WO2024053443A1 - Work machine, system including work machine, and method for controlling work machine - Google Patents

Abstract

A work machine (3) loads cargo (300) onto a vessel (301). A work machine actuator drives the work machine (3) with respect to a body. An automatic controller (100) instructs driving of the work machine actuator on the basis of a detected value of the position of the work machine (3) and a detected value of the position of the vessel (301) relative to a wheel loader (1). The automatic controller (100) acquires information relating to the loading status of cargo (310) in the vessel (301), determines whether it is necessary to move the cargo (310) in the vessel (301) on the basis of the acquired information relating to the loading status of the cargo (310), and in a case where it is determined that it is necessary to move the cargo (310) in the vessel (301), the automatic controller operates the wheel loader (1) to move the cargo (310) toward the center (CL) of the vessel (301).

Description

Work machines, systems including work machines, and control methods for work machines

The present disclosure relates to a work machine, a system including the work machine, and a method of controlling the work machine.

International Publication No. 2016/152994 (Patent Document 1) discloses control for moving a boom and a bucket to a target position determined according to a moving distance of a wheel loader.

International Publication No. 2016/152994

When loading a loading container such as a vessel of a dump truck using a working machine such as a wheel loader, the loading operation is usually performed multiple times. When the capacity of the load loaded onto the dump truck reaches the loading capacity of the dump truck after multiple loading operations, if the loading condition (packing style) of the loaded load is inappropriate, the dump truck There is a risk that the load may spill while the vehicle is running.

The present disclosure proposes a working machine that can properly load a loading container, a system including the working machine, and a method of controlling the working machine.

A work machine and a system including the work machine according to an aspect of the present disclosure each include a main body, a work machine, a work machine actuator, and a controller. The work machine is attached to the main body and loads the load into the loading container. The work implement actuator drives the work implement relative to the main body. The controller commands the drive of the work implement actuator based on the detected value of the position of the work implement and the detected value of the position of the loading container with respect to the work machine. The controller acquires information regarding the loading status of the load within the loading container, and determines whether or not it is necessary to move the load within the loading container based on the acquired information regarding the loading status of the load, When it is determined that the load needs to be moved within the loading container, the work machine is operated to move the load toward the center of the loading container.

A method for controlling a work machine according to an aspect of the present disclosure includes acquiring information regarding the loading status of a load in a loading container, and controlling a load in the loading container based on the acquired information regarding the loading status of the load. determining whether the load needs to be moved within the loading container, and operating the work machine to move the load toward the center of the loading container if it is determined that the load needs to be moved within the loading container. It is equipped with the following:

According to the working machine, the system including the working machine, and the method of controlling the working machine of the present disclosure, it is possible to properly load a loading container.

FIG. 1 is a side view of a wheel loader as an example of a working machine. FIG. 1 is a block diagram showing a schematic configuration of a control system for a wheel loader. FIG. 2 is a plan view of a wheel loader that performs excavation and loading work. FIG. 1 is a block diagram showing the configuration of an automatic control system for a wheel loader. It is a flowchart which shows the flow of the operation|movement which loads the load loaded into the bucket to the loading target by automatic control. It is a flow chart which shows automatic control of load pushing. FIG. 3 is a diagram schematically showing the arrangement of a vessel and a wheel loader at the start of a dump approach. It is a figure which shows typically the attitude|position of a wheel loader when the blade edge of a bucket is located in the lowermost part at the time of loading operation|movement. It is a figure which shows typically the attitude|position of the wheel loader at the time of starting load pushing. It is a figure which shows typically the attitude|position of a wheel loader at the time of completion|finish of load pushing. It is a graph showing changes in cylinder length during loading work. It is a figure which shows the change of the attitude|position of the load in a vessel by load pushing.

Hereinafter, embodiments will be described based on the drawings. In the following description, the same parts and components are given the same reference numerals. Their names and functions are also the same. Therefore, detailed explanations thereof will not be repeated. It is also planned from the beginning that arbitrary configurations will be extracted from the embodiments and that they will be combined arbitrarily.

<Overall configuration of wheel loader 1>
In the embodiment, a wheel loader 1 will be described as an example of a working machine. FIG. 1 is a side view of a wheel loader 1 as an example of a working machine.

As shown in FIG. 1, the wheel loader 1 includes a vehicle body frame 2, a working machine 3, a traveling device 4, and a cab 5. The vehicle body of the wheel loader 1 is composed of a vehicle body frame 2, a cab 5, and the like. A working machine 3 and a traveling device 4 are attached to the vehicle body of the wheel loader 1. The main body of the wheel loader 1 includes a vehicle body and a traveling device 4.

The traveling device 4 causes the vehicle body of the wheel loader 1 to travel, and includes running wheels 4a and 4b. The wheel loader 1 is a wheeled vehicle that includes running wheels 4a and 4b as rotating bodies for running on both sides of the vehicle body in the left-right direction. The wheel loader 1 is self-propelled by rotationally driving running wheels 4a and 4b, and can perform desired work using the working machine 3. The traveling device 4 corresponds to an example of a "traveling body."

In this specification, the direction in which the wheel loader 1 travels straight is referred to as the front-rear direction of the wheel loader 1. In the front-rear direction of the wheel loader 1, the side on which the working machine 3 is arranged with respect to the vehicle body frame 2 is defined as the front direction, and the side opposite to the front direction is defined as the rear direction. The left-right direction of the wheel loader 1 is a direction perpendicular to the front-rear direction when the wheel loader 1 on a flat ground is viewed from above. Looking forward, the right and left sides in the left and right direction are the right direction and left direction, respectively. The vertical direction of the wheel loader 1 is a direction perpendicular to a plane defined by the front-rear direction and the left-right direction. In the vertical direction, the side with the ground is the bottom, and the side with the sky is the top.

The vehicle body frame 2 includes a front frame 2a and a rear frame 2b. The front frame 2a is arranged in front of the rear frame 2b. The front frame 2a and the rear frame 2b are attached to each other so as to be swingable in the left-right direction.

A pair of steering cylinders 11 are attached across the front frame 2a and the rear frame 2b. Steering cylinder 11 is a hydraulic cylinder. The direction of movement of the wheel loader 1 is changed from side to side by the steering cylinder 11 being expanded and contracted by the hydraulic oil from the steering pump. The front frame 2a and the rear frame 2b constitute a vehicle body frame 2 having an articulated structure. The wheel loader 1 is an articulated working machine in which a front frame 2a and a rear frame 2b are connected for bending movement.

A working machine 3 and a pair of running wheels (front wheels) 4a are attached to the front frame 2a. The work machine 3 is attached to the front of the main body of the wheel loader 1. The work machine 3 is supported by the vehicle body of the wheel loader 1. The work machine 3 includes a boom 14 and a bucket 6. The bucket 6 is arranged at the tip of the working machine 3. The bucket 6 is a working tool for digging 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 of a flat surface. The back surface 6b extends rearward from the cutting edge 6a.

The base end of the boom 14 is rotatably attached to the front frame 2a by a boom pin 9. The bucket 6 is rotatably attached to the boom 14 by a bucket pin 17 located at the tip of the boom 14. The boom pin 9 and the bucket pin 17 correspond to "a plurality of joints" of the working machine 3.

