JP2024043780A - System including work machine, and control method of work machine - Google Patents

Abstract

To provide a system capable of increasing a load capacity of a container.SOLUTION: A work machine has a bucket 6. A system including the work machine comprises: an information acquisition portion acquiring information about a vessel 301 of a dump truck onto which a load loaded in the bucket 6 is to be loaded; and a controller. The controller determines a loading position which is a relative position of the bucket 6 with respect to the vessel 301 when loading a load into the vessel 301, based on widthwise dimension information of the bucket 6 and information related to the vessel 301.SELECTED DRAWING: Figure 8

Description

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

JP 2017-43887 A (Patent Document 1) discloses a control system that divides the vessel of a dump truck into a center area, a left area, and a right area, and displays loading guidance to load objects into each area in order.

JP 2017-43887 A

The work machine loads cargo into a container such as a dump truck vessel. The dump truck vessel often has a total length longer than the width of the work machine's bucket. In order to increase the load capacity of the dump truck, it is necessary to manage the loading position of the vessel in the fore-and-aft direction and perform loading.

This disclosure proposes a system including a work machine and a control method for the work machine that can increase the load capacity of a container.

According to one aspect of the present disclosure, a system including a work machine is proposed. The work machine has a working implement. The system includes an information acquisition unit that acquires information about a container into which a load placed on the work machine is to be loaded, and a controller. The controller determines a loading position, which is the relative position of the work machine with respect to the container when loading the load into the container, based on widthwise dimension information of the work machine and information about the container.

According to one aspect of the present disclosure, a control method for a work machine is proposed. The control method includes acquiring widthwise dimension information of the work machine, acquiring information about a container into which a load placed on the work machine is to be loaded, and determining, based on the dimensional information of the work machine and the information about the container, a position to which the work machine is moved relative to the container when loading the load into the container as a loading position.

According to one aspect of the present disclosure, a system including a work machine is proposed. The work machine has a working implement. The system includes an information acquisition unit that acquires information about a container into which a load placed on the work machine is to be loaded, and a controller. The controller determines a target position to which the work machine, which loads the load into the container, is to head, based on widthwise dimension information of the work machine and front-rear dimension information of the container.

According to the system including the work machine and the control method for the work machine of the present disclosure, it is possible to increase the amount of cargo loaded into a container.

FIG. 1 is a side view of a wheel loader as an example of a work 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 the wheel loader performing excavation and loading work. FIG. 1 is a block diagram showing a configuration of an automatic control system for a wheel loader. FIG. 2 is a schematic diagram of a dump truck vessel viewed from the side. 10 is a flowchart showing the flow of an operation of loading a load in a bucket into a container by automatic control. FIG. 13 is a schematic diagram showing the progress of loading work into a vessel in four loads. FIG. 2 is a schematic diagram showing a first example of a loading position. It is a schematic diagram which shows the 2nd example of a loading position. It is a schematic diagram which shows the 3rd example of a loading position. FIG. 13 is a schematic diagram showing a second example of the loading operation of a cargo into a vessel by four-pass loading. It is a schematic diagram which shows the 3rd example of loading work of the load into a vessel by four times loading.

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 work machine. Fig. 1 is a side view of a wheel loader 1 as an example of a work machine.

As shown in FIG. 1, the wheel loader 1 comprises a vehicle frame 2, a work implement 3, a traveling device 4, and a cab 5. The vehicle body of the wheel loader 1 is made up of the vehicle frame 2, the cab 5, etc. The vehicle body of the wheel loader 1 is equipped with the work implement 3 and the traveling device 4. The main body of the wheel loader 1 comprises the vehicle body and the 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 object.

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

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 movable in the left-right direction.

A pair of steering cylinders 11 are attached across the front frame 2a and the rear frame 2b. The steering cylinders 11 are hydraulic cylinders. The steering cylinders 11 are extended and retracted by hydraulic oil from a steering pump, thereby changing the direction of travel of the wheel loader 1 from left to right. The front frame 2a and the rear frame 2b form the body frame 2 with an articulated structure. The wheel loader 1 is an articulated work machine in which the front frame 2a and the rear frame 2b are connected so that they can be bent.

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.

A base end portion 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 relative to the boom 14. The bucket cylinder 19 is a tool cylinder that drives the bucket 6. The bucket cylinder 19 rotates the bucket 6 around the bucket pin 17. The bucket 6 is configured to be movable relative to the boom 14. The bucket 6 is configured to be movable relative to the front frame 2a.

The boom cylinder 16 and the bucket cylinder 19 correspond to an example of a work machine actuator that drives the work machine 3. The traveling device 4, the boom cylinder 16, and the bucket cylinder 19 correspond to an example of a "moving unit" that moves the working 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, which will be described later, and the like are arranged.

The cab 5 is provided with a sensory device 111. The sensory device 111 is arranged, for example, on the ceiling of the cab 5. The sensory device 111 is mounted on the top surface of the cab 5, for example. The sensory device 111 is arranged, for example, at the front of the cab 5. The sensing device 111 is attached to the cab 5, for example, facing forward, and is capable of acquiring information in front of the cab 5. The details of the perception device 111 will be described later.

