JP2023103810A - Work machine - Google Patents

Abstract

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

Description

The present invention relates to work machines.

2. Description of the Related Art Articulated working machines (for example, hydraulic excavators) having front working devices (for example, attachments such as booms, arms, and buckets) driven by hydraulic actuators are known. This type of work machine has a transporting motion (e.g., turning motion) for transporting an object such as excavated earth and sand toward a loaded machine such as a transporting machine (e.g., dump truck), and an object transported by the transporting motion. An object loading operation is performed by performing a discharging operation (for example, a soil discharging operation) for discharging the object to the loading machine.

If the front working device is rotated at a position where the height of the front working device (e.g., the height of the bucket) is lower than that of the loaded machine during the loading operation, the front working device may interfere with the loaded machine during the transport operation. There is Therefore, it is necessary for the operator of the work machine that performs the loading work to coordinate the swinging motion of the upper rotating body and the rotating motion (lifting) of the front working device while confirming the position of the machine to be loaded. must have the skills to

For example, Japanese Patent Laid-Open No. 2002-100003 discloses a conventional technology for assisting loading work. Patent Document 1 discloses a revolving body that can turn around a revolving center, a work machine provided on the revolving body, an attitude measuring device that measures the attitude of the revolving body, and a detection range that is provided on the revolving body. and a depth detection device for detecting the depth of at least a part of the circumference of the revolving body in the control device for controlling a loading machine, wherein the posture for acquiring posture information indicating the posture measured by the posture measurement device an information acquisition unit; a detection information acquisition unit that acquires depth information indicating the depth detected by the depth detection device; A control device is disclosed that includes a target azimuth determining unit that determines a target azimuth in turning control, and an output unit that outputs a turning operation signal based on the target azimuth.

Japanese Patent Application Laid-Open No. 2020-33825

In the prior art described above, in order to accurately determine the target orientation when supporting loading work, an external environment measuring device is attached to the side of the working machine, and when the revolving body of the working machine is not revolving, such as during excavation, A target azimuth in turning control is determined based on the acquired attitude information and depth information. However, since the operator of the work machine checks the stop position of the work machine when measuring the work machine with the external measurement device attached to the work machine, the work machine is in an appropriate position for loading the work machine. It is not possible to accurately determine whether the vehicle is stopped or not before loading.

When the operator of the work machine loads the transport machine, if the transport machine does not stop at an appropriate position, it is necessary to correct the stop position of the transport machine or adjust the position of the work machine. The efficiency of the loading operation of the work machine is lowered. However, when the position of the work machine is detected by the depth detection device, the operator of the work machine cannot determine whether the work machine is positioned within the measurement range of the external measurement device attached to the work machine. It is conceivable that the external environment measuring device of the working machine cannot measure the transporting machine and that the loading work cannot be supported appropriately.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and provides a work machine that can more accurately detect the vessel position of a transport machine that is stopped and that can appropriately support loading work by the work machine. for the purpose.

The present application includes a plurality of means for solving the above problems. One example is a working machine having an articulated front working device for loading an object to be transported onto a transporting machine, an external environment measuring device provided on the working machine for measuring an object around the working machine and the position of the object in a predetermined measurement area and outputting it as object position information; an attitude measuring device for outputting attitude information as attitude information from the position and attitude of the material handling machine; a controller that performs loading assist control of the work machine based on the above, the controller calculates the attitude of the work machine based on the attitude information of the work machine output from the attitude measurement device, Receiving an operation to set a loading area in which the material handling machine stops and for performing loading work from the work machine to the material handling machine, and receiving an operation to set the attitude of the work machine, the measurement area, and the loading area. determines whether or not the work machine is in a posture in which the transport machine stopped in the loading area can be calculated by the external environment measuring device, and the work machine determines whether the posture in which the transport machine can be calculated is determined based on , the position and attitude of the transport machine within the loading area are calculated based on the object position information output from the external environment measuring device.

According to the present invention, it is possible to more accurately detect the position of the vessel of the transporting machine while it is stopped, and to appropriately assist the loading operation by the working machine.

1 is a side view schematically showing the appearance of a hydraulic excavator as an example of a working machine; FIG. FIG. 2 is a functional block diagram extracting and showing the hydraulic system and control system of the hydraulic excavator together with related configurations; It is a functional block diagram extracting and showing a controller with a related structure. FIG. 4 is a side view showing the reference coordinate system together with the hydraulic excavator; FIG. 4 is a top view showing the reference coordinate system together with the hydraulic excavator; It is a figure which shows an example of operation|movement of a hydraulic excavator. It is a figure which shows an example of a loading area|region setting method. It is a flowchart which shows the processing content of a transporting machine detection process. 10 is a flow chart showing details of processing for determining whether a transporting machine is detected in the transporting machine detection process; It is a figure which shows the example of calculation of a region superposition|polymerization degree. It is a figure which shows the output example of the turning operation instruction|indication to a display apparatus. It is a figure which shows an example of the calculation process of the stop permissible range. FIG. 11 is a functional block diagram extracting and showing a hydraulic system and a control system of a hydraulic excavator according to a third embodiment together with related configurations; FIG. 11 is a functional block diagram showing a controller extracted from a third embodiment together with related components; It is a figure which shows the outline|summary of a stowage area|region acquisition process. It is a flow chart which shows the contents of processing of loading field acquisition processing concerning a 3rd embodiment. It is a figure which illustrates the mode of the external-world measuring device direction output process of the transporting machine detection part in 4th Embodiment. FIG. 16 is a flow chart showing processing contents of transporting machine detection determination in the transporting machine detection process according to the fourth embodiment. FIG. FIG. 16 is a flow chart showing details of a measurement direction calculation process according to the fourth embodiment; FIG. It is a figure which shows an example of the transporting machine detection determination which concerns on 5th Embodiment. FIG. 16 is a flow chart showing processing contents of transporting machine detection determination in the transporting machine detection process according to the fifth embodiment; FIG. FIG. 13 is a diagram showing an example of output to a display device according to the fifth embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First embodiment>
A first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 11. FIG.

FIG. 1 is a side view schematically showing the appearance of a hydraulic excavator shown as an example of a working machine according to the present embodiment.

In FIG. 1, a hydraulic excavator 1 (working machine) is used for excavating work to excavate a surface to be excavated, such as the ground, and to transport objects such as excavated earth and sand using a dump truck (described later) at a work site. It carries out loading work for loading onto a loaded machine such as a machine. In addition, a transport machine such as a dump truck performs a transport operation of transporting the loaded earth and sand to a predetermined location and a discharge operation of dumping the soil to the predetermined location. The hydraulic excavator 1 includes an articulated front working device 2 (working arm) that holds an object and rotates vertically or longitudinally, and a machine body 3 on which the front working device 2 is mounted.

The machine main body 3 includes a lower traveling body 5 that travels by a right traveling hydraulic motor 4a and a left traveling hydraulic motor 4b provided on the right and left sides of the lower traveling body 5, and an upper portion of the lower traveling body 5 via a swing device. and an upper slewing body 7 mounted on the slewing device and swiveled by a slewing hydraulic motor 6 of the slewing device.