The work machine 3 further includes a bell crank 18 and a link 15. The bell crank 18 is rotatably supported by the boom 14 by a support pin 18a located approximately at the center of the boom 14. The link 15 is connected to a connecting pin 18c provided at the tip of the bell crank 18. Link 15 connects bell crank 18 and bucket 6.

The front frame 2a and the boom 14 are connected by a pair of boom cylinders 16. Boom cylinder 16 is a hydraulic cylinder. The boom cylinder 16 rotates the boom 14 up and down about the boom pin 9 . A 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 with respect 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.

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 base end of the bell crank 18. The bucket cylinder 19 is a hydraulic actuator that rotates the bucket 6 up and down with respect to the boom 14. Bucket cylinder 19 is a work tool cylinder that drives bucket 6 . Bucket cylinder 19 rotates bucket 6 around bucket pin 17 . Bucket 6 is configured to be movable relative to boom 14 . The bucket 6 is configured to be movable relative to the front frame 2a.

The boom cylinder 16 and the bucket cylinder 19 correspond to an example of a "work machine actuator" that drives the work machine 3.

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

<System configuration>
FIG. 2 is a block diagram showing a schematic configuration of a control system that controls the wheel loader 1. As shown in FIG.

As shown in FIG. 2, the engine 21 is a drive source that generates driving force for driving the working machine 3 and the traveling device 4 (FIG. 1), and is, for example, a diesel engine. As the drive source, a motor driven by an electrical storage body may be used instead of the engine 21, 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 cylinders of the engine 21.

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

A part of the driving force of the engine 21 is transmitted to the work equipment pump 13. The work equipment pump 13 is a hydraulic pump that is driven by the engine 21 and operates the work equipment 3 (FIG. 1) with discharged hydraulic oil. The work machine 3 is driven by hydraulic oil from a work machine pump 13. Hydraulic oil discharged from the work equipment pump 13 is supplied to the boom cylinder 16 and the bucket cylinder 19 via the main valve 32. The boom 14 moves up and down as the boom cylinder 16 expands and contracts in response to the supply of hydraulic oil. When the bucket cylinder 19 is supplied with hydraulic oil and expands and contracts, the bucket 6 rotates up and down.

The wheel loader 1 includes a vehicle body controller 50. Vehicle controller 50 includes an engine controller 60, a transmission controller 70, and a work equipment controller 80.

The vehicle body controller 50 is generally realized 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 realizing the functions of the wheel loader 1.

The operating device 8 is provided in the cab 5. The operating device 8 is operated by an operator. The operating device 8 includes a plurality of types of operating members that are operated by an operator 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 include a steering handle, a shift lever, etc. (not shown).

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

The work equipment operating lever 42 is operated to operate the work equipment 3. The work machine controller 80 controls the electromagnetic proportional control valves 35 and 36 based on the amount of operation of the work machine operating lever 42.

The electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 is retracted and the bucket 6 moves in the dumping direction (the direction in which the cutting edge of the bucket 6 is lowered). Further, the electromagnetic proportional control valve 35 switches the main valve 32 so that the bucket cylinder 19 is extended and the bucket 6 is moved in the tilt direction (the direction in which the cutting edge of the bucket 6 is raised). The electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 is retracted and the boom 14 is lowered. Further, the electromagnetic proportional control valve 36 switches the main valve 32 so that the boom cylinder 16 is extended and the boom 14 is raised.

The machine monitor 51 receives command signals from the vehicle controller 50 and displays various information. The various information displayed on the machine monitor 51 includes, for example, information regarding the work performed by the wheel loader 1, vehicle body information such as remaining fuel level, cooling water temperature, and hydraulic oil temperature, and surrounding images of the surroundings of the wheel loader 1. etc. 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 controller 50.

<Excavation and loading work>
The wheel loader 1 of this embodiment performs an excavation and loading operation in which an excavated object such as earth and sand is scooped up and the excavated object is loaded onto a loading object such as a dump truck. FIG. 3 is a plan view of the wheel loader 1 that performs excavation and loading work. FIG. 3 shows a wheel loader 1 that performs so-called V-shape work.

FIG. 3(A) shows a wheel loader 1 that moves forward with a so-called empty load. The wheel loader 1 travels forward along an excavation route R1 toward an excavation target 310 such as earth and sand. The wheel loader 1 thrusts the bucket 6 into the excavated object 310 and stops moving forward. By raising the bucket 6 with the cutting edge 6a (FIG. 1) of the bucket 6 biting into the object 310 to be excavated, an excavation operation in which at least a portion of the object 310 to be excavated is scooped into the bucket 6 is performed.

FIG. 3(B) shows a wheel loader 1 that performs so-called backward movement with a loaded load. An excavated object 310 is loaded into the bucket 6 as a load. The wheel loader 1 travels backward along the excavation route R1 to the position where forward travel is started in FIG. 3(A).

FIG. 3(C) shows a wheel loader 1 that advances a load. With the load (excavated object 310) loaded in the bucket 6, the wheel loader 1 travels forward toward the vessel 301 of the dump truck 300. The wheel loader 1 moves forward from the position where it starts moving forward in FIG. 3(A) toward the dump truck 300 along the loading route R2. When approaching the dump truck 300 and reaching a predetermined position, the wheel loader 1 loads the load 310 in the bucket 6 into the vessel 301. The vessel 301 corresponds to an example of a "loading container" for loading the cargo 310 in the bucket 6.

FIG. 3(D) shows a wheel loader 1 that moves backward with no load. When the load 310 in the bucket 6 is completely discharged into the vessel 301 of the dump truck 300 and the bucket 6 is empty, the wheel loader 1 moves along the loading route R2 to the position where it started moving forward in FIG. 3(C). Drive backwards along the

In this way, the wheel loader 1 can repeatedly perform a series of operations such as excavation, retreat, dump approach, earth removal, and retreat.

<Automatic control system of wheel loader 1>
When automating the loading work of the wheel loader 1 onto the dump truck 300, in order to prevent the load 310 loaded into the vessel 301 from spilling from the vessel 301, the operation of the working machine 3 by a skilled operator during the loading work is controlled. It is hoped that this can be reproduced through automatic control. FIG. 4 is a block diagram showing the configuration of the automatic control system of the wheel loader 1.

The automation controller 100 is configured to be able to send and receive signals to and from the vehicle body controller 50 described using FIG. 2. The automation controller 100 is also configured to be able to send and receive signals to and from the external world information acquisition section 110. The external world information acquisition unit 110 includes 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.

The perception device 111 acquires information around the wheel loader 1. The sensing device 111 is attached, for example, to the upper front surface of the cab 5, as shown in FIG. The sensing device 111 corresponds to an example of an "object sensor" that detects objects around the main body of the wheel loader 1.

The sensing 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) that emits a laser beam to obtain information about an object. Perceptual device 111 may be a visual sensor including a camera. The perception device 111 may be a Radar (Radio Detection and Ranging) that acquires information about an object by emitting radio waves. The sensing device 111 may be an infrared sensor.