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

The engine 21 is a drive source that generates driving force for driving the working machine 3 and the traveling device 4, 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 an appropriate torque and rotational speed. The axle 25 is connected to the output shaft of the transmission 23. The driving force changed by the transmission 23 is transmitted to the axle 25. The driving force is transmitted from the axle 25 to the running wheels 4a, 4b (Figure 1). This causes the wheel loader 1 to travel. In the wheel loader 1 of this embodiment, both the running wheels 4a and 4b constitute driving wheels that receive the driving force and cause the wheel loader 1 to travel.

A portion of the driving force of the engine 21 is transmitted to the work equipment pump 13. The work implement pump 13 is a hydraulic pump that is driven by the engine 21 and operates the work implement 3 with the hydraulic fluid it discharges. 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. As the bucket cylinder 19 expands and contracts in response to the supply of hydraulic oil, the bucket 6 rotates up and down.

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

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 the operator. The operating device 8 has multiple types of operating members that the operator operates to operate the wheel loader 1. The operating device 8 includes an accelerator pedal 41 and a work equipment operating lever 42. The operating device 8 may also include a steering handle, a shift lever, etc., which are not shown.

Accelerator pedal 41 is operated to set the target rotation speed of 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 machine operating lever 42 is operated to operate the work machine 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 retracts the bucket cylinder 19 and switches the main valve 32 so that the bucket 6 moves in the dump direction (the direction in which the blade tip of the bucket 6 moves down). The electromagnetic proportional control valve 35 also switches the main valve 32 so that the bucket cylinder 19 extends and the bucket 6 moves in the tilt direction (the direction in which the blade tip of the bucket 6 moves up). The electromagnetic proportional control valve 36 retracts the boom cylinder 16 and switches the main valve 32 so that the boom 14 moves down. The electromagnetic proportional control valve 36 also switches the main valve 32 so that the boom cylinder 16 extends and the boom 14 moves up.

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

<Excavation and loading work>
The wheel loader 1 of this embodiment performs excavation and loading work by scooping up excavation objects such as soil and sand and loading the excavation objects onto a loading target such as a dump truck. Fig. 3 is a plan view of the wheel loader 1 performing excavation and loading work. Fig. 3 shows the wheel loader 1 performing so-called V-shape work.

FIG. 3A shows a wheel loader 1 that moves forward with no 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 of the bucket 6 biting into the excavated object 310, an excavation operation in which the excavated object 310 is scooped into the bucket 6 is executed.

Figure 3 (B) shows the wheel loader 1 moving backwards with a load. The bucket 6 is loaded with an excavation target 310. The wheel loader 1 moves backwards along the excavation path R1 to the position where it started moving forward in Figure 3 (A).

FIG. 3(C) shows a wheel loader 1 that moves a load forward. With the excavated object 310 loaded in the bucket 6, the wheel loader 1 moves 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 excavated object 310 in the bucket 6 into the vessel 301. The vessel 301 corresponds to an example of a "container" for loading a load loaded onto the work machine 3.

Figure 3 (D) shows the wheel loader 1 moving backwards while empty. After the excavation target 310 in the bucket 6 has been completely discharged into the vessel 301 of the dump truck 300 and the bucket 6 is empty, the wheel loader 1 moves backwards along the loading route R2 to the position where it started moving forward in Figure 3 (C).

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 into the dump truck 300 by the wheel loader 1, in order to ensure the amount of work without bringing the bucket 6 into contact with the vessel 301, and to perform the loading work more quickly, it is necessary to use a work machine for a skilled operator. It is desired to reproduce the operation in step 3 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 capable of transmitting and receiving signals to and from the vehicle controller 50 described with reference to FIG. 2. The automation controller 100 is also configured to be capable of transmitting and receiving signals to and from the external environment information acquisition unit 110. The external environment information acquisition unit 110 has a perception device 111 and a position information acquisition device 112. The perception device 111 and the position information acquisition device 112 are mounted on the wheel loader 1.

The perception device 111 acquires information about the surroundings of the wheel loader 1. The perception device 111 is attached, for example, to the front of the top surface of the cab 5. The perception 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 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. For example, the position information acquisition device 112 uses a satellite positioning system to acquire position information of the wheel loader 1 in a global coordinate system based on the Earth. For example, the position information acquisition device 112 uses GNSS (Global Navigation Satellite Systems) and has a GNSS receiver. The satellite positioning system calculates the position of the GNSS receiver antenna based on the positioning signal received by the GNSS receiver from a satellite, and calculates the position of the wheel loader 1.

The external environment information of the wheel loader 1 from the perception device 111 and the position information of the wheel loader 1 from 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 unit 120, and receives information about the wheel loader 1 acquired by the vehicle information acquisition unit 120. The vehicle information acquisition unit 120 is made up of various sensors mounted on the wheel loader 1. The vehicle information acquisition unit 120 has an articulation angle sensor 121, a vehicle speed sensor 122, a boom angle sensor 123, a bucket angle sensor 124, and a boom cylinder pressure sensor 125.