The front working device 2 is a multi-joint type working device configured by a plurality of front members attached to the front portion of the upper revolving body 7 . The upper revolving body 7 mounts the front work device 2 and revolves. The front working device 2 includes a boom 8 that is vertically rotatably connected to the front portion of the upper rotating body 7, an arm 9 that is vertically rotatably connected to the tip of the boom 8, and the arm 9. and a bucket 10 that is connected to the tip of the bucket 10 so as to be rotatable in the vertical direction.

The boom 8 is connected to the upper rotating body 7 by a boom pin 8a, and is rotated by extension and contraction of the boom cylinder 11. As shown in FIG. The arm 9 is connected to the tip of the boom 8 by an arm pin 9a, and rotates as the arm cylinder 12 expands and contracts. The bucket 10 is connected to the tip of the arm 9 by a bucket pin 10a and a bucket link 16, and rotates as the bucket cylinder 13 expands and contracts.

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

The rotation angles of the boom 8, the arm 9, and the bucket 10 are obtained by detecting each angle of the boom 8, the arm 9, and the bucket 10 with respect to a reference plane such as a horizontal plane with an inertia measurement device and converting them into rotation angles. may be Further, the rotation angles of the boom 8, the arm 9 and the bucket 10 may be obtained by detecting the strokes of the boom cylinder 11, the arm cylinder 12 and the bucket cylinder 13 with a stroke sensor and converting them into respective rotation angles. .

A tilt angle sensor 18 for detecting the tilt angle of the machine body 3 with respect to a reference plane such as a horizontal plane is attached to the upper swing body 7 . A turning device between the lower traveling body 5 and the upper turning body 7 is provided with a turning angle sensor 19 for detecting a turning angle, which is a relative angle of the upper turning body 7 with respect to the lower traveling body 5 . An angular velocity sensor 20 for detecting the angular velocity of the upper revolving body 7 is attached to the upper revolving body 7 .

Here, the boom angle sensor 14 , the arm angle sensor 15 , the bucket angle sensor 17 , the tilt angle sensor 18 , and the turning angle sensor 19 are state quantities related to the attitude of the front working device 2 , such as each turning angle and turning angle of the upper turning body 7 . By measuring an angle or the like, an attitude measurement device 53 is configured that outputs information about the attitude of the front work device 2 as attitude information.

An operation device for operating a plurality of hydraulic actuators 4a, 4b, 6, 11, 12, and 13 is installed in the operator's cab provided in the upper revolving body 7. As shown in FIG. Specifically, the operation device operates a right travel lever 23a for operating the right travel hydraulic motor 4a, a left travel lever 23b for operating the left travel hydraulic motor 4b, the boom cylinder 11, and the bucket cylinder 13. and a left operation lever 22b for operating the arm cylinder 12 and the swing hydraulic motor 6. As shown in FIG. The operating levers 22 and 23 are of an electric lever type. Hereinafter, the right travel lever 23a, the left travel lever 23b, the right operation lever 22a, and the left operation lever 22b may be collectively referred to as operation levers 22 and 23.

An external field measuring device 70 is attached to the upper revolving body 7 to detect the depth to an object existing around the hydraulic excavator 1 . The external environment measurement device 70 may be, for example, a LiDAR (Light Detection And Ranging) or a stereo camera. The external environment measuring device 70 can acquire depth information of an object within a predetermined range around the hydraulic excavator 1 as a measurement region 220 (described later). A plurality of external measurement devices 70 may be attached to the hydraulic excavator 1 .

<Control system>
FIG. 2 is a functional block diagram extracting and showing the hydraulic system and control system of the hydraulic excavator together with related configurations.

In FIG. 2, an engine 103 that is a prime mover mounted on the upper revolving body 7 drives a hydraulic pump 102 and a pilot pump 104 . A vehicle body control unit 40 (described later) of the controller 54 controls the rotation operation of the front work device 2, the traveling operation of the lower traveling body 5, And it controls the turning motion of the upper turning body 7 . Specifically, the vehicle body control unit 40 of the controller 54 detects operation information (operation amount and operation direction) of the operation levers 22 and 23 by the operator using sensors 52a to 52f such as rotary encoders or potentiometers, and detects the detected operation. A control command corresponding to the information is output to the electromagnetic proportional valves 47a to 47l. The electromagnetic proportional valves 47a to 47l are provided in the pilot line 100, and operate when a control command from the vehicle body control unit 40 of the controller 54 is input, and output pilot pressure to the flow control valve 101 to control the flow rate. Activate valve 101 . Hereinafter, the electromagnetic proportional valves 47a to 47l may be collectively referred to as the electromagnetic proportional valve 47.

The flow control valve 101 supplies pressurized oil from a hydraulic pump 102 to each of the swing hydraulic motor 6, the arm cylinder 12, the boom cylinder 11, the bucket cylinder 13, the right travel hydraulic motor 4a, and the left travel hydraulic motor 4b. Control is performed according to the pilot pressure from the electromagnetic proportional valves 47a-47l. The electromagnetic proportional valves 47 a and 47 b output pilot pressure to the flow control valve 101 for controlling the pressure oil supplied to the swing hydraulic motor 6 . Electromagnetic proportional valves 47 c and 47 d output pilot pressure for controlling pressure oil supplied to arm cylinder 12 to flow control valve 101 . Electromagnetic proportional valves 47 e and 47 f output pilot pressure for controlling pressure oil supplied to boom cylinder 11 to flow control valve 101 . The electromagnetic proportional valves 47 g and 47 h output pilot pressure for controlling the pressure oil supplied to the bucket cylinder 13 to the flow control valve 101 . The electromagnetic proportional valves 47i and 47j output pilot pressure to the flow control valve 101 for controlling the pressure oil supplied to the traveling right hydraulic motor 4a. The electromagnetic proportional valves 47k and 47l output pilot pressure to the flow control valve 101 for controlling the pressure oil supplied to the traveling left hydraulic motor 4b.

The boom cylinder 11 , the arm cylinder 12 and the bucket cylinder 13 expand and contract by the supplied pressurized oil to rotate the boom 8 , the arm 9 and the bucket 10 . Thereby, the position and posture of the bucket 10 change. The swing hydraulic motor 6 is rotated by the supplied pressure oil to swing the upper swing body 7 . The right traveling hydraulic motor 4a and the left traveling hydraulic motor 4b are rotated by the supplied pressure oil to cause the lower traveling body 5 to travel.

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

<Functional block>
FIG. 3 is a functional block diagram showing the controller extracted together with related configurations. Moreover, FIG. 4 is a side view showing the reference coordinate system together with the hydraulic excavator. FIG. 5 is a top view.

In FIG. 3 , the controller 54 includes an attitude calculator 81 , a toe position calculator 82 , a coordinate converter 83 , a loading area acquirer 84 , a transport machine detector 86 , and a vehicle body controller 40 .