The position information acquisition device 112 acquires information on the current position of the wheel loader 1. The position information acquisition device 112 uses, for example, 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 wheel loader 1 by calculating the position of the antenna of the GNSS receiver based on the positioning signal that the GNSS receiver receives from the satellite.

The external world information of the wheel loader 1 obtained by the sensing device 111 and the position information of the wheel loader 1 obtained by the position information acquisition device 112 are input to the automation controller 100.

The vehicle body controller 50 is configured to be able to send and receive signals to and from the vehicle information acquisition section 120, and receives input of information about the wheel loader 1 that the vehicle information acquisition section 120 acquires. The vehicle information acquisition unit 120 is composed of various sensors mounted on the wheel loader 1. The vehicle information acquisition unit 120 includes an articulate 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.

The articulate angle sensor 121 detects an articulate angle, which is the angle formed by the front frame 2a and the rear frame 2b, and generates a signal of the detected articulate angle. The articulate angle sensor 121 outputs an articulate angle signal to the vehicle body controller 50.

The vehicle speed sensor 122 detects the moving speed of the wheel loader 1 by the traveling device 4 (FIG. 1) by, for example, detecting the rotational speed of the output shaft of the transmission 23 (FIG. 2), and sends a signal of the detected vehicle speed. Occur. Vehicle speed sensor 122 outputs a vehicle speed signal to vehicle controller 50. The vehicle speed sensor 122 corresponds to an example of a "traveling sensor" that detects the progress of the traveling device 4 (traveling object).

The boom angle sensor 123 is composed of, for example, a rotary encoder provided on the boom pin 9, which is the attachment portion of the boom 14 to the vehicle body frame 2. The boom angle sensor 123 detects the angle of the boom 14 with respect to the horizontal direction and generates a signal of the detected angle of the boom 14. Boom angle sensor 123 outputs a signal indicating the angle of boom 14 to vehicle controller 50 .

The bucket angle sensor 124 is composed of, for example, a rotary encoder provided on the support pin 18a, which is the rotation axis of the bell crank 18. Bucket angle sensor 124 detects the angle of bucket 6 with respect to boom 14 and generates a signal of the detected angle of bucket 6. Bucket angle sensor 124 outputs a signal indicating the angle of bucket 6 to vehicle controller 50 .

The boom angle sensor 123 and the bucket angle sensor 124 correspond to an example of a "work machine attitude sensor" that detects the attitude of the work machine 3. The work equipment attitude sensor may be an angle sensor that detects the angle of the bell crank 18 and an angle sensor that detects the angle of the link 15 instead of or in addition to the boom angle sensor 123 and the bucket angle sensor 124. . Further, the work machine attitude sensor is not limited to the above rotary encoder, but may be a stroke sensor, an IMU (Inertial Measurement Unit), a potentiometer, a visual sensor, or the like.

When a stroke sensor is used as the work machine attitude sensor, a stroke sensor is attached to each of the boom cylinder 16 and the bucket cylinder 19, for example. The stroke amount of each cylinder 16, 19 can be detected by the stroke sensor. The respective postures of the boom 14 and the bucket 6 can be detected based on this stroke amount.

When an IMU is used as a work machine attitude sensor, the IMU is attached to each of the boom 14 and the bucket 6, for example. Each IMU detects angles (or angular velocities) and accelerations in three axes. The postures of the boom 14 and the bucket 6 can be detected based on the three-axis angles (or angular velocities) and accelerations detected by the IMU.

When a potentiometer is used as the work machine attitude sensor, the potentiometer is attached, for example, near the end of the boom cylinder 16 on the boom 14 side and near the end of the bucket cylinder 19 on the bell crank 18 side. Each potentiometer can detect the rotation angle of the boom 14 with respect to the main body of the wheel loader 1 and the rotation angle of the bucket 6 with respect to the boom 14. The attitude of the working machine 3 can be detected from these rotation angles.

When a visual sensor is used as the work equipment attitude sensor, the state of the boom 14 and bucket 6 is captured by the visual sensor. The postures of the boom 14 and the bucket 6 can be detected from the image information captured by the visual sensor. The visual sensor is, for example, an imaging device such as a camera.

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

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 receives detected values from the vehicle speed sensor 122, boom angle sensor 123, and bucket angle sensor 124 via the vehicle body controller 50.

The actuator 140 is configured to be able to transmit and receive signals to and from the vehicle body controller 50. In response to a command signal from the vehicle body controller 50, the actuator 140 is driven. The actuator 140 includes a brake EPC (electromagnetic proportional control valve) 141 for operating the brake of the traveling device 4, a steering EPC 142 for adjusting the running direction of the wheel loader 1, and a working machine for operating the working machine 3. It includes an EPC 143 and an HMT (Hydraulic Mechanical Transmission) 144.

The electromagnetic proportional control valves 35 and 36 shown in FIG. 2 constitute a working machine EPC 143. The transmission 23 shown in FIG. 2 is realized as an HMT 144 that utilizes electronic control. The transmission 23 may be an HST (Hydro-Static 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 HMT, HST, and electric drive device. .

The vehicle body controller 50 includes a transmission controller 70 and a work equipment controller 80. The transmission controller 70 includes a brake control section 71 and an accelerator control section 72. The brake control unit 71 outputs a command signal to the brake EPC 141 to control the operation of the brake. The accelerator control unit 72 outputs a command signal to the HMT 144 to control the vehicle speed.

The work machine controller 80 has a steering control section 81 and a work machine control section 82. The steering control unit 81 outputs a command signal for controlling the running direction of the wheel loader 1 to the steering EPC 142. The work machine control unit 82 outputs a command signal for controlling the operation of the work machine 3 to the work machine EPC 143.

The automation controller 100 includes a position estimation section 101, a path planning section 102, a route following control section 103, and a load determining section 104.

The position estimation unit 101 estimates the self-position of the wheel loader 1 based on the position information acquired by the position information acquisition device 112. Further, the position estimating unit 101 recognizes the target position based on the external world information acquired by the sensing device 111. The target position is, for example, the position of the excavated object 310 or the dump truck 300 shown in FIG. 3 . The sensing 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 the detection result detected by the sensing device 111.

The path planning unit 102 generates an optimal route connecting the self-position of the wheel loader 1 and the target position. The optimal route includes a traveling route by the traveling device 4 and an operation route of the working machine 3.

The route following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 follows the optimal route generated by the path planning unit 102. A command signal for causing the wheel loader 1 to travel along the optimal route is output from the route following control section 103 to the brake control section 71, the accelerator control section 72, and the steering control section 81. The path following control section 103 controls the boom cylinder 16 and the bucket cylinder 19 so that the working machine 3 operates along the optimal path generated by the path planning section 102. A command signal for moving the work machine 3 along the optimal route is output from the route following control unit 103 to the work machine control unit 82.

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.

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

The mode lamp 133 indicates whether the wheel loader 1 is currently in a manual operation mode by an operator or an automatically controlled mode. A command signal for controlling lighting of the lamp is output from the vehicle body controller 50 to the mode lamp 133.