The articulate angle sensor 121 detects an articulate angle that is an angle between 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 by detecting, for example, the rotational speed of the output shaft of the transmission 23, and generates a signal of the detected vehicle speed. Vehicle speed sensor 122 outputs a vehicle speed signal to vehicle controller 50. The vehicle speed sensor 122 corresponds to an example of a travel sensor that detects the progress of the travel device 4 (traveling object).

The boom angle sensor 123 is, for example, a rotary encoder attached to the boom pin 9, which is the mounting portion of the boom 14 to the vehicle body frame 2. The boom angle sensor 123 detects the angle of the boom 14 relative to the horizontal direction and generates a signal of the detected angle of the boom 14. The boom angle sensor 123 outputs a signal of the angle of the boom 14 to the vehicle body controller 50.

The bucket angle sensor 124 is configured, for example, by 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. The bucket angle sensor 124 outputs a signal indicating the angle of the bucket 6 to the vehicle body 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 boom cylinder pressure sensor 125 detects the pressure (boom bottom pressure) on the bottom side of the boom cylinder 16 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. The boom cylinder pressure sensor 125 outputs the boom bottom pressure signal to the vehicle controller 50.

The vehicle controller 50 outputs information input from the vehicle information acquisition section 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 send and receive signals to and from the vehicle body controller 50. The actuator 140 is driven upon receiving a command signal from the vehicle body controller 50. The actuator 140 includes a brake EPC (electromagnetic proportional control valve) 141 for actuating the brakes of the traveling device 4, a steering EPC 142 for adjusting the traveling direction of the wheel loader 1, a work machine EPC 143 for operating the work machine 3, 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 transmission controller 70 has a brake control unit 71 and an accelerator control unit 72. The brake control unit 71 outputs a command signal to the brake EPC 141 to control the operation of the brakes. The accelerator control unit 72 outputs a command signal to the HMT 144 to control the vehicle speed.

The work machine controller 80 includes 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 has a position estimation unit 101, a path planning unit 102, and a path following control unit 103.

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 position estimation unit 101 is capable of acquiring a predetermined reference point of the dump truck 300, for example, the position of the upper end of the side surface of the vessel 301. 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 for the wheel loader 1 when automatically controlling the wheel loader 1. The optimal route includes a traveling route by the traveling device 4 and an operation route of the working machine 3. For example, the path planning unit 102 determines an optimal route for the wheel loader 1 to move forward with a load toward the dump truck 300 and an optimal route for the wheel loader 1 to move backward and leave the dump truck 300 with an empty load in the loading operation on the dump truck 300. and generate. The path planning unit 102 also generates an optimal route connecting the current self-position of the wheel loader 1 and the target position to which the wheel loader 1 is heading while executing the loading operation onto the dump truck 300.

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

The interface 130 is configured to be able to send and receive signals to and from the vehicle 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 mode in which the wheel loader 1 is manually operated by an operator or in 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.

<Vessel 301>
Fig. 5 is a schematic diagram of a vessel 301 of a dump truck 300 as seen from the side, as an example of a container into which a load placed on a work machine 3 (bucket 6) is loaded. Fig. 5 and subsequent Figs. 7 to 12 show a schematic shape of the vessel 301 as seen from the left side of the dump truck 300. The thick lines in the figure show the schematic shape of the surfaces constituting the internal shape of the vessel 301 as seen from the left side of the dump truck 300.

In FIGS. 5, 7 to 12, the left-right direction in the drawings corresponds to the front-back direction of the dump truck 300 (the front-back direction of the vessel 301). In FIGS. 5, 7 to 12, the left direction in the drawings is the front direction of the dump truck 300 (vessel 301), and the right direction in the drawings is the rear direction of the dump truck 300 (vessel 301). In FIGS. 5, 7 to 12, the direction perpendicular to the paper surface corresponds to the left-right direction of the dump truck 300 (the left-right direction of the vessel 301). In FIGS. 5, 7 to 12, the vertical direction in the figures corresponds to the vertical direction of the dump truck 300 (the vertical direction of the vessel 301).

The vessel 301 is provided at the rear of the dump truck 300. A cab is provided at the front of the dump truck 300, and the vessel 301 is located behind the cab. The vessel 301 is structured to be capable of carrying heavy objects to be loaded, such as soil and crushed stone.

As shown in FIG. 5, the vessel 301 has a bottom surface 302, a front wall surface 303, and a rear inclined surface 305. The bottom surface 302 has a flat shape. The bottom surface 302 has a planar shape that extends in the front-rear and left-right directions of the dump truck 300 (vessel 301).

The front wall surface 303 has a flat shape. The front wall surface 303 extends forward and upward from the front end of the bottom surface 302. The front wall surface 303 extends so as to be inclined toward the front side as it goes upward. The front wall surface 303 constitutes the front wall surface of the vessel 301. The front wall surface of the vessel 301 is inclined upward as it goes forward. The front wall surface 303 has a front upper edge 304. The front upper edge 304 extends in the left-right direction. The front upper edge 304 constitutes the front edge of the vessel 301.