A vehicle body coordinate system 400 is preset in the controller 54 as a reference coordinate system for specifying the positions and orientations of the components of the hydraulic excavator 1 . As shown in FIGS. 4 and 5, the vehicle body coordinate system 400 of this embodiment has the origin at the intersection of the turning center line 120, which is the rotation axis of the upper turning body 7, and the plane where the lower traveling body 5 and the ground G are in contact. It is defined as a right-handed coordinate system that In the vehicle body coordinate system 400, the forward direction of the undercarriage 5 is defined as the positive direction of the X axis. In the vehicle body coordinate system 400 of this embodiment, the direction in which the turning center line 120 extends upward is defined as the positive direction of the Z axis. A vehicle body coordinate system 400 of this embodiment is defined to be orthogonal to each of the X-axis and the Z-axis, with the left side being the positive direction of the Y-axis.

In this embodiment, the sensor coordinate system 300 is the reference coordinate system for the external measurement device 70, the vehicle body coordinate system 400 is the reference coordinate system for the hydraulic excavator 1, and the site coordinate system is the reference coordinate system for the site. 500. In the vehicle body coordinate system 400 of the present embodiment, the turning angle θsw of the upper turning body 7 is defined as 0 degrees when the front work device 2 is parallel to the X axis.

<Overview of operation>
First, an overview of the operation of the hydraulic excavator 1 according to the present embodiment will be described.

FIG. 6 is a diagram showing an example of the operation of the hydraulic excavator.

As shown in FIG. 6 , in the hydraulic excavator 1 , the transporting machine 200 first stops within a measurement area 220 that is an area in which the external world measuring device 70 can measure the surrounding depth information, and the external world measuring device 70 The loading area 210, which serves as a guideline for the stop position of the transport machine 200, is appropriately set so that the depth information can be acquired. Then, when the hydraulic excavator 1 waits for the transport machine 200 that is about to stop within the set loading area 210, the swing angle θsw of the hydraulic excavator 1 is such that the measurement area 220 includes the loading area 210. At the same time, the hydraulic excavator 1 instructs the operator to perform a turning operation through the display device 55 or the like. By detecting the transporting machine 200 stopped within the loading area 210 , it is possible to reliably perform loading assist when the hydraulic excavator 1 loads earth and sand onto the transporting machine 200 , which will be described later.

In this embodiment, as shown in FIG. 6, the transporting machine 200 stops in the loading area 210 specified by the hydraulic excavator 1 (here, the loading area 210 is set in the vehicle body coordinate system). Suppose. Specifically, at the work site, the position of the transporting machine 200 is managed by a transporting machine position/vehicle allocation management system such as FMS (Fleet Management System). Further, in the present embodiment, the transporting machine 200 autonomously travels and stops accurately within the loading area 210 specified by the hydraulic excavator 1 .

As shown in FIG. 6, the loading area 210 is represented by a rectangle in the vehicle body coordinate system 400, and the coordinate values (Xpd1, Ypd1) to (Xpd4, Ypd4) of the vertices Pd1 to Pd4 of the area on the XY plane. is stored in the storage device 57 . Note that the loading area 210 is not limited to a quadrangle, and may be, for example, a triangle, a polygon having a pentagon or more (including a concave polygon), a circular shape, or the like.

The measurement area 220 is a sector on the XY plane represented by the X, Y coordinates of the mounting position of the external measurement device 70 in the vehicle body coordinate system 400, the measurable distance Lsr, and the measurable horizontal angle of view θsr. Note that the measurement area 220 is not limited to a fan shape, and may be a polygonal area obtained by projecting the effective measurement area 220 of the external world measuring device 70 onto the XY plane of the vehicle body coordinate system 400 in consideration of the mounting angle of view. . In this embodiment, for the measurement area 220 , the mounting angle of the external environment measurement device 70 is measured before the hydraulic excavator 1 is operated, and the measured area is stored in a predetermined area of the storage device 57 .

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

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

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

Furthermore, the attitude calculation unit 81 calculates the turning angular velocity ωsw of the upper turning body 7 from the detection signal of the attitude measuring device 53 .

<Toe position calculator 82>
The toe position calculator 82 calculates the calculated rotation angles θbm, θam, and θbk of the front work device 2, the swing angle θsw of the upper rotating body 7, the boom 8 dimension Lbm, the arm 9 dimension Lam, and the bucket 10 dimension. and Lbk, the tip position (toe position) 130 of the bucket 10 is calculated. Note that the dimension Lbm of the boom 8 is the length from the boom pin 8a to the arm pin 9a. A dimension Lam of the arm 9 is the length from the arm pin 9a to the bucket pin 10a. A dimension Lbk of the bucket 10 is the length from the bucket pin 10a to the tip of the bucket 10 (for example, the tip of the tooth).

<Coordinate conversion unit 83>
The coordinate transformation unit 83 transforms the reference coordinate system of the depth information acquired by the external measurement device 70 from the sensor coordinate system 300 to the vehicle body coordinate system 400 using the vehicle body posture information output by the posture calculation unit 81 . The depth information output by the external world measuring device 70 is given by a set of three-dimensional point data (point cloud data) indicated by the sensor coordinate system 300 .

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

Here, in the above (formula 1) to (formula 3), Rsv is a rotation matrix from the sensor coordinate system 300 to the vehicle body coordinate system 400, and This is the angle formed by each axis.

When the external world measuring device 70 is fixed to the hydraulic excavator 1, the angle formed by these can be obtained by, for example, measuring the attitude of the external world measuring device 70 in the vehicle body coordinate system 400 in advance and storing it in the storage device 57 in advance. good. When the external world measuring device 70 performs measurement while changing the posture of the hydraulic excavator 1, the external world measuring device 70 may be equipped with a posture measuring sensor, and the angle detected by the posture measuring sensor may be used to convert the coordinate transformation matrix may be calculated. θsw is the turning angle of the upper turning body 7 and is output from the attitude calculation section 81 .

Tsv is a translation vector from the origin of the vehicle body coordinate system 400 to the sensor coordinate system 300 . Lsx, Lsy, and Lsz are equal to the origin coordinates of sensor coordinate system 300 viewed from vehicle body coordinate system 400 . The mounting position of the external environment measurement device 70 is often fixed with respect to the hydraulic excavator 1 . Therefore, in that case, the attachment position of the external environment measuring device 70 to the hydraulic excavator 1 should be measured in advance, and the measured value should be stored in the storage device 57 in advance.

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

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

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

As shown in FIG. 7, the toe position 130 output from the toe position calculator 82 is displayed on the display device 55, and the operator presses the loading area setting button displayed on the display device 55 at the loading position. Pressing 230 sets the stow area 210 . Note that the decision button may not exist on the screen, and may be based on a specific lever operation or the like. Further, the rotation angle of the loading area 210 at this time is set, for example, so that the longitudinal direction of the square of the loading area 210 coincides with the direction of the front working device 2 of the hydraulic excavator 1 . Also, the loading area 210 is calculated such that the toe position 130 coincides with the center of the rear wheel axle of the transporting machine 200 . Note that the method of calculating the loading area 210 from the toe position 130 is not limited to this, and the operator may set the longitudinal direction of the square via the display device 55 .