The automatic control system of the wheel loader 1 acquires information regarding the loading status of the load (for example, the shape of the load) in the vessel 301 when automating the load pushing in the loading operation. The automatic control system of the wheel loader 1 also detects information regarding the loading status of the load in the vessel 301. Further, the automatic control system of the wheel loader 1 moves the load in the vessel 301 (pushes the load) by operating the wheel loader 1 based on the detected information. For this reason, the automatic control system of the wheel loader 1 includes a "load sensor" that detects information regarding the loading status of the load in the vessel 301.

The above-mentioned "load sensor" detects information regarding the loading status of the load 310 in the vessel 301. The load sensor may include, for example, at least one of the above-mentioned "object sensor" and "work implement attitude sensor." That is, the load sensor may be a single "object sensor", a single "work implement attitude sensor", or may include both an "object sensor" and a "work implement attitude sensor".

When the cargo sensor is an object sensor, a signal indicating the loading status of the cargo 310 in the vessel 301 detected by the object sensor becomes information regarding the loading status of the cargo 310 in the vessel 301. In this case, the loading status of the cargo 310 in the vessel 301 is detected by the sensing device 111, which is an example of an object sensor. Specifically, the loading status of the cargo 310 in the vessel 301 is detected by one or any combination of LiDAR, visual sensor, Radar, infrared sensor, etc. which are examples of the sensing device 111.

When the load sensor is a work equipment attitude sensor, a signal indicating the attitude of the work equipment 3 detected by the work equipment attitude sensor becomes information regarding the loading status of the load 310 in the vessel 301. In this case, a signal indicating the attitude of the work machine 3 is detected by one or any combination of a rotary encoder, a stroke sensor, an IMU, a potentiometer, a visual sensor, etc., which are examples of work machine attitude sensors.

The automatic control system for the wheel loader 1 includes a load pushing determination unit 104 that determines whether it is necessary to push the load 310 within the vessel 301 based on information regarding the loading status of the load 310 within the vessel 301. are doing. Load pushing determination section 104 is included in automation controller 100.

The load pushing determination unit 104 determines whether it is necessary to push the load 310 in the vessel 301 based on the information detected by the load sensor. When information regarding the loading status is detected by the object sensor alone, the load pushing determination unit 104 determines whether the load 310 in the vessel 301 is detected based on the information regarding the loading status of the load 310 in the vessel 301 acquired by the sensing device 111, for example. Determine whether or not it is necessary to push the load.

In this case, the automation controller 100 stores relational data indicating, for example, the relationship between the loading status of the cargo 310 in the vessel 301 and the necessity of pushing the cargo. The load pushing determination unit 104 compares this relational data with the information regarding the loading status of the load 310 in the vessel 301 acquired by the sensing device 111 to determine whether or not the load 310 in the vessel 301 needs to be moved. Determine whether

In addition, when information related to the loading situation is detected by the work machine attitude sensor alone, the load pushing determination unit 104 determines whether the work machine 3 is moving to the vessel 301 from a signal indicating the attitude of the work machine 3 acquired by the work machine attitude sensor, for example. The number of times the cargo 310 is loaded is calculated. If the calculated number of times of loading is equal to or greater than a predetermined number of times (for example, two times), the load pushing determination unit 104 determines that the load 310 in the vessel 301 needs to be pushed. In this case, the signal indicating the number of times of loading corresponds to information regarding the loading status of the cargo 310 in the vessel 301.

Note that information regarding the loading situation may be detected by both the object sensor and the work machine posture sensor. In this case, it is necessary to push the load 310 in the vessel 301 based on both the information regarding the loading status detected by the object sensor and the information regarding the loading status detected by the work machine attitude sensor. It is determined whether or not there is.

When the load pushing determination unit 104 determines that it is necessary to push the load 310 in the vessel 301, the automation controller 100 operates the wheel loader 1 to push the load 310 toward the center CL of the vessel 301. let

Specifically, when the load pushing determination unit 104 determines that it is necessary to push the load 310 in the vessel 301, the wheel loader 1 is operated to move the load 310 toward the center CL of the vessel 301. is generated by the path planning unit 102. The route following control unit 103 controls the accelerator, brake, steering, boom cylinder 16 and bucket cylinder 19 so that the wheel loader 1 travels and the work equipment 3 operates following the route generated by the path planning unit 102. control.

<Automatic dump loading flow>
FIG. 5 is a flowchart showing the flow of the operation of automatically controlling the wheel loader 1 to load the load loaded into the bucket 6 onto the loading target.

As shown in FIG. 5, as a preliminary preparation, before starting the loading operation, in step S100, the shape of the vessel 301 of the dump truck 300 that is the target of loading is recognized. For example, the shape of the dump truck 300 is acquired using LiDAR, which is the sensing device 111. LiDAR irradiates the dump truck 300 with laser light to obtain point cloud data indicating three-dimensional coordinate values of measurement points on the dump truck 300. The dump truck 300 can be detected from the front, rear, right, and left sides, and the shape of the vessel 301 can be recognized from the point cloud information. The recognized shape of the vessel 301 is input to the automation controller 100.

In step S101, the perception device 111 recognizes the reference point P (FIG. 7) of the dump truck 300. For example, LiDAR, which is the sensing device 111, detects the dump truck 300. The automation controller 100 recognizes the position of the vessel 301 by comparing the point cloud detected by the perception device 111 with a master point cloud indicating the shape of the vessel 301. The automation controller 100 sets the upper end of the side surface of the vessel 301 of the dump truck 300 recognized by LiDAR, which is the sensing device 111, as a reference point P.

In step S102, the automation controller 100 sets the coordinates of the target positions c, d, and e (FIG. 7) of the cutting edge 6a of the bucket 6 that moves under automatic control with respect to the reference point P. The cutting edge 6a of the bucket 6 corresponds to an example of a "feature point" set on the work machine 3. Note that the feature point is not limited to the cutting edge 6a of the bucket 6, and other points on the work machine 3 may be set as the feature point.

Here, the reference point P and target positions c, d, and e will be explained. FIG. 7 is a diagram schematically showing the arrangement of the vessel 301 and the wheel loader 1 at the start of the dump approach. 7 and subsequent FIGS. 8 to 10, the vessel 301 is schematically shown as seen from the front and rear directions of the dump truck 300, and the wheel loader 1 approaching the vessel 301 from the left or right side of the dump truck 300 is shown schematically. A part of the front side is shown schematically.

The target position c is set as the position through which the cutting edge 6a of the bucket 6 passes while the wheel loader 1 is traveling forward toward the dump truck 300. While the wheel loader 1 is traveling forward, the working machine 3 moves the bucket 6 in the dumping direction in order to load the load 310 in the bucket 6 into the vessel 301. The target position c is the position when the cutting edge 6a of the dumped bucket 6 is located at the lowest position during the loading operation.

The target position d is set as the position through which the cutting edge 6a of the bucket 6 passes after passing the target position c. The target position d is set closer to the reference point P than the target position c. The target position d is the position at which the movement of the bucket 6 in the dumping direction is stopped. When the cutting edge 6a of the bucket 6 is at the target position d, the bucket 6 is in a full dump state, for example. When the cutting edge 6a of the bucket 6 is at the target position d, the length of the bucket cylinder 19 is the minimum. The target position d is above the vessel 301.