The rear inclined surface 305 has a flat shape. The rear inclined surface 305 extends rearward and upward from the rear end of the bottom surface 302. The rear inclined surface 305 extends so as to incline toward the rear as it extends upward. The rear inclined surface 305 inclines upward as it extends rearward. The rear inclined surface 305 has a rear upper edge 306. The rear upper edge 306 extends in the left-right direction. The rear upper edge 306 forms the rear edge of the vessel 301. The rear upper edge 306 is located lower than the front upper edge 304.

Figure 5 illustrates an example of the shape of the vessel 301 without a tailgate. If the vessel 301 has a tailgate, the tailgate is arranged to extend upward from the rear end of the rear inclined surface 305. The upper edge of the tailgate constitutes the rear upper edge 306.

<Automatic dump loading flow>
6 is a flowchart showing the flow of an operation for loading a load loaded in the bucket 6 into a container by automatically controlling the wheel loader 1. The vessel 301 of the dump truck 300 is an example of a container into which the load loaded in the work implement 3 (bucket 6) is loaded. The container is not limited to the vessel 301 of the dump truck 300, and may be, for example, a hopper or the like.

In step S1, the number of loading operations is calculated, which indicates how many times the wheel loader 1 must load cargo into the vessel 301 of one dump truck 300 until the vessel 301 is fully loaded with cargo.

For example, the LiDAR, which is the perception device 111, acquires the shape of the dump truck 300. The LiDAR irradiates the dump truck 300 with laser light to acquire point cloud data indicating the three-dimensional coordinate values of measurement points on the dump truck 300. The dump truck 300 can be detected from all four directions, the front, rear, right, and left, 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. The automation controller 100 calculates the maximum load capacity of the vessel 301 from the shape of the vessel 301, and also calculates the dimensions of the vessel 301. The perception device 111 corresponds to an example of an "information acquisition unit" that acquires information about the vessel 301.

The wheel loader 1 and the dump truck 300 may perform inter-vehicle communication. In addition to the system configuration shown in FIG. 4, the wheel loader 1 may include a communication unit that communicates with the dump truck 300. Through vehicle-to-vehicle communication between the communication unit of the wheel loader 1 and the communication unit of the dump truck 300, information regarding the vessel 301, such as the maximum loading capacity of the vessel 301 and the dimensions of the vessel 301, is transmitted from the dump truck 300 to the wheel loader 1. May be sent. In this case, the communication unit of the wheel loader 1 corresponds to an example of an “information acquisition unit” that acquires information regarding the vessel 301.

The vehicle controller 50 stores information regarding the bucket 6. The information regarding the bucket 6 includes the dimensions of the bucket 6 and the capacity of the bucket 6. The dimensions of the bucket 6 include the dimensions of the bucket 6 in the width direction. The width direction of the bucket 6 is a direction parallel to the extending direction of the bucket pin 17 that connects the bucket 6 and the boom 14, and in FIG. 1 is a direction perpendicular to the paper surface. When the articulation angle of the wheel loader 1 is 0° and the wheel loader 1 travels straight, the width direction of the bucket 6 coincides with the left-right direction of the wheel loader 1. The cutting edge 6a of the bucket 6 extends in the width direction of the bucket 6. The dimensions of the bucket 6 include the length of the cutting edge 6a in the width direction of the bucket 6.

In the wheel loader 1, the bucket 6 can be replaced. The vehicle body controller 50 outputs information regarding the bucket 6 currently attached to the tip of the working machine 3 to the automation controller 100.

The density of the excavation object 310 that is excavated by the wheel loader 1 and loaded into the vessel 301 of the dump truck 300 is also input to the automation controller 100. The density of the excavation object 310 may be estimated by the automation controller 100 based on the detection result of the excavation object 310 detected by the perception device 111, which is a visual sensor such as a camera. The density of the excavation object 310 may be input by the operator via the interface 130.

The automation controller determines the number of loading times based on the maximum load capacity of the vessel 301, the capacity of the bucket 6, and the density of the excavation target 310. When the vessel 301 has a maximum load capacity that allows multiple loading of the excavation target 310 (load) loaded in the bucket 6, the number of loading times is determined to be multiple times. Below, an example in which the number of loading times is determined to be four times is described, but it goes without saying that the number of loading times is not limited to four times.

In step S2, the automation controller 100 determines the position to which the work machine 3 (bucket 6) is moved relative to the vessel 301 when loading the load loaded on the work machine 3 (bucket 6) into the vessel 301 as the loading position. do. The loading position is the relative position of the work machine 3 (bucket 6) with respect to the vessel 301 when loading the load loaded on the work machine 3 (bucket 6) into the vessel 301.

FIG. 7 is a schematic diagram showing the progress of loading work into the vessel 301 by loading four times. FIG. 7(A) shows the situation inside the vessel 301 after the first loading. 7(B), FIG. 7(C), and FIG. 7(D) show the situation inside the vessel 301 after the second, third, and fourth loading, respectively. FIG. 7(D) shows a state in which the loading work into the vessel 301 has been completed.