Note that when the loading area 210 is set in the hydraulic excavator 1, it may be shared from the hydraulic excavator 1 to the transport machine 200 using wireless communication or the like. By sharing the information of the loading area 210 between the hydraulic excavator 1 and the transporting machine 200, the stopping position of the transporting machine 200 can be designated. In addition, using a positioning device such as GNSS and a device for calculating the position such as TS (Total Station), the position of the working machine in the field coordinate system 500 is measured, and the information of the loading area 210 is used together with the transport machine 200 and the work site. Alternatively, vehicle-to-vehicle communication may be used to share the loading area 210 between the hydraulic excavator 1 and the transport machine 200 . In this embodiment, the communication method of the information of the loading area 210 between the hydraulic excavator 1 and the transporting machine 200 is not limited to the one described above.

Also, the loading area 210 may be designated by a site manager or the like using an FMS or the like. In this case, the stop position of the transporting machine 200 can be specified by sharing the information of the loading area 210 with the hydraulic excavator 1 and the transporting machine 200 using a communication device or the like.

<Transportation machine detection unit 86>
The transporting machine detection unit 86 detects whether the loading area 210 acquired by the loading area acquisition unit 84 is included in the measurement area 220 of the external world measurement device 70 when the revolving speed of the hydraulic excavator 1 is equal to or lower than a predetermined speed. If it is included, the transporting machine detection process is performed.

The transporting machine detection unit 86 also calculates the position and attitude of the transporting machine 200 using the point cloud data, which is the measurement result of the external measurement device 70 in the vehicle body coordinate system 400 output by the coordinate conversion unit 83 . For example, the method of calculating the transporting machine 200 is such that a three-dimensional mesh model obtained by measuring the transporting machine 200 in advance is stored in the storage device 57, and the point cloud data converted into the vehicle body coordinate system 400 acquired from the coordinate conversion unit 83 is used. , the position and orientation of the target transport machine 200 can be calculated by performing position matching of the three-dimensional mesh model. The detection method is not limited to this. For example, the transporting machine 200 may be detected by extracting a specific plane of the transporting machine 200 from the point cloud data obtained from the external environment measuring device 70 . In this embodiment, the detection method of the transporting machine is not limited to the above-described one.

<Loading assist control>
The vehicle body control unit 40 performs motion control of the hydraulic excavator 1, for example, assist control for operator's loading motion based on the position and attitude information of the transport machine.

For example, when the operator of the hydraulic excavator 1 tilts the turning operation lever to start loading the transporting machine 200 in a state where the transporting machine 200 can be detected, the method of the loading assist control is such that when the transporting machine 200 is By automatically raising the boom to a height that does not interfere with the transporting machine 200 based on the position/orientation information, interference with the transporting machine 200 can be avoided.

<Transportation machine detection processing>
FIG. 8 is a flow chart showing the processing contents of the transporting machine detection process, and FIG. 9 is a flow chart showing the processing contents of the transporting machine detection determination in the transporting machine detection process. FIG. 10 is a diagram showing an example of calculation of the degree of superposition of regions, and FIG. 11 is a diagram showing an example of output of a turning operation instruction to the display device.

In the transporting machine detection process, first, the controller 54 acquires the loading area 210 (step S111). The loading area acquisition unit 84 acquires a loading area 210 which is an area where the transporting machine 200 stops and where the hydraulic excavator 1 loads the transporting machine 200 .

Subsequently, the controller 54 performs transport machine detection determination (step S112). In the transporting machine detection determination, as described in the processing of the transporting machine detection unit 86, it is determined whether or not the measurement area 220 includes the loading area 210 set in step S111. A turning operation instruction is given so as to obtain an appropriate turning angle. The details of the transporting machine detection determination will be described later.

Subsequently, the controller 54 determines whether or not the transporting machine detection determination in step S112 has been completed (step S113). If the determination result in step S113 is YES, that is, if the transporting machine detection determination has been completed, the process proceeds to the next process (step S114). If not, the process returns to step S112.

If the determination result in step S113 is YES, the controller 54 waits until the transporting machine 200 stops in the loading area 210 (step S114).

Subsequently, the controller 54 performs transporting machine detection processing (step S115). The transporting machine detection unit 86 detects the transporting machine 200 stopped within the loading area 210 based on the depth information output from the external world measuring device 70 .

Next, the controller 54 detects the operation command of the loading operation by the operator, and determines the start of the loading assist control (step S116). The start determination is, for example, when the operator has operated the operation right lever 22a for operating the boom 8 by a certain amount, and the like, and it is determined that the loading operation by the operator has started, that is, the loading assist control has started. do.

When it is determined in step S116 that the loading operation by the operator has started, the controller 54 performs loading assist control in response to the operator's operation (step S117).

Subsequently, the controller 54 determines whether the loading of the transporting machine 200 is finished (step S118). The loading end determination is made, for example, by the operator outputting a loading end command to the transporting machine 200 using a horn sound or a predetermined communication device. When the determination result in step S118 is YES, that is, when it is determined that loading is completed, the process proceeds to the next process (step S119). If the determination result in step S118 is NO, that is, if it is determined that loading is not completed, the process returns to step S114, detects the operation of the operating lever 22 by the operator, and performs loading assist control. conduct. Note that it may be determined that loading is completed when the external environment measuring device 70 detects that the transporting machine 200 has moved.

If the determination result in step S118 is YES, the controller 54 determines whether work has been completed (step S119). The work end determination is made based on, for example, whether or not the engine of the hydraulic excavator 1 has stopped. If the determination result in step S119 is YES, that is, if it is determined that the work is finished, the hydraulic excavator 1 ends the series of processes. If the determination result in step S119 is NO, that is, if it is determined that the work has not been completed, the processing returns to step S112, and the transporting machine detection determination is performed before the next transporting machine 200 stops. Then, the transport machine 200 is loaded.

<Transportation Machine Detection Determination: Step S112>
Here, the processing contents of the transporting machine detection determination in the transporting machine detection process will be described.

In FIG. 9, first, the transporting machine detection unit 86 determines whether or not the turning angular velocity ωsw output by the attitude calculation unit 81 is smaller than a predetermined angular velocity Ωsw (step S201). If the determination result in step S201 is YES, that is, if the turning angular velocity ωsw of the hydraulic excavator 1 is smaller than the predetermined angular velocity Ωsw, it is determined that the transporting machine 200 is waiting to be stopped, and the next process (step S202 ). If the determination result in step S201 is NO, that is, if the turning angular velocity ωsw of the hydraulic excavator 1 is equal to or greater than the predetermined angular velocity Ωsw, the transporting machine detection unit 86 detects that the hydraulic excavator 1 is in the process of loading. and the determination is repeated until the turning angular velocity ωsw becomes smaller than Ωsw.

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

Subsequently, the transporting machine detection unit 86 acquires the loading area 210 acquired by the loading area acquisition unit 84 from a predetermined location in the storage device 57 (step S203).

Subsequently, the transporting machine detection unit 86 performs polymerization degree calculation processing (step S204). The overlap degree Acover of the measurement area 220 and the loading area 210 is calculated from the storage device 57 . Acover is given by the following (Equation 4).