If the load pushing determination unit 104 determines that it is necessary to push the load 310 loaded into the vessel 301, the target position d becomes the position at which the load pushing starts. The target position d is a position where the operation of the working machine 3 is stopped while the bucket 6 is maintained in the full dump state, for example.

The target position e is set as the position through which the cutting edge 6a of the bucket 6 passes after passing through the target position d. The target position e is set farther from the reference point P than the target position d. From the target position d to the target position e, the bucket 6 is maintained in, for example, a full dump state and the operation of the work implement 3 is stopped, and the wheel loader 1 continues to travel forward. The target position e is above the vessel 301.

As shown in FIG. 7, an xy coordinate system is set with the reference point P as the origin. The x-axis is the left-right direction of the dump truck 300 passing through the reference point P. The direction away from the vessel 301 with respect to the reference point P is the +x direction. The y-axis is the vertical direction passing through the reference point P. The upward direction from the reference point P is the +y direction.

The bucket angle θ shown in FIG. 7 is the angle between the ground and the back surface 6b of the bucket 6. The bucket angle θ may be an angle between the back surface 6b of the bucket 6 and a horizontal plane based on the vehicle body.

The target positions c, d, and e are determined by providing the horizontal and vertical positions of the cutting edge 6a of the bucket 6 with respect to the reference point P, that is, the x and y coordinates. The target position c is set as the position where the height position of the cutting edge 6a becomes the lowest (the y coordinate becomes the minimum value) while the load 310 in the bucket 6 is being unloaded. The target position c is set to a position where the y-coordinate is on the negative side. The target positions d and e are set to positions where the y coordinate is on the plus side.

The target positions c, d, and e are set to positions where the x coordinate is on the negative side. The target positions d and e are set to the same y coordinate, for example. Note that the bucket 6 does not need to be in a full dump state at the target positions d and e, but may be in a dump state that allows the load 310 in the bucket 6 to be loaded into the vessel 301. Further, the target positions d and e do not have to have the same y coordinate, and the target position e may be lower than the target position d (a position in the −y direction).

The bucket angle θ when the cutting edge 6a of the bucket 6 is at each target position is also set. The attitude of the working machine 3 when the cutting edge 6a of the bucket 6 is at each target position is determined from the x and y coordinates of each target position and the bucket angle θ at each target position. The automation controller 100 stores the postures (target postures) of the working machine 3 when the cutting edge 6a of the bucket 6 is at each target position. Based on the target posture when the cutting edge 6a of the bucket 6 is at each target position, the length of the boom cylinder 16 and the length of the bucket cylinder 19 when the cutting edge 6a of the bucket 6 is at each target position are determined.

The x-coordinate and y-coordinate of each target position and the bucket angle θ at each target position are determined by analyzing the locus of the cutting edge 6a when a skilled operator performs loading work and extracting the characteristic position. It can be determined by extracting the attitude of the working machine 3 at the position.

FIG. 8 is a diagram schematically showing the attitude of the wheel loader when the blade edge of the bucket is located at the lowest position during the loading operation. FIG. 9 is a diagram schematically showing the attitude of the wheel loader at the time of starting load pushing. FIG. 10 is a diagram schematically showing the attitude of the wheel loader at the end of loading. In FIG. 8, the cutting edge 6a of the bucket 6 is at the target position c. In FIG. 9, the cutting edge 6a is at the target position d. In FIG. 10, the cutting edge 6a is at the target position e.

FIG. 11 is a graph showing changes in cylinder length during loading work. The horizontal axis in FIG. 11 shows the passage of time, and auxiliary lines are drawn at the times when the cutting edge 6a passes through the target positions c, d, and e. The vertical axis in FIG. 11 indicates the lengths of the boom cylinder 16 and the bucket cylinder 19.

As shown in FIG. 11 and FIGS. 7 and 8, the wheel loader 1 is traveling forward before the cutting edge 6a reaches the target position c. The length of the boom cylinder 16 is increasing and therefore the boom 14 is rising. The length of the bucket cylinder 19 continues to decrease, so the bucket 6 continues to move in the dumping direction. When the cutting edge 6a reaches the target position c, the cutting edge 6a is positioned at the lowest position during the loading operation.

As shown in FIG. 11 and FIGS. 8 and 9, the wheel loader 1 continues to travel forward during the movement of the cutting edge 6a from the target position c to the target position d. The length of boom cylinder 16 continues to increase and boom 14 continues to rise. The length of the bucket cylinder 19 continues to decrease, so the bucket 6 continues to move in the dumping direction. When the cutting edge 6a reaches the target position d, the bucket 6 assumes the full dumping position. When the cutting edge 6a reaches the target position d, the length of the bucket cylinder 19 is at its minimum.

As shown in FIG. 11 and FIGS. 9 and 10, the wheel loader 1 continues to travel forward during the movement of the cutting edge 6a from the target position d to the target position e. During the movement of the cutting edge 6a from the target position d to the target position e, the operation of the working machine 3 is stopped. Therefore, the lengths of the boom cylinder 16 and the bucket cylinder 19 are the same as the lengths of the boom cylinder 16 and the bucket cylinder 19 at the target position d. Therefore, when the cutting edge 6a reaches the target position e, the bucket 6 maintains the full dump posture, and the length of the bucket cylinder 19 is at its minimum.

As shown in FIG. 11, when the cutting edge 6a reaches the target position e, the wheel loader 1 is switched from forward travel to reverse travel. In the movement of the cutting edge 6a after reaching the target position e, the operation of the working machine 3 may be stopped for a predetermined period of time. In this case, for a predetermined period of time after reaching the target position e, the lengths of each of the boom cylinder 16 and the bucket cylinder 19 are the same as the lengths of each of the boom cylinder 16 and the bucket cylinder 19 at the target position e.

Furthermore, after a predetermined period of time has elapsed after reaching the target position e, the wheel loader 1 continues to travel backwards, the length of the boom cylinder 16 decreases (the boom 14 descends), and the length of the bucket cylinder 19 increases (the bucket 6 may be operated in the tilt direction).

The load 310 in the bucket 6 can be discharged into the vessel 301 by moving the cutting edge 6a of the bucket 6 so as to pass through the target positions c and d in sequence as described above. Further, by moving the cutting edge 6a of the bucket 6 so as to pass through the target positions d and e in order, the load 310 in the vessel 301 can be pushed by the bucket 6. For example, the load 310 in the vessel 301 can be pushed toward the center CL of the vessel 301 by the bucket 6. By applying automatic control for moving the bucket 6 to the wheel loader 1 in this manner, it is possible to realize operations of the wheel loader 1 including an earth unloading operation and a load pushing operation that are equivalent to operations performed by a skilled operator.

Returning to FIG. 5, the explanation of the loading operation using automatic control will be continued. In step S103, the automation controller 100 recognizes the current positions of the wheel loader 1 and the work machine 3. By acquiring the current position of the vehicle body of the wheel loader 1 with the position information acquisition device 112 and acquiring the attitude of the work implement with respect to the vehicle body with the boom angle sensor 123 and the bucket angle sensor 124, the wheel loader 1 and the work implement in the global coordinate system are 3's current position can be recognized. Based on the current positions of the wheel loader 1 and the working machine 3 and the current position of the dump truck 300 in the global coordinate system, the relative position of the cutting edge 6a of the bucket 6 with respect to the vessel 301 of the dump truck 300 can be calculated.