FIG. 8 is a schematic diagram showing a first example of the loading position. FIG. 9 is a schematic diagram showing a second example of the loading position. FIG. 10 is a schematic diagram showing a third example of the loading position. 8 to 10 schematically illustrate the vessel 301 seen from the left. 8 to 10 also schematically illustrate the bucket 6 seen from the rear of the wheel loader 1 (looking toward the front). The bucket 6 has a cutting edge 6a extending in the width direction. The center point 6aC is the center point of the cutting edge 6a in the width direction of the bucket 6.

The wheel loader 1 travels forward from the side (left side) of the dump truck 300 toward the vessel 301 to perform loading work. The width direction of the bucket 6 during the loading operation corresponds to the front-rear direction (the left-right direction in FIGS. 8 to 10) of the dump truck 300 (vessel 301). As shown in FIGS. 8 to 10, the dimension of the vessel 301 in the front-rear direction is larger than the dimension of the bucket 6 in the width direction.

The bucket 6 shown in Figures 8 to 10 is in a full dump position. The bucket 6 in the position shown in Figures 8 to 10 has moved to the maximum extent in the dump direction. When the bucket 6 is in the position shown in Figures 8 to 10, the cylinder stroke length of the bucket cylinder 19 is at its minimum.

FIG. 8 shows the loading position A at the time of the first loading. FIG. 8 shows the loading position B during the second loading. FIG. 9 shows the loading position C at the third loading. FIG. 10 shows the loading position D at the time of the fourth loading.

In FIG. 7(A), the load loaded from loading position A in the first loading is indicated by the symbol A. In FIG. 7(B), a load loaded from the loading position B in the second loading on top of the load loaded in the first loading is indicated by a symbol B. In FIG. 7(C), a load loaded from loading position C in the third loading is shown with a symbol C on top of and behind the load loaded in the second loading. ing. In FIG. 7(D), a load loaded from the loading position D in the fourth loading is shown with a symbol D on top of the load loaded in the third loading.

The automation controller 100 determines the positions where the working machine 3 (bucket 6) does not interfere when loading the cargo into the vessel 301 as the loading position A, the loading position B, and the loading position D. Loading position A, loading position B, and loading position D are such that when the bucket 6 in the full dump position is viewed from the rear of the wheel loader 1 (when viewed from the front), the left end of the bucket 6 is located at the vessel 301. The position is set as a position separated by a predetermined distance from the front wall surface 303 of.

The relative position of the left end of the bucket 6 with respect to the center point 6aC of the cutting edge 6a is calculated from the width dimension of the bucket 6. When the bucket 6 is at loading position A, loading position B, or loading position D, the left end of the bucket 6 is a predetermined distance rearward from the front wall surface 303 in the fore-and-aft direction of the dump truck 300. When the bucket 6 is at loading position A, loading position B, or loading position D, a clearance is provided in the fore-and-aft direction of the dump truck 300 between the left end of the bucket 6 and the front wall surface 303 of the dump truck 300.

The automation controller 100 determines a position where the load to be loaded into the vessel 301 does not spill from the vessel 301 as the loading position C. The loading position C is a position where the right end of the bucket 6 is a predetermined distance from the rear upper edge 306 of the vessel 301 when the bucket 6 in the full dumping position is viewed from the rear of the wheel loader 1 (looking forward). It is set as a position that is far away. From the dimension of the bucket 6 in the width direction, the relative position of the right end of the bucket 6 with respect to the center point 6aC of the cutting edge 6a is calculated. When the bucket 6 is in the loading position C, the right end of the bucket 6 is spaced forward by a predetermined distance from the rear upper edge 306 in the front-rear direction of the dump truck 300.

The height of the blade tip 6a of the bucket 6 at loading positions A, B, C, and D is determined from the capacity of the bucket 6, the capacity of the vessel 301, the number of loadings (four times), and the height of the load in the vessel 301 estimated from the loading position history. The loading position history indicates the number of times the current loading has occurred and the position and order in which loading was performed up to the previous time. The shape of the load in the vessel 301 is estimated from the loading position history. The shape of the load in the vessel 301 can also be said to be the filling rate of the load in the vessel 301. As loading into the vessel 301 continues, the height of the load in the vessel 301 changes. The height of the blade tip 6a for the current loading is determined according to the height of the load loaded in the vessel 301 in the previous loading.

As shown in Figures 8 and 9, the height of the cutting edge 6a at the third loading position C is made higher than the height of the cutting edge 6a at the first loading position A and the second loading position B. As shown in Figures 9 and 10, the height of the cutting edge 6a at the fourth loading position D is made higher than the height of the cutting edge 6a at the third loading position C. As the loading operation of the load into the vessel 301 progresses, the height of the cutting edge 6a is gradually increased so that the operation of the bucket 6 is not hindered by the load already loaded.

The front wall surface 303 of the vessel 301 is inclined relative to the front-rear and left-right directions of the dump truck 300. The front wall surface 303 is inclined diagonally upward toward the front so that it is positioned further forward as it approaches the top. The loading position is determined according to the inclination of the front wall surface 303 of the vessel 301. As shown in Figures 8 and 10, loading position D is located further forward of the dump truck 300 than loading positions A and B. The loading position is determined by the angle of the front wall surface 303.