Here, in the above (Formula 4), So is the area of the loading area 210 and Scover is the area of the overlapping range of the loading area 210 and the measurement area 220 .

Scover is the area of the overlapping range of the loading area 210 and the measurement area 220. For example, if the measurement area 220 is approximated to a polygon (Ps0 to Psn) as shown in FIG. Since it can be reduced to the problem of finding the area, it can be solved as a numerical calculation problem. Therefore, first, the loading area 210 and the measurement area 220 are polygonally approximated, the vertex coordinates of the common area of both are calculated, and then the area Scover of the common area is obtained based on the calculated vertex information of the common area. good.

Subsequently, the transporting machine detection unit 86 determines whether or not the redundancy Acover obtained in step S205 is greater than the threshold value Ath (step S205). If the determination result in step S205 is YES, that is, if Acover is greater than Ath, the process proceeds to the next process (step S206). goes to the next processing (step S207).

If the determination result in step S205 is YES, the transporting machine detection unit 86 returns a determination result for starting the transporting machine detection process (step S206), and ends the transporting machine detection determination process.

Further, when the determination result in step S205 is NO, the transporting machine detection unit 86 outputs a turning operation instruction (step S207). The turning operation is instructed, for example, by displaying the loading area 210 and the measurement area 220 on the display device 55 as shown in FIG. 11 and outputting a display prompting the operator to turn. After that, the process returns to step S201, and the processes of steps S201 to S205 are repeated until an appropriate turning angle is obtained.

Effects of the present embodiment configured as described above will be described.

In the prior art, when an operator of a work machine loads a transport machine, if the transport machine does not stop at an appropriate position, the stop position of the transport machine is corrected or the position of the work machine is adjusted. It is necessary to do so, and the efficiency of the loading operation of the working machine is lowered. In addition, when detecting the position of the work machine with the depth detection device, the operator of the work machine cannot determine whether the work machine is positioned within the measurement area of the external measurement device attached to the work machine. Previously, it was thought that the external environment measurement device of the work machine could not detect the transport machine and could not appropriately support the loading work.

On the other hand, in the present embodiment, the hydraulic excavator 1 waits for the transport machine 200 at a turning angle such that the measurement area 220 includes the loading area 210, so that the transport machine 200 enters the loading area 210. When stopped, the vessel position of the transporting machine 200 stopped at the loading position can be accurately detected, and the loading assist control appropriately supports the loading operation by the work machine, thereby improving the operation of the hydraulic excavator 1. can improve sexuality.

<Second Embodiment>
A second embodiment of the present invention will be described with reference to FIG. In the figure, members similar to those of other embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

In the first embodiment, the loading area 210 is set on the premise that the transporting machine 200 will surely stop in the loading area 210, such as when the transporting machine 200 autonomously travels or stops under control of traffic control or the like. bottom. However, for example, when the transporting machine 200 operated by the operator stops in the loading area 210, it is assumed that the stop position is shifted. Therefore, in the present embodiment, the permissible stop range 211 is calculated in consideration of the deviation of the stop position for the material handling machine 200 manually operated by the operator, and is used as the loading area 210 for the material handling machine detection determination. show.

FIG. 12 is a diagram illustrating an example of processing for calculating an allowable stop range.

In the present embodiment, the loading area acquisition unit 84 calculates, in addition to the loading area 210 of the transport machine 200, the permissible stop range 211 considering the deviation of the stop position, stores it in the storage device 57, and stores it in the storage device 57. In the detection determination process, the allowable stop range 211 is used instead of the loading area 210 .

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

In this embodiment, as in the first embodiment, the loading area 210 set by the excavator operator through the display device 55 is defined by Dr in the longitudinal direction and Dr in the lateral direction as shown in FIG. A stop permissible range 211 is set by adding Dθ. Predetermined values are used for Dr and Dθ. Dr is, for example, a length that can be taken by the toe position when the arm angle of the hydraulic excavator 1 at which earth can be discharged is taken into consideration. For Dθ, for example, θdump is set in advance with respect to the turning direction of the loading position, and Ltip·tan (θdump/2 ).

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

In addition, in the present embodiment, the allowable stop range 211 is set so that even when the operator manually operates the transporting machine 200 and the transport machine 200 deviates from the predetermined stop position, the allowable stop range 211 is accumulated. By using the loading area 210, the vessel position of the transporting machine 200 stopped in the stop permissible range 211 can be accurately detected, and the operability of the hydraulic excavator 1 can be improved by the loading assist control.

<Third Embodiment>
A third embodiment of the present invention will be described with reference to FIGS. 13 to 16. FIG. In the figure, members similar to those of other embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

In this embodiment, the loading area acquisition unit 84 sets the loading area 210 using the detection result of the transporting machine detection unit 86, and acquires the loading area according to the movement amount of the hydraulic excavator 1. The loading area 210 acquired by the unit 84 is moved.

In the first and second embodiments, it is assumed that the transporting machine stops at the position specified by the hydraulic excavator 1 . However, depending on the work site, a system such as FMS (Fleet Management System) for managing the position and vehicle allocation of the transporting machine has not been introduced, and the hydraulic excavator 1 cannot specify the stop position of the transporting machine 200.

In the present embodiment, at such a site, the operator of the transport machine 200 visually checks the position of the hydraulic excavator 1, judges the position suitable for loading, and stops the excavator. It was noted that the transporting machine 200 often stops in a similar positional relationship. That is, the area in which the transporting machine 200 that was the target of the previous loading cycle was detected can be regarded as the stop position of another transporting machine 200 that is the target of the next loading cycle. Therefore, in the present embodiment, when the transporting machine 200 is approaching to stop, the hydraulic excavator 1 is turned so that the measurement area 220 of the external environment measurement device 70 can include the loading area 210. By doing so, the detection rate of the transporting machine 200 can be improved.

FIG. 13 is a functional block diagram extracting and showing the hydraulic system and control system of the hydraulic excavator according to the present embodiment together with related configurations.

The external I/F 74 of the controller 54 includes the display device 55, the position measurement device 60, the external measurement device 70, the attitude measurement device 53, and the storage device 57 (hard disk drive, large-capacity flash memory, etc.), as well as the operation levers 22 and 23. , the electromagnetic proportional valve 47 and the like.

FIG. 14 is a functional block diagram extracting and showing the information processing apparatus according to the present embodiment along with related configurations.

The controller 54 includes an attitude calculation unit 81 , a toe position calculation unit 82 , a coordinate conversion unit 83 , a loading area acquisition unit 84 , a transporting machine detection unit 86 , and a position information calculation unit 87 .

<Coordinate system>
In this embodiment, the loading area 210 and the measurement area 220 are handled on the site coordinate system 500 in order to consider the movement of the hydraulic excavator 1 as well. For conversion of point data indicated by coordinate values Pv (Xv, Yv, Zv) in the vehicle body coordinate system 400 to data Pg (Xg, Yg, Zg) in the field coordinate system 500, for example, the following (Equation 5) to ( Equation 7) is used.

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

Also, Tvg is a translation vector from the origin of the field coordinate system 500 to the origin of the vehicle body coordinate system 400 . Tvg can use the output result of the position information calculation unit 87 .

