs a command signal to the brake EPC 141 to control the operation of the brakes. The accelerator control unit 72 outputs a command signal to the transmission 23 to control the vehicle speed.

[0054] The work machine controller 80 has a steering control section 81 and a work machine control section 82. The steering control section 81 outputs a command signal to the steering EPC 142 to control the traveling direction of the wheel loader 1. The work machine control section 82 outputs a command signal to the work machine EPC 143 to control the operation of the work machine 3.

[0055] The interface 130 is configured to be able to send and receive signals to and from the vehicle body controller 50. The interface 130 has an automation changeover switch 131, an engine emergency stop switch 132, and a mode lamp 133.

[0056] The automation selector switch 131 is operated by an operator. By operating the automation selector switch 131, the operator switches between manually operating the wheel loader 1 and automatically controlling the wheel loader 1. The engine emergency stop switch 132 is operated by the operator. When an event occurs that requires an emergency stop of the engine 21, the operator operates the engine emergency stop switch 132. Signals indicating the operation of the automation selector switch 131 and the engine emergency stop switch 132 are input to the vehicle body controller 50.

[0057] The mode lamp 133 indicates whether the wheel loader 1 is currently in a mode where it is manually operated by an operator, or in a mode where it is automatically controlled. A command signal is output from the vehicle body controller 50 to the mode lamp 133 to control the lighting of the lamp.

[0058] The automation controller 100 has a position estimation unit 101, a path planning unit 102, and a path following control unit 103. The automation controller 100 is also configured to be able to send and receive signals to and from a communication device 150. The automatic control system of the wheel loader 1 is configured to be able to send information held by the automation controller 100 to the outside via the communication device 150.

[0059] 4 is a block diagram showing the detailed configuration of the automation controller 100. The automation controller 100 further includes a transport vehicle determination unit 104, a load amount acquisition unit 105, a loading count determination unit 106, and an excavation amount determination unit 107. The automation controller 100 also reads information stored in a storage unit 160 and writes information to the storage unit 160. The storage unit 160 may be configured separately from the automation controller 100. The storage unit 160 may be integrated with the automation controller 100. The automation controller 100 may include the storage unit 160.

[0060] The position estimation unit 101 estimates the self-position of the wheel loader 1 based on position information acquired by the position information acquisition device 112. The position estimation unit 101 also recognizes a target position based on external environment information acquired by the perception device 111. The target position is, for example, a position in an excavation target where the wheel loader 1 excavates the excavation target with the bucket 6. Another example of the target position is the position of a loading target when the excavation target in the bucket 6 is loaded onto a loading target. The perception device 111 may recognize the target position and input it to the automation controller 100, or the position estimation unit 101 may recognize the target position based on a detection result detected by the perception device 111.

[0061] The path planning unit 102 generates an optimal route for the wheel loader 1 when automatically controlling the wheel loader 1. The optimal route includes a route for travel by the traveling devices 4 and a route for operation of the work implement 3. The path planning unit 102 generates an optimal route that connects the current position of the wheel loader 1 with a target position to which the wheel loader 1 is heading.

[0062] For example, the path planning unit 102 generates a travel path for the wheel loader 1 moving forward empty toward the excavation target while performing excavation and loading work. The path planning unit 102 generates a path for the operation of the work implement 3 during excavation work. The path planning unit 102 generates a travel path for the wheel loader 1 moving backward with the load and away from the excavation target, and a path for the operation of the work implement 3 while moving backward with the load. The path planning unit 102 generates a travel path for the wheel loader 1 moving forward with the load toward the loading target, and a path for the operation of the work implement 3 while moving forward with the load. The path planning unit 102 generates a path for the operation of the work implement 3 that unloads the excavation target scooped into the bucket 6 onto the loading target. The path planning unit 102 generates a travel path for the wheel loader 1 moving backward empty and away from the loading target, and a path for the operation of the work implement 3 while moving backward with the load.

[0063] The path following control unit 103 commands the operation of the traveling device 4 and the work implement 3. The path following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 travels following the optimal path generated by the path planning unit 102. The path following control unit 103 outputs a command signal to the brake control unit 71, accelerator control unit 72, and steering control unit 81 to cause the wheel loader 1 to travel along the optimal path. The path following control unit 103 controls the boom cylinder 16 and bucket cylinder 19 so that the work implement 3 operates along the optimal path generated by the path planning unit 102. The path following control unit 103 outputs a command signal to the work implement control unit 82 to cause the work implement 3 to move along the optimal path.