The front upper edge 304 and the rear upper edge 306 of the vessel 301 are not at the same height, and the front upper edge 304 is at a higher position than the rear upper edge 306. More cargo is loaded at the front side of the vessel 301. As shown in FIG. 7(D), the loading position is determined so that the cargo reaches the front upper edge 304 along the front wall surface 303. The loading position is determined by the height of the front wall surface 303.

The loading position C is determined to be a position where the load does not spill out of the vessel 301 when the load is loaded into the vessel 301 at its angle of repose. For example, using the angle of repose of sand of 30°, the loading position is determined such that the angle that the load makes with the front and back direction of the dump truck 300 at the rear upper edge 306 is 30° or less.

Returning to FIG. 6, next in step S3, the automation controller 100 recognizes the self-position of the wheel loader 1. The current position of the body of the wheel loader 1 is acquired by the position information acquisition device 112, and the attitude of the work implement relative to the body is acquired by the boom angle sensor 123 and the bucket angle sensor 124, making it possible to recognize the current positions of the wheel loader 1 and the work implement 3 in the global coordinate system. Based on the current positions of the wheel loader 1 and the work implement 3 and the current position of the dump truck 300 in the global coordinate system, the relative position of the blade 6a of the bucket 6 with respect to the vessel 301 of the dump truck 300 can be calculated.

Alternatively, the perception device 111 may be used to obtain the direction and distance of the vessel 301 of the dump truck 300 relative to the location of the perception device 111, thereby calculating the current relative position of the blade tip 6a of the bucket 6 relative to the vessel 301.

Automation controller 100 recognizes the target position. For example, when a loading operation is performed by four loadings as shown in FIG. 7, it is recognized which loading is the current loading. If this is the first loading, the target position is recognized as loading position A. If this is the second loading, the target position is recognized as loading position B. If this is the third loading, the target position is recognized as loading position C. If this is the fourth loading, the target position is recognized as loading position D.

The automation controller 100 generates an optimal route that connects the current self-position of the bucket 6 and the target position to which the bucket 6, which loads cargo into the vessel 301, is heading. As described above, the optimal route includes the travel route of the traveling device 4 and the operation route of the work implement 3.

Next, in step S4, the automation controller 100 causes the wheel loader 1 to travel along the optimal route and operates the work equipment 3 to load the vessel 301 at a designated location. The automation controller 100 outputs a command to the brake control section 71, accelerator control section 72, and steering control section 81 of the vehicle body controller 50 to cause the traveling device 4 to travel along the optimal route. The traveling device 4 operates upon receiving the command signal. The automation controller 100 also 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. In response to the command signal, boom cylinder 16 and bucket cylinder 19 operate.

In step S5, the automation controller 100 determines whether the number of loadings has reached a specified number. Because the number of loadings is set to four, the specified number has not been reached at the time the first, second, and third loadings are completed. If it is determined that the specified number has not been reached (NO in step S5), the process returns to step S3, an optimal route to the next target position is generated, and the loading of cargo into the vessel 301 is repeated.

When the fourth loading is completed and it is determined that the number of loadings has reached the specified number (YES in step S5), the process ends ("End" in Figure 6).

<Other examples of loading work>
Fig. 11 is a schematic diagram showing a second example of the loading operation of cargo onto a vessel 301 by four loadings. In Fig. 11(A), cargo loaded from loading position C in the first loading is shown with the reference symbol C. In Fig. 11(B), cargo loaded from loading position A in the second loading is shown with the reference symbol A on top of and in front of the cargo loaded in the first loading. In Fig. 11(C), cargo loaded from loading position B in the third loading is shown with the reference symbol B on top of the cargo loaded in the first two loadings. In Fig. 11(D), cargo loaded from loading position D in the fourth loading is shown with the reference symbol D on top of the cargo loaded in the first three loadings.

In the loading operation shown in Figure 11, the loading positions A to D in the fore-aft direction of the dump truck 300 are the same as those in Figures 8 to 10. On the other hand, the loading positions in the height direction are different from those in Figures 8 to 10. The height of the cutting edge 6a at the first loading position C is the height of the cutting edge 6a shown in Figure 8. The height of the cutting edge 6a at the third loading position B is the height of the cutting edge 6a shown in Figure 10.

FIG. 12 is a schematic diagram showing a third example of loading work into the vessel 301 by loading four times. In FIG. 12(A), the load loaded from loading position A in the first loading is indicated by the symbol A. In FIG. 12(B), the load loaded from the loading position C in the second loading is shown with the symbol C on top of and behind the load loaded in the first loading. There is. In FIG. 12(C), a load loaded from loading position B in the third loading on top of the load loaded in the second loading is indicated by a symbol B. In FIG. 12(D), the load loaded from the loading position D in the fourth loading is indicated by the symbol D on top of the load loaded in the third loading.

In the loading operation shown in FIG. 12, the loading positions A to D in the fore-aft direction of the dump truck 300 are the same as those in FIG. 8 to 10. On the other hand, the loading positions in the height direction are different from those in FIG. 8 to 10. The height of the cutting edge 6a at the second loading position C is the height of the cutting edge 6a shown in FIG. 8. The height of the cutting edge 6a at the third loading position B is the height of the cutting edge 6a shown in FIG. 10.