<Position Information Calculator 87>
The position information calculation unit 87 calculates the position of the origin of the vehicle body coordinate system 400 in the field coordinate system 500 of the hydraulic excavator 1 and the direction θdir of the front work device 2 in the field coordinate system 500 from the position information acquired from the position measuring device 60. Output. For the position measurement device 60, for example, a positioning device such as GNSS, a TS (Total Station), or the like may be used. The position detection method is not limited to this. For example, the position may be calculated based on the information of the hydraulic excavator 1 detected by a camera fixed at the site. At least two position measuring devices are used to calculate the bearing of the hydraulic excavator 1 .

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

<Loading area acquisition process>
FIG. 15 is a diagram showing an outline of the loading area acquisition process. Also, FIG. 16 is a flow chart showing the contents of the loading area acquisition process according to the present embodiment.

In FIG. 15, the loading area acquisition unit 84 determines whether to hold the position/orientation information of the transporting machine 200 detected by the transporting machine detection unit 86 immediately before (step S301). For example, a predetermined location in the storage device 57 of the information processing device can be referenced, and the presence or absence of position/orientation information of the transporting machine 200 detected immediately before can be used for determination. If the determination result in step S301 is YES, that is, if it is determined that the position/orientation information of the transporting machine 200 is held, the process proceeds to the next process (step S302). If it is determined that the position/orientation information of the transporting machine 200 is not held, the process proceeds to the next process (step S303).

If the determination result in step S301 is YES, the loading area acquiring unit 84 acquires the position/orientation information of the transporting machine 200 detected by the transporting machine detection unit 86 (step S302).

If the determination result in step S301 is NO, the loading area acquiring unit 84 sets the initial loading area 210 assuming that the storage device 57 does not have the position/orientation information of the transporting machine 200 ( step S303). An initial method of setting the loading area 210 is, for example, using the toe position information of the hydraulic excavator 1 as shown in FIG. It may be set by pressing 230 . In addition to this method, a predetermined position for the hydraulic excavator 1 may be set in advance based on the operation of the work site where the hydraulic excavator 1 operates.

After the process of step S302 is completed, the loading area obtaining unit 84 obtains the current position/orientation information of the hydraulic excavator 1 in the site coordinate system 500 calculated by the position information calculating unit 87 (step S304).

Subsequently, the loading area acquisition unit 84 determines movement of the vehicle body (step S305). Movement determination of the vehicle body is performed on the X, Y plane on the site coordinate system 500 based on the position/direction information of the hydraulic excavator 1 acquired in step S304 and the information stored in the storage device 57 in step S308, which will be described later. By comparing the position and direction information of If the storage device 57 does not hold the position/direction information, it is determined that the vehicle does not move. If the determination result in step S305 is YES, that is, if it is determined that the vehicle body is moving, the process proceeds to the next step (step S307). If the determination result in step S305 is NO, that is, if it is determined that the vehicle body has not moved, the process proceeds to the next process (step S306).

If the determination result in step S305 is NO, the loading area acquisition unit 84 sets the loading area 210 based on the detection result of the transporting machine detection unit 86 (step S306). A method of setting the loading area 210 is to calculate the four vertices of the loading area 210 on the X and Y planes based on the position/orientation of the transporting machine 200 output by the transporting machine detection unit 86, for example.

If the determination result in step S305 is YES, the loading area acquisition unit 84 sets the loading area 210 based on the detection result of the transport machine detection unit 86 in consideration of vehicle movement (step S307). The method of setting the loading area 210 is, for example, based on the position/orientation of the transporting machine 200 output by the transporting machine detection unit 86, and after calculating the four vertices of the square when viewed on the X and Y planes, and , the amount of movement Lmove (Xm, Ym) of the vehicle body is added to each of the output four vertices.

When any one of steps S303, S306, and S307 is completed, the loading area acquisition unit 84 subsequently outputs the position/orientation information of the hydraulic excavator 1 acquired in step S304 to the storage device 57 (step S308). , terminate the process.

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

Further, in the present embodiment, by setting the loading area 210 using the detection result of the transporting machine detection unit 86 and the movement amount of the hydraulic excavator 1, a system that manages the position and dispatch of the transporting machine 200 is provided. It is possible to set the loading area 210 even at the site where the equipment has not been introduced. Therefore, the hydraulic excavator 1 can wait for the transporting machine 200 at a turning angle such that the measurement area 220 includes the loading area 210, and when the transporting machine 200 stops in the loading area 210, the transporting machine The position of the vessel 200 can be accurately detected, and the operability of the hydraulic excavator 1 can be improved by the loading assist.

<Fourth Embodiment>
A third embodiment of the present invention will be described with reference to FIGS. 17 to 19. FIG. In the figure, members similar to those of other embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

This embodiment shows a case where the mounting angle of the external field measuring device 70 is movable and the measurement angle is changeable. In this embodiment, the external environment measuring device 70 is assumed to have an actuator that can be controlled to a specified mounting angle. This embodiment can be applied to both the transporting machine 200 operated by the operator and the transporting machine 200 that runs autonomously, and can be used in combination with any of the first to third embodiments.

17A and 17B are diagrams illustrating an example of an external world measuring device direction output process of the transporting machine detection determination unit according to the present embodiment.

<Transportation machine detection unit 86>
The transporting machine detection unit 86 in the present embodiment determines whether the loading area 210 acquired by the loading area acquiring unit 84 is included in the measurement area 220 of the external measurement device 70. Machine detection processing is performed, and if not included, as shown in FIG. A control command is sent to the measuring device 70 .

<Transportation machine detection judgment>
FIG. 18 is a flow chart showing the details of processing for transporting machine detection determination in the transporting machine detection process according to the present embodiment.

In FIG. 18, the processing from steps S201 to S204 is the same as the processing shown in FIG. 9 in the first embodiment, and the explanation is omitted.

After the processing in step S204 ends, the transporting machine detection unit 86 subsequently determines whether or not the degree of redundancy Acover is greater than the threshold Ath (step S245). If the determination result in step S245 is YES, that is, if Acover is greater than Ath, the process proceeds to the next process (step S206). , the process proceeds to the next process (step S247).

The processing in step S206 is the same as the processing shown in FIG. 9 in the first embodiment, and description thereof is omitted.

When the determination result in step S245 is NO, the transporting machine detection unit 86 performs the measurement direction calculation process of the external world measurement device 70 (step S247).

<Measurement azimuth calculation processing of external measurement device>
FIG. 19 is a flow chart showing the processing contents of the measured azimuth calculation processing according to the present embodiment.

In the present embodiment, as shown in FIG. 17, when the degree of polymerization Acover of the loading area 210 and the measurement area 220 is equal to or less than the threshold Ath, the degree of polymerization Acover is greater than the threshold Ath. An angle γs around the Z-axis is calculated and output to the external world measuring device 70 . Note that the measurement supplement calculation processing of the external world measuring device 70 may include not only the angle adjustment of γs, but also the angle αs around the X-axis and the angle βs around the Y-axis, for example.