[0064] The transport vehicle determination unit 104 determines the vehicle rank of the transport vehicle based on the external shape information of the transport vehicle acquired by the perception device 111. The memory unit 160 stores information on a plurality of transport vehicles of different ranks. The memory unit 160 stores first transport vehicle information 161 which is information on a first transport vehicle, second transport vehicle information 162 which is information on a second transport vehicle, third transport vehicle information 163 which is information on a third transport vehicle, and information on other transport vehicles.

[0065] The first transport vehicle information 161 includes shape data 161A, which is information about the external shape of the first transport vehicle. The second transport vehicle information 162 includes shape data 162A, which is information about the external shape of the second transport vehicle. The third transport vehicle information 163 includes shape data 163A, which is information about the external shape of the third transport vehicle.

[0066] The shape data 161A, 162A, 163A, ... is, for example, point cloud data obtained by scanning the transport vehicle with LiDAR. Point cloud data indicating the coordinate values ​​of measurement points on the transport vehicle can be obtained by irradiating the transport vehicle with laser light from the LiDAR. Point cloud data indicating the three-dimensional shape of the transport vehicle can be obtained by scanning the transport vehicle from four directions, namely the front, rear, right, and left. The shape data may also be point cloud data indicating the two-dimensional shape obtained by scanning the transport vehicle from the side of the transport vehicle.

[0067] Fig. 5 is a schematic diagram showing an example of shape data 161A of a first haulage vehicle, Fig. 6 is a schematic diagram showing an example of shape data 162A of a second haulage vehicle, and Fig. 7 is a schematic diagram showing an example of shape data 163A of a third haulage vehicle.

[0068] The first transport vehicle, the second transport vehicle, and the third transport vehicle are all different in vehicle class. The transport vehicles have different bed sizes depending on their vehicle class. For example, the first transport vehicle may be a dump truck with a load capacity of 10 tons, the second transport vehicle may be a dump truck with a load capacity of 20 tons, and the third transport vehicle may be a dump truck with a load capacity of 30 tons. Dump trucks have different characteristics depending on their vehicle class, and are not similar in shape. Therefore, shape data corresponding to each vehicle class is created in advance, taking advantage of the characteristics of each dump truck class, and the created shape data is stored in the memory unit 160.

[0069] The shape data 161A is point cloud data corresponding to the shape of the loading platform of the first transport vehicle, which is a dump truck.

[0070] The shape data 162A is point cloud data corresponding to the shape of the bed of the second transport vehicle, which is a dump truck. A dump truck with a loading capacity of 20 tons has a higher bed height than a dump truck with a loading capacity of 10 tons. Therefore, referring to Figures 5 and 6, the height of the shape data 162A is higher than that of the shape data 161A.

[0071] The shape data 163A is point cloud data corresponding to the shape of the bed of the third transport vehicle, which is a dump truck. A dump truck with a load capacity of 30 tons has a longer bed than a dump truck with a load capacity of 20 tons. Therefore, referring to Figures 6 and 7, the length of the shape data 163A is longer than that of the shape data 162A.

[0072] 4 , the transport vehicle determination unit 104 compares the external shape information of the transport vehicle acquired by the perception device 111 with the shape data 161A, 162A, 163A, .... The transport vehicle determination unit 104 selects one piece of shape data that matches the external shape information of the transport vehicle from the plurality of shape data 161A, 162A, 163A, .... The transport vehicle determination unit 104 determines the vehicle class of the transport vehicle whose external shape information the perception device 111 acquired.

[0073] The first transport vehicle information 161 includes load capacity information 161B, which is information about the load capacity of the first transport vehicle. The load capacity information 161B is information indicating the load capacity of the first transport vehicle. The load capacity information 161B may be information indicating the maximum load capacity of the first transport vehicle. The load capacity information 161B is associated with shape data 161A, which is information about the external shape of the first transport vehicle, and is stored in the storage unit 160. The load capacity information 161B is linked to the shape data 161A.