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

As shown in Figures 6, 8 to 10, the automation controller 100 determines the loading position based on widthwise dimensional information of the bucket 6 and information about the vessel 301. The loading position is the relative position of the bucket 6 with respect to the vessel 301 when loading a load into the vessel 301.

When the wheel loader 1 loads a vessel 301 whose overall length is longer than the width of its own bucket 6, by appropriately managing the loading position of the vessel 301 in the front and rear direction, the bucket 6 can move into the vessel during loading. 301 or spilling of the load from the vessel 301 can be suppressed. Therefore, the amount of cargo loaded onto the vessel 301 can be increased.

As shown in Figures 7, 11 and 12, the vessel 301 has a maximum load capacity that allows multiple loading of cargo. The automation controller 100 determines the loading position for each loading. When loading multiple times onto one dump truck 300, it is possible to appropriately select the loading positions and specify the order of loading into those loading positions. By changing the loading position into the vessel 301 depending on the number of loading times, it is possible to prevent cargo from spilling during loading and to increase the load capacity into the vessel 301.

As shown in FIGS. 7 and 12, the automation controller 100 sets a position where the end of the bucket 6 in the width direction is separated from the front wall surface 303 of the vessel 301 by a predetermined distance rearward as the first loading position. By determining the first loading position in this way, contact of the bucket 6 with the front wall surface 303 of the vessel 301 can be suppressed.

As shown in FIGS. 7 and 12, the automation controller 100 moves the bucket 6 toward the vessel 301 by a predetermined distance in which the end of the bucket 6 in the width direction is separated from the front wall surface 303 of the vessel 301. The distance is determined to avoid interference with 301. By determining the predetermined distance during the first loading in this way, contact of the bucket 6 with the front wall surface 303 of the vessel 301 can be suppressed.

As shown in FIG. 11, the automation controller 100 sets a position where the end of the bucket 6 in the width direction is separated from the rear upper edge 306 of the vessel 301 by a predetermined distance forward as the first loading position. By determining the first loading position in this manner, spillage of cargo from the vessel 301 can be suppressed.

As shown in FIG. 11, the automation controller 100 allows the end of the bucket 6 in the width direction to move a predetermined distance forward from the rear upper edge 306 of the vessel 301 so that the load loaded onto the vessel 301 does not spill from the vessel 301. Determine as the distance of For example, the predetermined distance can be determined in consideration of the angle of repose of the cargo to be loaded into the vessel 301. By determining the first loading position in this manner, spillage of cargo from the vessel 301 can be suppressed.

As shown in FIG. 5, the rear upper edge 306 of the vessel 301 is at a lower position than the front upper edge 304 of the vessel 301. When loading cargo into the vessel 301 having such a shape, it is required to prevent the cargo from spilling from the rear upper edge 306. By determining a position where the end of the bucket 6 in the width direction is separated from the rear upper edge 306 of the vessel 301 by a predetermined distance forward as the loading position, spillage of cargo from the vessel 301 can be suppressed.

As shown in FIGS. 8-10, the automation controller 100 determines the relative position of the cutting edge 6a of the bucket 6 with respect to the vessel 301 when the bucket 6 is in the full dump position. By defining the position of the bucket 6 when the bucket 6 is in the full dumping position at the loading position, the bucket 6 can be prevented from coming into contact with the side surface of the vessel 301. By changing the height of the cutting edge 6a depending on the number of times of loading, it is also possible to avoid the bucket 6 coming into contact with already loaded loads.

As shown in FIG. 1, the wheel loader 1 is equipped with a traveling device 4, a boom cylinder 16, and a bucket cylinder 19. The traveling device 4, the boom cylinder 16, and the bucket cylinder 19 can move the work machine 3 relative to the vessel 301. When loading a load carried in the bucket 6 into the vessel 301, the traveling device 4, the boom cylinder 16, and the bucket cylinder 19 can be operated appropriately to reliably move the bucket 6 to the loading position.

The automation controller 100 constituting the automatic control system of the wheel loader 1 described in the above embodiment does not necessarily have to be mounted on the wheel loader 1. A controller external to the wheel loader 1 may construct a system constituting the automation controller 100. The external controller may determine loading positions A to D, which are the relative positions of the bucket 6 with respect to the vessel 301, based on widthwise dimension information of the bucket 6 and information related to the vessel 301.

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

In the embodiment, an example has been described in which the wheel loader 1 is a manned vehicle that includes a cab 5 and in which an operator rides. The wheel loader 1 may be an unmanned vehicle. The wheel loader 1 does not need to include a cab 5 for an operator to board and operate. The wheel loader 1 does not need to be equipped with a control function by an operator on board. The wheel loader 1 may be a working machine exclusively for remote control. The wheel loader 1 may be controlled by radio signals from a remote control device.

In the embodiment, an example has been described in which the automation controller 100 performs machine control to automate the loading work of the wheel loader 1 onto the dump truck 300. A machine guidance function may be realized in which the loading position determined by the controller is displayed on a display in front of the driver's seat of the operator operating the wheel loader 1, and the operator performs the loading operation according to the loading position.