19, first, the transporting machine detection unit 86 updates the mounting angle γs of the external environment measuring device 70 around the Z-axis to γs+δγs using a predetermined δγs, and performs the process of step S402 (step S401). .

Subsequently, the transporting machine detection unit 86 calculates the polymerization degree Acover using (Equation 4) (step S402).

Subsequently, the transporting machine detection unit 86 determines whether Acover is greater than the threshold Ath (step S403). If the determination result in step S403 is YES, that is, if Acover is greater than the threshold Ath, the process proceeds to the next step (step S404). If the determination result in step S403 is NO, that is, if Acover is equal to or less than the threshold value Ath, the process returns to step S401 to update γs.

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

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

Further, in the present embodiment, when the mounting angle of the external world measuring device 70 mounted on the excavator 1 is movable, the measurement area 220 includes the loading area 210 regardless of the state of the excavator 1. Therefore, when the transporting machine 200 stops in the loading area 210, the vessel position of the transporting machine 200 can be accurately detected, and the operability of the hydraulic excavator 1 can be improved by the loading assist control. can be improved. Further, since the hydraulic excavator 1 does not need to adjust the turning angle to detect the transporting machine 200, the productivity of the hydraulic excavator 1 is improved.

<Fifth Embodiment>
A fifth embodiment of the present invention will be described with reference to FIGS. 20 to 22. FIG. In the figure, members similar to those of other embodiments are denoted by the same reference numerals, and descriptions thereof are omitted.

In this embodiment, a plurality of external world measuring devices 70 are attached to the hydraulic excavator 1, and the measurement areas of the plurality of external world measuring devices 70 (for example, the measurement regions 220a, 220b, 220c of the plurality of external world measuring devices 70 shown in FIG. 20) ) shows a case where the transporting machine detection process is performed. That is, in the present embodiment, while the hydraulic excavator 1 is waiting for the transporting machine 200 to stop, the external environment measuring device 70 (that is, the plurality of measurement areas 220a , 220b, 220c) is selected, and it is determined that the excavator 1 is oriented at a turning angle suitable for detecting the transporting machine 200 in the selected measurement area of the external environment measuring device 70 . The controller 45 outputs an instruction to move the front work device 2 out of the measurement region of the external world measurement device 70 when the front work device 2 is reflected in the measurement region of the external world measurement device 70 (for example, the measurement region 220a). After that, the transporting machine detection process is performed.

The present embodiment is applicable to both the transporting machine 200 operated by the operator and the transporting machine 200 that runs autonomously, and can be used in combination with any one of the first to third.

FIG. 20 is a diagram showing an example of transporting machine detection determination according to the present embodiment. Further, FIG. 21 is a flowchart showing the processing contents of transporting machine detection determination in the transporting machine detection process according to the present embodiment. FIG. 22 is a diagram showing an output example to the display device according to this embodiment.

As shown in FIG. 20, the upper revolving body 7 of the hydraulic excavator 1 is provided with a plurality of external environment measurement devices (for example, similar to the external environment measurement device 70 in FIG. 1) for detecting the depth to objects existing around the hydraulic excavator 1. ) is attached, a predetermined range in front of the upper rotating body 7 where the front working device 2 is installed is a measurement area 220a, a predetermined range on the left side of the upper rotating body 7 is a measurement area 220b, and an upper part A predetermined range on the right side of the revolving body 7 is defined as a measurement area 220c, and depth information of an object within each area can be obtained.

<Transportation machine detection unit 86>
In the present embodiment, the transporting machine detection unit 86 calculates the degree of polymerization Acover of the measurement area 220 and the loading area 210 of all the external environment measurement devices 70 attached to the hydraulic excavator 1, and the largest Acover value In a certain external measurement device 70, it is determined whether or not the measurement area 220 is oriented to include the loading area 210. FIG.

<Transportation machine detection judgment>
In FIG. 21, first, the transporting machine detection unit 86 determines whether or not the turning angular velocity ωsw output by the posture calculation unit 81 is smaller than a predetermined angular velocity Ωsw (step S201). If the determination result in step S201 is YES, that is, if the turning angular velocity ωsw of the hydraulic excavator 1 is smaller than the predetermined angular velocity Ωsw, it is determined that the transporting machine 200 is waiting to be stopped, and the next process (step S252) is performed. ). If the determination result in step S201 is NO, that is, if the turning angular velocity ωsw of the hydraulic excavator 1 is equal to or greater than the predetermined angular velocity Ωsw, the transporting machine detection unit 86 detects that the hydraulic excavator 1 is in the process of loading. and the determination is repeated until the turning angular velocity ωsw becomes smaller than Ωsw.

When the determination result in step S201 is YES, the transporting machine detection unit 86 acquires the measurement areas 220 of all the external world measurement devices 70 attached to the hydraulic excavator 1 (step S252).

Subsequently, the transporting machine detection unit 86 acquires the loading area 210 acquired by the loading area acquisition unit 84 (step S253).

Subsequently, the transporting machine detection unit 86 calculates the degree of overlap Acover of the measurement areas 220 and the loading areas 210 of all the external world measurement devices 70 attached to the hydraulic excavator 1 (step S254). Acover is given by (Equation 4).

Subsequently, the transporting machine detection unit 86 selects the external measurement device 70 having the maximum value among the overlapping degrees Acover obtained in step S254 (step S255).

Subsequently, the transporting machine detection unit 86 determines whether or not the polymerization degree Acover of the external environment measuring device 70 selected in step S255 is greater than the threshold value Ath (step S256). If the determination result in step S256 is YES, that is, if Acover is greater than Ath, the process proceeds to the next process (step S256). , the process proceeds to the next process (step S257).

When the determination result in step S256 is YES, the transporting machine detection unit 86 determines whether or not the front work device 2 is reflected in the measurement area of the external world measurement device 70 selected in step S255 (step S257). . Whether or not the front work device 2 is reflected in the measurement area of the external world measurement device 70 is determined in advance by the external world measurement device 70 in which the front work device 2 is reflected and the joint angle of the front work device 2 when the reflection occurs. A combination of ranges can be stored in the storage device 57 and compared with the calculation result of the attitude calculation unit 81 to make a determination. If the determination result in step S257 is YES, that is, if there is a reflection of the front work device 2, the process proceeds to the next process (step S259). If there is no reflection, the process proceeds to the next process (step S258).

If the determination result in step S257 is YES, the transporting machine detection unit 86 returns a determination result indicating that transporting machine detection processing is started in the external environment measuring device 70 having the maximum Acover value (step S258), and the transporting machine detection unit 86 End the determination process.

Further, when the determination result in step S257 is NO, the transporting machine detection unit 86 outputs an instruction to move the front work device 2 out of the measurement area of the external environment measuring device 70 (step S259). End the machine detection determination process. As an instruction method, for example, as shown in FIG. 22, a front raising command 240 is displayed on the display device 55 to prompt the operator to operate. Note that the command method is not limited to this, and the front operation amount may be output to the vehicle body control unit 40 as a control command.