Alternatively, by using the sensing device 111 to obtain the direction and distance of the reference point P of the vessel 301 of the dump truck 300 with respect to the arrangement position of the sensing device 111, the current relative position of the cutting edge 6a of the bucket 6 with respect to the reference point P can be determined. may be calculated.

Based on the current position of the working machine 3, it is recognized where the cutting edge 6a of the bucket 6 is in relation to each of the target positions c to e. For example, the cutting edge 6a has not yet reached the target position c, the cutting edge 6a has passed the target position c and is between the target positions c and d, the cutting edge 6a has passed the target position d and is at the target position. d and the target position e, etc., is recognized. Furthermore, the target position to which the cutting edge 6a will go next is recognized. For example, if the cutting edge 6a has not yet reached the target position c, the next destination is the target position c, and if the cutting edge 6a is between the target positions c and d, the next destination is the target position. It is recognized that if the cutting edge 6a is located between the target position d and the target position e, the next target position is the target position e.

In step S104, the automation controller 100 recognizes the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position. A boom angle sensor 123 detects the angle of the boom 14 . A bucket angle sensor 124 detects the angle of the bucket 6. The attitude of the working machine 3 is determined from the angle of the boom 14 and the angle of the bucket 6. Based on the attitude of the working machine 3, the lengths of the boom cylinder 16 and the bucket cylinder 19 at the current position are recognized.

Instead of or in addition to the boom angle sensor 123 and the bucket angle sensor 124, an angle sensor that detects the angle of the bell crank 18 and an angle sensor that detects the angle of the link 15 may be provided. Further, the posture of the working machine 3 may be detected by a stroke sensor, an IMU, a potentiometer, a visual sensor, etc. instead of or in addition to the angle sensor.

In step S105, the automation controller 100 determines the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the current position recognized in step S104, and the length of the boom cylinder 16 and the length of the bucket cylinder 19 at the target position where the cutting edge 6a will go next. (hereinafter referred to as target cylinder length). The automation controller 100 calculates how much the cylinders 16 and 19 should be moved until the cutting edge 6a reaches the next target position.

In step S106, the automation controller 100 refers to the current vehicle speed and determines a target cylinder stroke speed that will result in the target cylinder length when the cutting edge 6a reaches the next target position. The automation controller 100 controls the boom cylinder 16 and the bucket cylinder 19 so that when the cutting edge 6a reaches the next target position, the working machine 3 assumes a target attitude corresponding to the target position. The current vehicle speed is acquired by vehicle speed sensor 122. The time required to reach the next target position is calculated from the current position of the cutting edge 6a and the current vehicle speed. The target cylinder stroke speed is determined by dividing the difference in cylinder length calculated in step S105 by the time required to reach the next target position.

The cylinder stroke amount during which the wheel loader 1 travels a unit distance may be determined. The fact that the wheel loader 1 has traveled a unit distance may be determined from the vehicle speed, or may be detected by the sensing device 111.

In step S107, the automation controller 100 outputs a command current corresponding to the target cylinder stroke speed to the vehicle body controller 50. The automation controller 100 outputs a command to the work machine control unit 82 of the work machine controller 80 to extend and contract the boom cylinder 16 and the bucket cylinder 19 at a target cylinder stroke speed. A command is output from the work equipment control unit 82 to the work equipment EPC 143 to extend and retract the boom cylinder 16 and the bucket cylinder 19 at a target cylinder stroke speed.

In step S108, the working machine EPC 143 that has received the command signal adjusts the opening degree, so that appropriate hydraulic oil is supplied to the boom cylinder 16 and the bucket cylinder 19. This causes the boom cylinder 16 and bucket cylinder 19 to operate.

In step S109, the automation controller 100 recognizes the current lengths of the boom cylinder 16 and bucket cylinder 19 similarly to step S104. The automation controller 100 determines whether the current lengths of the boom cylinder 16 and bucket cylinder 19 have reached the target cylinder length.

If it is determined in step S109 that the target cylinder length has been reached (YES in step S109), the process proceeds to step S110, and the automation controller 100 determines whether there is a next target position.

If it is determined in step S109 that the target cylinder length has not been reached (NO in step S109), and if it is determined in step S110 that there is a next target position (YES in step S110) , the process returns to step S103, and the process of expanding and contracting the boom cylinder 16 and the bucket cylinder 19 based on the current position of the working machine 3 is repeated. The cylinder speed is sequentially changed according to the current position of the cutting edge 6a of the bucket 6. If the current position of the cutting edge 6a deviates from the position based on the cylinder speed set in the previous process, the cylinder speed is adjusted.

If it is determined in step S110 that there is no next target position (NO in step S110), the loading operation is ended. In this embodiment, this corresponds to the fact that the next target position is not set after the end of the target position d.

<Automatic control flow of load pushing>
Next, the automatic control flow of load pushing will be explained using FIG. 6 and the like.

FIG. 6 is a flowchart showing automatic control of load pushing. By the automatic control of automatic dump loading shown in FIG. 5, the cutting edge 6a of the bucket 6 reaches the target position d as shown in FIG. Whether the cutting edge 6a has reached the target position d is determined by the automation controller 100 depending on whether the lengths of the boom cylinder 16 and the bucket cylinder 19 have reached the target length of the target position d in the automatic control flow shown in FIG. will judge. When reaching this target position d, the bucket 6 is in a full dump state. Therefore, the loading operation of the load 310 in the bucket 6 into the vessel 301 is completed (step S201: FIG. 6).

The automation controller 100 has acquired information regarding the loading status of the cargo 310 in the vessel 301. When the cutting edge 6a of the bucket 6 reaches the target position d, the automation controller 100 determines whether to push the load 310 in the vessel 301 (step S202: FIG. 6). The above-mentioned acquisition of information regarding the loading status and determination of whether loading is necessary are performed by the loading determination unit 104 of the automation controller 100.

The load pushing determination unit 104 determines whether it is necessary to push the load 310 within the vessel 301 based on information regarding the loading status of the load 310 within the vessel 301. The load pushing determination unit 104 determines whether it is necessary to push the load 310 in the vessel 301 based on information regarding the loading status of the load 310 in the vessel 301 acquired by the sensing device 111, for example.

In this case, the automation controller 100 stores relational data indicating the relationship between the loading status of the cargo 310 in the vessel 301 and the necessity of pushing the cargo. The load pushing determination unit 104 determines whether it is necessary to push the load 310 in the vessel 301 by comparing this relational data with the information regarding the loading status of the load 310 in the vessel 301 acquired by the sensing device 111. .

Further, the load pushing determination unit 104 calculates the number of times the load 310 is loaded into the vessel 301 by the work machine 3 from a signal indicating the attitude of the work machine 3 acquired by the work machine attitude sensor, for example. If the calculated number of times of loading is equal to or greater than a predetermined number of times (for example, two times), the load pushing determination unit 104 determines that the load 310 in the vessel 301 needs to be pushed.