[0074] The second haulage vehicle information 162 includes load capacity information 162B, which is information about the load capacity of the second haulage vehicle. The load capacity information 162B is information that indicates the load capacity of the second haulage vehicle. The load capacity information 162B may be information that indicates the maximum load capacity of the second haulage vehicle. The load capacity information 162B is associated with shape data 162A, which is information about the external shape of the second haulage vehicle, and is stored in the storage unit 160. The load capacity information 162B is linked to the shape data 162A.

[0075] The third haulage vehicle information 163 includes load capacity information 163B, which is information about the load capacity of the third haulage vehicle. The load capacity information 163B is information that indicates the load capacity of the third haulage vehicle. The load capacity information 163B may be information that indicates the maximum load capacity of the third haulage vehicle. The load capacity information 163B is associated with shape data 163A, which is information about the external shape of the third haulage vehicle, and is stored in the storage unit 160. The load capacity information 163B is linked to the shape data 163A.

[0076] The load capacity acquisition unit 105 reads and acquires from the storage unit 160 the load capacity of the transport vehicle whose external shape information has been acquired by the perception device 111 and whose vehicle class has been determined by the transport vehicle determination unit 104 .

[0077] The storage unit 160 further stores bucket capacity information 169. The bucket capacity information 169 is information about the capacity of the bucket 6 currently attached to the tip of the work implement 3 of the wheel loader 1.

[0078] The loading count determination unit 106 reads out the bucket capacity information 169 from the storage unit 160. The loading count determination unit 106 determines the number of times to perform loading work of loading the load held in the bucket 6 onto the transport vehicle, based on the load capacity of the transport vehicle acquired by the load amount acquisition unit 105 and the capacity of the bucket 6. The loading count determination unit 106 determines the number of loading attempts to be performed as the number of loading attempts, by dividing the load capacity of the transport vehicle by the capacity of the bucket 6 and rounding up the quotient.

[0079] The excavation amount determination unit 107 determines the amount of load to be loaded into the bucket 6 per loading operation based on the load capacity of the transport vehicle and the number of loading operations acquired by the load capacity acquisition unit 105. The excavation amount determination unit 107 calculates the load capacity of the transport vehicle divided by the number of loading operations. From the result of this calculation, the excavation amount determination unit 107 calculates an equally distributed excavation amount by equally dividing the load capacity of the transport vehicle.

[0080] <Automatic Dump Loading Flow> Figure 8 is a flowchart showing the flow of excavation and loading work under automatic control. The wheel loader 1 performs excavation and loading work by scooping an excavation target such as earth and sand into the bucket 6 and loading the excavation target in the bucket 6 into a transport vehicle such as a dump truck. The excavation target excavated by the wheel loader 1 and loaded into the transport vehicle corresponds to an example of a "load" transported by the transport vehicle.

[0081] In step S1, the outer shape of a dump truck, which is a transport vehicle, is acquired. For example, the outer shape of the transport vehicle is acquired using a LiDAR, which is the perception device 111. Laser light is irradiated from the LiDAR onto the transport vehicle to acquire point cloud data indicating the three-dimensional coordinate values ​​of measurement points on the transport vehicle. The acquired outer shape information indicating the outer shape of the dump truck bed is input to the transport vehicle determination unit 104 of the automation controller 100.

[0082] In step S2, the transport vehicle determination unit 104 determines the vehicle class of the transport vehicle by comparing the external shape information of the loading platform of the dump truck with the shape data stored in the storage unit 160. As a method for matching two pieces of point cloud data, the external shape information and the shape data, for example, a normal distribution transform algorithm can be used, but other algorithms may also be used.

[0083] 9 is a schematic diagram of a process for determining the vehicle class of a transport vehicle. The perception device 111 acquires external shape information of a transport vehicle 320, which is a dump truck. The transport vehicle 320 has a vehicle body 321, a driver's seat 322, wheels 323A, 323B, and 323C, and a loading platform 324. The shape of the loading platform 324 of the transport vehicle 320 can be recognized from the point cloud information acquired by the perception device 111.

[0084] The transport vehicle determination unit 104 selects one piece of shape data that matches the external shape information of the loading platform 324 of the transport vehicle 320 from the plurality of shape data 161A, 162A, 163A, ... stored in the storage unit 160. In the example shown in Fig. 9, the shape data 162A included in the second transport vehicle information 162 is selected as the shape data that matches the external shape information of the loading platform 324. The transport vehicle determination unit 104 determines that the transport vehicle whose external shape information was acquired in step S1 is the second transport vehicle.