In the embodiment, a wheel loader 1 is given as an example of a work machine, but the present invention is also applicable to other types of loading machines. The loading machine may be a track loader. The loading machine may be a shovel. The shovel may be a hydraulic shovel, a mechanical rope shovel, or a hybrid shovel. The shovel may be a backhoe or a loading shovel. The loading machine may be a bucket crane. When the loading machine includes a work machine, a rotating body that supports the work machine, and a rotating operation unit that rotates the rotating body, the rotating operation unit is included in the "moving operation unit". The rotating operation unit is, for example, a rotating motor. The rotating motor may be a hydraulic motor or an electric motor.

<Additional Notes>
The above description includes the following additional features.

(Appendix 1)
A system including a work machine, the work machine having a work implement,
an information acquisition unit that acquires information regarding a container into which a load is loaded onto the work machine;
A system comprising: a controller that determines a loading position, which is the relative position of the work machine with respect to the container when loading the load into the container, based on widthwise dimension information of the work machine and information regarding the container.

(Additional note 2)
The system according to supplementary note 1, wherein the controller is included in the work machine.

(Appendix 3)
The container has a maximum loading capacity that allows the load to be loaded multiple times,
The system according to appendix 1 or 2, wherein the controller determines the loading position for each loading.

(Additional note 4)
The system according to appendix 3, wherein the controller sets the first loading position to be a position where an end of the working machine in the width direction is separated from the front wall surface of the container by a predetermined distance rearward.

(Appendix 5)
The system according to appendix 4, wherein the controller determines the predetermined distance as a distance for preventing the working machine from interfering with the container when loading the load into the container.

(Appendix 6)
The system of claim 3, wherein the controller determines the first loading position to be a position where an end of the work machine in the width direction is a predetermined distance forward from a rear edge of the container.

(Appendix 7)
7. The system according to claim 6, wherein the controller determines the predetermined distance as a distance to prevent a load loaded into the container from spilling from the container.

(Appendix 8)
8. The system of claim 6 or claim 7, wherein the rear edge of the container is lower than the front edge of the container.

(Appendix 9)
The work machine has a bucket at a tip,
9. The system of any one of claims 4 to 8, wherein the controller determines a relative position of the tip of the bucket with respect to the container when the bucket is in a full dump position.

(Appendix 10)
10. The system of claim 1, further comprising a moving operation unit that moves the working machine relative to the container.

The embodiments disclosed herein are illustrative in all respects and should not be considered limiting. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 wheel loader, 2 body frame, 2a front frame, 2b rear frame, 3 work equipment, 4 traveling device, 4a, 4b traveling wheels, 5 cab, 6 bucket, 6a cutting edge, 6aC center point, 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 body controller, 51 machine monitor, 60 engine controller, 70 transmission controller, 71 brake control section, 72 accelerator control section, 80 work Machine controller, 81 Steering control unit, 82 Work machine control unit, 100 Automation controller, 101 Position estimation unit, 102 Path planning unit, 103 Route following control 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, 302 bottom surface, 303 front wall surface, 304 front upper edge, 305 rear inclined surface, 306 rear upper edge.

Claims (13)

A system including a working machine, the working machine having a working machine,
an information acquisition unit that acquires information regarding a container into which the load loaded on the work machine is loaded;
a controller that determines a loading position, which is a relative position of the work implement with respect to the container when loading the load into the container, based on widthwise dimension information of the work implement and information regarding the container; Prepare your system. The system of claim 1, wherein the controller is included in the work machine. The container has a maximum load capacity capable of loading the load multiple times,
The system of claim 1 , wherein the controller determines the loading location for each loading. The system according to claim 3, wherein the controller sets the first loading position to be a position where the end of the working machine in the width direction is separated from the front wall surface of the container by a predetermined distance. The system of claim 4, wherein the controller determines the predetermined distance as a distance at which the work machine does not interfere with the container when loading the load into the container. The system according to claim 3, wherein the controller determines the first loading position to be a position where the end of the work machine in the width direction is a predetermined distance forward from the rear edge of the container. 7. The system of claim 6, wherein the controller determines the predetermined distance as a distance at which a load loaded into the container will not spill from the container. The system of claim 7, wherein the rear edge of the container is lower than the front edge of the container. The work machine has a bucket at a tip,
7. The system of claim 4 or claim 6, wherein the controller determines a relative position of the tip of the bucket with respect to the container when the bucket is in a full dump position. The system according to claim 1 or 2, further comprising a moving operation unit that moves the working machine relative to the container. Acquiring widthwise dimension information of a work implement;
Obtaining information regarding a container into which a load is to be loaded onto the work machine;
A method for controlling a work machine comprising: determining, based on the dimensional information of the work machine and information related to the container, a loading position to which the work machine is moved relative to the container when loading the load into the container. A system including a work machine, the work machine having a work implement,
an information acquisition unit that acquires information regarding a container into which a load is loaded onto the work machine;
A system comprising: a controller that determines a target position to which the work machine, which loads the load into the container, will head based on widthwise dimension information of the work machine and front-to-rear dimension information of the container. 13. The system of claim 12, wherein the controller is included in the work machine.

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