If the load pushing determination unit 104 determines in step S202 that it is necessary to push the load 310 inside the vessel 301, it determines a path for operating the wheel loader 1 so that the cutting edge 6a moves from the target position d to the target position e. The path planning unit 102 generates it.

The route following control unit 103 controls the accelerator, brake, and steering so that the wheel loader 1 follows the route generated by the path planning unit 102. A command signal for causing the wheel loader 1 to travel along the optimal route is output from the route following control section 103 to the brake control section 71, the accelerator control section 72, and the steering control section 81. Thereby, the wheel loader 1 is controlled by the path following control unit 103 to travel forward from the target position d to the target position e.

Further, the route following control unit 103 controls the boom cylinder 16 and the bucket cylinder 19 so that the work machine 3 operates along the optimal route generated by the path planning unit 102. A command signal for moving the work machine 3 along the optimal route is output from the route following control unit 103 to the work machine control unit 82. As a result, the work machine 3 is controlled by the path following control unit 103 to stop its operation from the target position d to the target position e.

As described above, the wheel loader 1 moves forward until it reaches the target position e from the target position d, and the work implement 3 is controlled by the path following control unit 103 to stop its operation (step S203: FIG. 6). As a result, the wheel loader 1 is operated to push the load 310 in the vessel 301 toward the center CL of the vessel 301. When the cutting edge 6a reaches the target position e, the load pushing control ends.

Further, in step S202, if the load pushing determination unit 104 determines that pushing the load 310 in the vessel 301 is not necessary, the load pushing control ends.

<Movement of cargo within vessel 301 by pushing cargo>
Next, the movement of the load in the vessel 301 by the load pushing described above will be explained using FIGS. 12(A) to 12(C).

As shown in FIG. 12(A), a cargo 310A is loaded into the vessel 301 in the first loading, and a cargo 310B is loaded in the second loading. For example, when the second loading is completed, the cargo 310 may be loaded unevenly in the vessel 301.

If the loading condition (packing style) of the load 310 in the vessel 301 is inappropriate as described above, there is a risk that the load 310 may spill from the vessel 301 while the dump truck 300 is traveling. In order to prevent the load 310 from spilling from the vessel 301, in this embodiment, the bucket 6 moves the load 310 in the vessel 301 toward the center CL of the vessel 301. As described above, in this embodiment, the load pushing control using the bucket 6 is performed, for example, after the second loading of the load 310B is completed.

As shown in FIG. 12(B), the load is pushed by moving the cutting edge 6a of the bucket 6 from the end of the vessel 301 toward the center CL. As a result, the load 310 in the vessel 301 is pushed by the bucket 6 and moved to the center CL of the vessel 301.

As shown in FIG. 12(C), when the cutting edge 6a reaches the target position e, the imbalance of the load 310 in the vessel 301 is improved. This prevents the load 310 from spilling from the vessel 301 while the dump truck 300 is running.

After the cutting edge 6a reaches the target position e, the wheel loader 1 moves backward. As a result, the bucket 6 moves backward and leaves the dump truck 300 while forming the apex 310.

Note that the center CL of the vessel 301 is the viewpoint (shown in FIGS. 12A to 12C) of the cross section of the vessel 301 along the direction in which the wheel loader 1 moves forward toward the vessel 301 during the loading operation. In cross-sectional view), it means the center of the vessel 301 in the width direction.

<Action and effect>
Although some descriptions overlap with the above description, the characteristic configuration and effects of this embodiment are summarized as follows.

In this embodiment, the automation controller 100 (load determining unit 104) shown in FIG. 4 acquires information regarding the loading status of the load 310 in the vessel 301. Further, the automation controller 100 (load pushing determination unit 104) determines whether it is necessary to push the load 310 within the vessel 301 based on information regarding the loading status of the load 310 within the vessel 301. Further, the automation controller 100 (load pushing determination unit 104) operates the wheel loader 1 to move the load 310 toward the center CL of the vessel 301 when it is determined that the load 310 needs to be moved within the vessel 301. let

In this way, the load 310 is pushed toward the center CL of the vessel 301 based on the loading status of the load 310 in the vessel 301. Therefore, the unevenness of the load 310 within the vessel 301 is improved. This prevents the load 310 from spilling from the vessel 301 while the dump truck 300 is running.

In this embodiment, when it is determined that the load 310 needs to be moved within the vessel 301, the automation controller 100 (load pushing determination unit 104) shown in FIG. The wheel loader 1 is operated to move the load 310 toward the center CL of the vessel 301. As a result, the load 310 in the vessel 301 that is held by the bucket 6 can be pushed toward the center CL of the vessel 301.

In this embodiment, when it is determined that the load 310 needs to be moved within the vessel 301, the automation controller 100 (load pushing determination unit 104) shown in FIG. By moving the device 4 forward, the wheel loader 1 is operated to move the load 310 toward the center CL of the vessel 301. This eliminates the need to control the operation of the work implement actuator during load pushing, making it possible to simplify the operation control.

In this embodiment, when it is determined that it is necessary to move the load 310 within the vessel 301, the automation controller 100 (load pushing determination unit 104) shown in FIG. By moving the device 4 forward, the wheel loader 1 is operated to move the load 310 toward the center CL of the vessel 301. This eliminates the need to control the height of the bucket 6 when pushing a load, making it possible to simplify operation control.

In this embodiment, the automation controller 100 (load pushing determination unit 104) shown in FIG. Based on the calculated number of loadings, it is determined whether it is necessary to move the load 310 within the vessel 301. This makes it possible to easily determine whether loading is necessary based on the number of times of loading.

In this embodiment, the automation controller 100 (load pushing determination unit 104) shown in FIG. 4 determines whether it is necessary to move the load 310 within the vessel 301 based on the loading status of the load 310 detected by the object sensor. Determine whether or not. Thereby, it is possible to determine whether it is necessary to push the load depending on the actual loading situation of the load 310 in the vessel 301. Therefore, it is possible to more accurately prevent the load 310 from spilling from the vessel 301 while the dump truck 300 is running.

<Additional notes>
The above description includes the features noted below.

(Additional note 1)
A working machine,
The main body and
a working machine that is attached to the main body and loads a load into a loading container;
a work implement actuator that drives the work implement with respect to the main body;
a controller that commands driving of the work implement actuator based on a detected value of the position of the work implement and a detected value of the position of the loading container with respect to the work machine;
The controller acquires information regarding the loading status of the load in the loading container, and determines whether it is necessary to move the load within the loading container based on the acquired information regarding the loading status of the load. and operating the work machine to move the load toward the center of the loading container if it is determined that the load needs to be moved within the loading container.

(Additional note 2)
The main body has a running body,
Further comprising a running sensor that detects the progress state of the running body,
The working machine according to supplementary note 1, wherein the controller instructs the driving of the working machine actuator based on a detected value of the travel sensor and a detected value of the position of the loading container with respect to the working machine.

(Appendix 3)
When the controller determines that it is necessary to move the load within the loading container, the controller moves the load toward the center of the loading container by moving the traveling body forward. The working machine described in Appendix 2 that operates the machine.