[0085] In step S3, the load amount obtaining unit 105 reads the load amount information of the transport vehicle determined in step S2 from the storage unit 160. In the example shown in Fig. 9, the load amount obtaining unit 105 reads the load amount information 162B of the second transport vehicle included in the second transport vehicle information 162. The load amount obtaining unit 105 obtains the load capacity of the second transport vehicle.

[0086] In step S4, the loading count determination unit 106 reads out the bucket capacity information 169 from the storage unit 160. The loading count determination unit 106 determines the number of loading operations required to load the loadable amount of cargo onto the transport vehicle by performing an operation of rounding up the quotient calculated by dividing the loadable amount of the transport vehicle by the capacity of the bucket 6 of the wheel loader 1.

[0087] In step S5, the excavation amount determination unit 107 divides the load capacity of the transport vehicle by the number of loading operations to determine the amount of load to be loaded into the bucket 6 per loading operation.

[0088] The path planning unit 102 generates an optimal path for the wheel loader 1 when scooping the determined load into the bucket 6. The path planning unit 102 can generate a path that can minimize the distance traveled forward by the wheel loader 1 to load the determined load onto the work implement 3. The path planning unit 102 can generate a plurality of paths that enable the wheel loader 1 to load the maximum load capacity onto the transport vehicle when loading the load onto the transport vehicle.

[0089] In step S6, the path following control unit 103 causes the wheel loader 1 to travel along the optimal route and operates the work unit 3 to perform excavation work, loading the determined load amount into the bucket 6. In step S7, the path following control unit 103 causes the wheel loader 1 to travel along the optimal route and operates the work unit 3 to perform loading work, loading the load loaded in the bucket 6 into a specified location on the bed of the transport vehicle.

[0090] The path following control unit 103 outputs commands to the brake control unit 71, accelerator control unit 72, and steering control unit 81 of the vehicle body controller 50 to cause the traveling device 4 to travel along the optimal path. In response to the command signal, the traveling device 4 operates. The path following control unit 103 also outputs commands to the work machine control unit 82 of the work machine controller 80 to extend and retract the boom cylinder 16 and the bucket cylinder 19. In response to the command signal, the boom cylinder 16 and the bucket cylinder 19 operate.

[0091] In step S8, the automation controller 100 determines whether the number of loading operations performed so far has reached the number of loading operations determined in step S4. If it is determined that the number of loading operations has not been reached (NO in step S8), the process returns to step S6, and the excavation operation in step S6 and the loading operation in step S7 are repeated. If it is determined that the number of loading operations has been reached (YES in step S8), the process ends ("End" in FIG. 8).

[0092] <Another Example of Acquiring Load Capacity of a Transport Vehicle> In the above embodiments, an example has been described in which the storage unit 160 stores multiple pieces of transport vehicle information and selects one piece of shape data that matches the external shape information of the transport vehicle from the multiple pieces of shape data, but this is not limiting. The storage unit 160 may store only one piece of transport vehicle information. In this case, the shape data included in the transport vehicle information may be modifiable. As an example, a case will be described in which only the second transport vehicle information 162 shown in FIG. 4 is stored in the storage unit 160. Shape data 162A is stored in the storage unit 160. As described with reference to FIG. 9, the shape data 162A matches the loading platform 324 of the transport vehicle 320.

[0093] Fig. 10 is a schematic diagram showing external shape information of another example of a transport vehicle. The perception device 111 acquires external shape information of a transport vehicle 330, which is a dump truck. The transport vehicle 330 has a vehicle body 331, a driver's seat 332, wheels 333A, 333B, 333C, and 333D, and a loading platform 334. Compared to the transport vehicle 320 shown in Fig. 9, the transport vehicle 330 has four wheels 333A, 333B, 333C, and 333D arranged in the front-to-rear direction. The length of the loading platform of the transport vehicle 330 is longer than that of the transport vehicle 320.