If the determination result in step S256 is NO, the transporting machine detection unit 86 outputs a turning operation instruction (step S260), and ends the transporting machine detection determination process. The turning command is output to the display device 55 as shown in FIG. 11, for example, by displaying the loading area 210 and the measurement area 220 and prompting the operator to turn.

Other configurations are the same as those of the first embodiment.

The same effects as those of the first embodiment can be obtained in the present embodiment configured as described above.

Further, in the present embodiment, even when a plurality of external environment measuring devices 70 are attached to the hydraulic excavator 1, it is possible to select the most suitable external environment measuring device 70 for detecting the transporting machine 200. . In addition, since it is possible to calculate the turning angle such that the measurement area 220 of the selected external environment measuring device 70 includes the loading area 210, when the transporting machine 200 stops in the loading area 210, the vessel of the transporting machine 200 The position can be accurately detected, and the operability of the hydraulic excavator 1 can be improved by the loading assist control. In addition, since the transporting machine 200 can be detected by an appropriate one of the plurality of external environment measuring devices 70, the processing efficiency of the transporting machine detection process is improved.

<Appendix>
It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the invention.

For example, in the above-described embodiment, it is assumed that the operator gets on the hydraulic excavator 1 and excavates earth and sand and loads the transport machine. It may be applied when operating the hydraulic excavator 1 . Moreover, the above embodiment can be applied to a work machine that operates autonomously. In this case, a command is sent to the vehicle body control unit 40 so as to make the measurement area 220 include the loading area 210 .

Moreover, the present invention is not limited to those having all the configurations described in the above embodiments, and includes those having some of the configurations omitted. Further, each of the above configurations, functions, etc. may be realized by designing a part or all of them, for example, with an integrated circuit. Moreover, each of the above configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function.

DESCRIPTION OF SYMBOLS 1... Hydraulic excavator, 2... Front working device, 3... Machine body, 4a... Right traveling hydraulic motor, 4b... Left traveling hydraulic motor, 5... Lower traveling body, 6... Revolving hydraulic motor, 7... Upper revolving body, 8... Boom 8a Boom pin 9 Arm 9a Arm pin 10 Bucket 10a Bucket pin 11 Boom cylinder 12 Arm cylinder 13 Bucket cylinder 14 Boom angle sensor 15 Arm angle sensor 16 Bucket link 17 Bucket angle sensor 18 Tilt angle sensor 19 Turning angle sensor 20 Angular velocity sensor 22 Operation lever 22a Right operation lever 22b Left operation lever 23 Operation lever 23a... Right travel lever, 23b... Left travel lever, 40... Vehicle body control unit, 47a to 47l... Electromagnetic proportional valve, 52a to 52f... Sensor, 53... Posture measuring device, 54... Controller, 55... Display device, 57... Memory Apparatus 60 Position measurement device 70 External measurement device 74 External I/F 75 Bus 81 Attitude calculation unit 82 Toe position calculation unit 83 Coordinate conversion unit 84 Loading area acquisition Part 86... Transportation machine detection part 87... Position information calculation part 100... Pilot line 101... Flow control valve 102... Hydraulic pump 103... Engine 104... Pilot pump 120... Turning center line 130... Toe Position 200 Transportation machine 210 Loading area 211 Allowable stop range 220 Measurement area 230 Loading area setting button 240 Command 300 Sensor coordinate system 400 Car body coordinate system 500 Field coordinate system

Claims (9)

A working machine having an articulated front working device for loading an object to be transported onto a transporting machine,
an external world measuring device provided in the working machine for measuring an object around the working machine and the position of the object in a predetermined measurement area and outputting it as object position information;
an attitude measuring device that measures a state quantity related to the attitude of the work machine and outputs it as attitude information;
calculating the position and attitude of the material handling machine relative to the work machine based on the attitude information of the work machine and the object position information; and controlling the assist loading of the work machine based on the calculated position and attitude of the material handling machine. and a controller for
The controller is
calculating the posture of the work machine based on the posture information of the work machine output from the posture measurement device;
Receiving an operation to set a loading area in which the transport machine stops and where the work machine is loaded onto the transport machine;
Based on the posture of the work machine, the measurement area, and the loading area, the work machine determines whether or not the transport machine stopped in the loading area is in a posture that can be calculated by the external measurement device. judge,
When the working machine determines that the transporting machine is in a posture that allows calculation, the position and posture of the transporting machine within the loading area are determined based on the object position information output from the external environment measurement device. A working machine characterized by computing. The work machine according to claim 1,
The controller is
A work characterized by determining whether or not the work machine is in a posture that enables calculation of the position and posture of the transport machine, based on a degree of overlap that indicates the degree of overlap between the loading area and the measurement area. machine. The work machine according to claim 2,
The controller is
calculating the position of the tip of the front working device of the working machine based on the attitude information of the working machine output from the attitude measuring device;
A working machine that receives an operation for setting the loading area according to the position of the tip of the front working device. The work machine according to claim 3,
The controller is
calculating an allowable range of a stop position of the transporting machine as an allowable stop range when receiving an operation to set the loading area;
It is determined that the work machine is oriented in a direction that enables calculation of the position and orientation of the transport machine when the degree of overlap between the permissible stop range and the measurement area is equal to or greater than a predetermined degree. working machine. The work machine according to claim 3,
a position measuring device that outputs self-position information regarding the position of the work machine in the field coordinate system;
The controller is
It is determined whether or not the work machine has moved based on the own position information, and if it is determined that the work machine has moved, the position of the loading area is moved according to the amount of movement of the work machine. A working machine characterized by: The work machine according to claim 3,
The controller is
Positional information of the work machine in the field coordinate system is acquired from the outside by a communication device as self-position information, and based on the acquired self-position information, it is determined whether or not the work machine has moved, and the work machine has moved. A working machine, wherein the position of the loading area is moved in accordance with the amount of movement of the working machine when it is determined that the loading area has been moved. The work machine according to claim 3,
The external measurement device is capable of adjusting the measurement area,
The controller is
A direction in which the work machine can calculate the position and orientation of the transport machine when the adjustable range of the measurement area in the external environment measuring device and the degree of overlap with the loading area are equal to or greater than a predetermined degree. and after adjusting the measurement area so that the measurement area overlaps the loading area to the greatest extent, the position and attitude of the transport machine are calculated. The work machine according to claim 3,
The external measurement device has a plurality of measurement areas different from each other,
The controller controls, when the degree of overlap between at least one measurement area and the loading area of the plurality of measurement areas of the external environment measurement device is equal to or greater than a predetermined degree, the working machine is the transport machine. It is determined that the transport machine is oriented in an azimuth in which the position and orientation can be calculated, and the position and orientation of the transport machine are detected by a measurement area having a large area overlapping with the loading area among the plurality of measurement areas. A working machine characterized by: The work machine according to claim 3,
The controller is
calculating the position of the tip of the front working device of the working machine based on the posture information of the working machine output from the posture measuring device;
It is determined whether or not the front end of the front work device is positioned above the measurement area of the external environment measurement device, and if it is determined that the front end of the front work device is positioned outside the measurement region, the transport machine A working machine characterized by detecting its position and orientation.

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