(Additional note 4)
When the controller determines that it is necessary to move the load within the loading container, the controller moves the traveling body forward while stopping the driving of the work implement actuator, thereby moving the load to the center of the loading container. The working machine according to appendix 3, wherein the working machine is operated to move the load toward the target.

(Appendix 5)
The work machine has a bucket,
When the controller determines that it is necessary to move the load within the loading container, the controller moves the traveling body forward while maintaining the height of the bucket toward the center of the loading container. The working machine according to appendix 3 or 4, wherein the working machine is operated to move a load.

(Appendix 6)
Further comprising a work machine attitude sensor that detects the attitude of the work machine in order to determine the loading status of the load,
The controller calculates the number of times the work machine loads the loading container based on the attitude of the work machine detected by the work machine attitude sensor, and the controller calculates the number of times the work machine loads the loading container based on the calculated number of times of loading. The working machine according to any one of appendices 1 to 5, which determines whether it is necessary to move a load within the container.

(Appendix 7)
Further comprising an object sensor that detects the loading status of the load loaded into the loading container in order to determine the loading status of the load,
The controller determines whether or not it is necessary to move a load within the loading container based on the loading status of the load detected by the object sensor. The working machine described.

(Appendix 8)
A system including a working machine,
The working machine body,
a working machine that is attached to the working machine body and loads a load into a loading container;
a work machine actuator that drives the work machine with respect to the work machine main body;
a controller that commands driving of the work implement actuator based on a detected value of the position of the work implement and a detected value of the position of the loading container with respect to the work machine;
The controller acquires information regarding the loading status of the load in the loading container, and determines whether it is necessary to move the load within the loading container based on the acquired information regarding the loading status of the load. and operating the work machine to move a load toward the center of the load container if it is determined that the load needs to be moved within the load container.

(Appendix 9)
A method for controlling a working machine,
obtaining information regarding the loading status of cargo in the loading container;
Determining whether it is necessary to move the load within the loading container based on the obtained information regarding the loading status of the load;
controlling the work machine, comprising: operating the work machine to move the load toward the center of the loading container when it is determined that the load needs to be moved within the loading container; Method.

The embodiments disclosed herein are illustrative in all respects and should not be considered restrictive. The scope of the present invention is indicated not by the above description but by the claims, and it is intended that equivalent meanings and all changes within the scope of the claims are included.

1 Wheel loader, 2 Body frame, 2a Front frame, 2b Rear frame, 3 Work equipment, 4 Traveling device, 4a, 4b Running wheels, 5 Cab, 6 Bucket, 6a Cutting edge, 6b Back side, 8 Operating device, 9 Boom pin, 11 Steering cylinder, 13 Work equipment pump, 14 Boom, 15 Link, 16 Boom cylinder, 17 Bucket pin, 18 Bell crank, 18a Support pin, 18b, 18c Connection pin, 19 Bucket cylinder, 21 Engine, 23 Transmission, 25 Axle, 32 Main valve, 35, 36 Electromagnetic proportional control valve, 41 Accelerator pedal, 42 Work equipment operating lever, 50 Vehicle controller, 51 Machine monitor, 60 Engine controller, 70 Transmission controller, 71 Brake control unit, 72 Accelerator control unit, 80 Work equipment Controller, 81 Steering control unit, 82 Work equipment control unit, 100 Automation controller, 101 Position estimation unit, 102 Path planning unit, 103 Route following control unit, 104 Judgment unit, 110 External world information acquisition unit, 111 Perception device, 112 Position information Acquisition device, 120 Vehicle information acquisition unit, 121 Articulated angle sensor, 122 Vehicle speed sensor, 123 Boom angle sensor, 124 Bucket angle sensor, 125 Boom cylinder pressure sensor, 130 Interface, 131 Automation changeover switch, 132 Engine emergency stop switch, 133 Mode lamp, 140 Actuator, 141 Brake EPC, 142 Steering EPC, 143 Work equipment EPC, 144 HMT, 300 Dump truck, 301 Vessel, 310 Load (object to be excavated).

Claims (9)

1. A working machine,
   The main body and
   a working machine that is attached to the main body and loads a load into a loading container;
   a work implement actuator that drives the work implement with respect to the main body;
   a controller that commands driving of the work machine actuator based on a detected value of the position of the work machine and a detected value of the position of the loading container with respect to the work machine,
   The controller acquires information regarding the loading status of the load in the loading container, and determines whether it is necessary to move the load within the loading container based on the acquired information regarding the loading status of the load. and operating the work machine to move the load toward the center of the loading container if it is determined that the load needs to be moved within the loading container.
2. The main body has a running body,
   Further comprising a running sensor that detects the progress state of the running body,
   The working machine according to claim 1, wherein the controller instructs the driving of the working machine actuator based on a detected value of the traveling sensor and a detected value of the position of the loading container with respect to the working machine.
3. When the controller determines that it is necessary to move the load within the loading container, the controller moves the load toward the center of the loading container by moving the traveling body forward. The work machine according to claim 2, which operates the machine.
4. When the controller determines that it is necessary to move the load within the loading container, the controller moves the traveling body forward while stopping the driving of the work implement actuator, thereby moving the load to the center of the loading container. 4. The work machine of claim 3, wherein the work machine is operated to move a load toward a target.
5. The work machine has a bucket,
   When the controller determines that it is necessary to move the load within the loading container, the controller moves the traveling body forward while maintaining the height of the bucket toward the center of the loading container. 4. The work machine according to claim 3, wherein the work machine is operated to move a load.
6. Further comprising a work machine attitude sensor that detects the attitude of the work machine in order to determine the loading status of the load,
   The controller calculates the number of times the work machine loads the loading container based on the attitude of the work machine detected by the work machine attitude sensor, and the controller calculates the number of times the work machine loads the loading container based on the calculated number of times of loading. The work machine of claim 1, wherein the work machine determines whether a load needs to be moved within a container.
7. Further comprising an object sensor that detects the loading status of the load loaded into the loading container in order to determine the loading status of the load,
   The working machine according to claim 1, wherein the controller determines whether it is necessary to move a load within the loading container based on the loading status of the load detected by the object sensor.
8. A system including a working machine,
   The working machine body,
   a working machine that is attached to the working machine body and loads a load into a loading container;
   a work machine actuator that drives the work machine with respect to the work machine main body;
   a controller that commands driving of the work implement actuator based on a detected value of the position of the work implement and a detected value of the position of the loading container with respect to the work machine;
   The controller acquires information regarding the loading status of the load in the loading container, and determines whether it is necessary to move the load within the loading container based on the acquired information regarding the loading status of the load. and operating the work machine to move a load toward the center of the load container if it is determined that the load needs to be moved within the load container.
9. A method for controlling a working machine,
   Obtaining information regarding the loading status of cargo in the loading container;
   Determining whether it is necessary to move the load within the loading container based on the obtained information regarding the loading status of the load;
   controlling the work machine, comprising: operating the work machine to move the load toward the center of the loading container when it is determined that the load needs to be moved within the loading container; Method.

Images