[0094] 11 is a schematic diagram of another example of processing for determining the vehicle class of a transport vehicle. The shape of the shape data 162A stored in the storage unit 160 is modified to generate deformed shape data 162AX that matches the shape of the loading platform 334 of the transport vehicle 330. As indicated by the outline arrow in FIG. 11 , the point cloud data corresponding to the rear wall of the loading platform in the shape data 162A is moved backward, separating the rear wall from the front wall, thereby extending the shape data 162A and increasing its length. In this way, deformed shape data 162AX that is longer than the shape data 162A can be obtained.

[0095] For example, shape data 162A is read from memory unit 160 and displayed on a monitor, and an operator can change the shape of shape data 162A to become transformed shape data 162AX by setting an increase or decrease in point cloud data on the monitor.

[0096] <Functions and Effects> Although some of the description overlaps with the above description, the characteristic configuration and functions and effects of this embodiment can be summarized as follows.

[0097] As shown in FIGS. 1 and 2 , the perception device 111 acquires external shape information of a transport vehicle that transports a load. As shown in FIG. 4 , the memory unit 160 stores shape data 161A related to the shape of a first transport vehicle and load capacity information 161B indicating the load capacity of the first transport vehicle. As shown in FIGS. 4 and 8 , the automation controller 100 acquires the external shape information of the transport vehicle. The automation controller 100 determines whether the external shape information of the transport vehicle matches the shape data 161A. If the external shape information of the transport vehicle matches the shape data 161A, the automation controller 100 controls the loading operation of the transport vehicle based on the load capacity information 161B.

[0098] The sensor device 111 acquires the external shape information of the transport vehicle, and the size of the transport vehicle can be easily grasped using the acquired external shape information and the stored shape data. Since the loading operation of the transport vehicle is controlled based on the load capacity of the transport vehicle stored in association with the shape data of the transport vehicle, the maximum load capacity can be automatically loaded onto the transport vehicle.

[0099] 4 and 8, the automation controller 100 may select one piece of shape data that matches the external shape information of the transport vehicle from the plurality of pieces of shape data stored in the storage unit 160. By performing a process of matching the external shape information of the transport vehicle with the shape data, it is possible to appropriately select the shape data that matches the external shape information.

[0100] 4, the storage unit 160 may further store the capacity of the bucket 6 of the wheel loader 1. The automation controller 100 can use the load amount information 161B and the capacity of the bucket 6 to acquire setting values ​​related to automatic control of the operation of loading cargo onto the transport vehicle.

[0101] 4 and 8, the loading count determination unit 106 of the automation controller 100 may determine the number of times to load cargo into the transport vehicle based on the load amount information 161B and the capacity of the bucket 6. By dividing the load capacity of the transport vehicle by the capacity of the bucket 6, the number of loading times can be appropriately set, enabling efficient loading operations to be performed.

[0102] 4 and 8, the excavation amount determination unit 107 of the automation controller 100 may determine the amount of load to be loaded into the bucket 6 per loading operation based on the load amount information 161B and the number of times the transport vehicle has been loaded. By dividing the load capacity of the transport vehicle by the number of times the transport vehicle has been loaded, the amount of load to be loaded into the bucket 6 per loading operation can be appropriately set, enabling efficient loading operations to be performed.

[0103] In the above embodiment, the automation controller 100 mounted on the wheel loader 1 determines whether the external shape information of the transport vehicle matches the shape data stored in the storage unit, and controls the operation of loading the transport vehicle by the wheel loader 1 based on the load weight information stored in the storage unit. In another embodiment, the perception device 111 mounted on the wheel loader 1 acquires the external shape information of the transport vehicle. Without being limited to this example, a system may be configured in which either or both of the external shape information acquisition unit that acquires the external shape information of the transport vehicle and the controller that controls the operation of loading the transport vehicle are provided outside the work machine.

[0104] The loading operation onto the transport vehicle may be controlled by an external controller that is provided outside the wheel loader 1 and is capable of communicating with the wheel loader 1. The external controller may receive input of external shape information of the transport vehicle, obtain the load capacity of the transport vehicle using the external shape data, and control the loading operation of the cargo onto the transport vehicle based on the load capacity of the transport vehicle.

[0105] The external controller may be located at the work site of the wheel loader 1, or may be located in a remote location away from the work site of the wheel loader 1. The external controller may be a portable device. The external controller may be a portable device that can be carried and used by a worker, such as a laptop computer, a tablet computer, or a smartphone.

[0106] The outer shape information acquisition unit that acquires outer shape information of the transport vehicle does not necessarily have to be mounted on the wheel loader 1. The outer shape information acquisition unit may be disposed outside the work machine. The outer shape information acquisition unit may be mounted on another work machine, or on an unmanned aerial vehicle such as a drone. The outer shape information acquisition unit may be disposed at a predetermined point on the work site. For example, the outer shape information acquisition unit may be disposed on the travel path of the transport vehicle at the work site to acquire outer shape information of the transport vehicle traveling on the travel path.

[0107] In the embodiment, an example has been described in which the wheel loader 1 is equipped with a cab 5 and is a manned vehicle in which an operator rides in the cab 5. The wheel loader 1 may be an unmanned vehicle. The wheel loader 1 does not have to be equipped with a cab 5 for an operator to ride in and operate. The wheel loader 1 does not have to be equipped with a control function by an operator on board. The wheel loader 1 may be a work machine exclusively for remote control. The wheel loader 1 may be controlled by a radio signal from a remote control device.

[0108] In the embodiment, a wheel loader 1 is given as an example of a work machine, but the present invention is also applicable to other types of loading machines. The loading machine may be a track loader. The loading machine may be a shovel. The shovel may be a hydraulic shovel, a mechanical rope shovel, or a hybrid shovel. The shovel may be a backhoe or a loading shovel. The loading machine may be a bucket crane.

[0109] The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

[0110] 1 Wheel loader, 3 Work machine, 5 Cab, 6 Bucket, 8 Operation device, 14 Boom, 21 Engine, 35, 36, 140 Electromagnetic proportional control valve, 50 Vehicle body controller, 60 Engine controller, 70 Transmission controller, 71 Brake control unit, 72 Accelerator control unit, 80 Work machine controller, 81 Steering control unit, 82 Work machine control unit, 100 Automation controller, 101 Position estimation unit, 102 Path planning unit, 103 Path following control unit, 104 Transport vehicle determination unit, 105 Load amount acquisition unit, 106 Loading number determination unit, 107 Excavation amount determination unit, 110 External information acquisition unit, 111 Perception device, 112 Position information acquisition device, 120 Vehicle information acquisition unit, 130 Interface, 150 Communication device, 160 Memory unit, 161 First transport vehicle information, 161A, 162A, 163A: Shape data, 161B, 162B, 163B: Load information, 162: Second transport vehicle information, 162AX: Shape data after deformation, 163: Third transport vehicle information, 169: Bucket capacity information, 320, 330: Transport vehicle, 324, 334: Loading platform.

Claims

1. A system comprising: an external shape information acquisition unit that acquires external shape information of a transport vehicle that transports cargo; a memory unit that stores first shape data regarding the shape of a first transport vehicle and a first load capacity of the first transport vehicle; and a controller that controls the loading operation of the cargo onto the transport vehicle based on the first load capacity when the external shape information matches the first shape data.

2. The system described in claim 1, wherein the memory unit further stores second shape data relating to the shape of a second transport vehicle different from the first transport vehicle and a second load capacity of the second transport vehicle, and the controller selects one shape data that matches the external shape information from a plurality of shape data including the first shape data and the second shape data.

3. The system according to claim 1 or claim 2, further comprising a work machine having a bucket, wherein the storage unit further stores the capacity of the bucket.

4. The system of claim 3, wherein the controller determines the number of times to load the haul vehicle based on the first payload capacity and the capacity of the bucket.

5. The system according to claim 4, wherein the controller determines the amount of the load to be loaded into the bucket per loading operation based on the first loadable amount and the number of loading operations.

6. A work machine comprising: an external shape information acquisition unit that acquires external shape information of a transport vehicle that transports a load; a memory unit that stores first shape data relating to the shape of a first transport vehicle and a first load capacity of the first transport vehicle; and a controller that controls the loading operation of the load onto the transport vehicle based on the first load capacity when the external shape information matches the first shape data.

7. A control method comprising: acquiring external shape information of a transport vehicle transporting a load; determining whether the external shape information matches first shape data relating to the shape of a first transport vehicle; and, if the external shape information matches the first shape data, controlling the loading operation of the load onto the first transport vehicle based on a first load capacity of the first transport vehicle.

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