JP7786145B2 - Work System - Google Patents

Description

The present invention relates to a work system configured to allow a work machine to perform work.

For example, Patent Document 1 describes an automated work machine that performs the task of leveling work objects loaded into a container (called a loading platform in the document) (see paragraph [0164], Figure 11, etc.).

Japanese Patent Application Laid-Open No. 2021-025258

It is desirable for the work machine to work efficiently when switching between the task of loading work objects into a container and the task of leveling the work objects loaded in the container.

Therefore, the present invention aims to provide a work system that can improve the work efficiency of an automatically operated work machine when the work it performs changes from loading to leveling.

The work system includes a work machine with a bucket and a controller that automatically operates the work machine. The controller causes the work machine to perform loading and leveling operations. The loading operation is the operation of loading work objects into a container using the bucket. The leveling operation is the operation of leveling the work objects loaded into the container using the bucket after the loading operation is completed. The position where the bucket is positioned at the end of the loading operation is defined as the loading end position. The controller causes the work machine to start the leveling operation in a portion of the container on the loading end position side.

The above configuration improves the work efficiency of an automatically operated work machine when the work it performs changes from loading to leveling.

FIG. 2 is a side view of the vehicle 10 and the work machine 20 of the work system 1. FIG. 2 is a top view of a vehicle 10 and a work machine 20 arranged differently from the example shown in FIG. 1 . FIG. 2 is a block diagram of the work system 1 shown in FIG. 4 is a flowchart of a process performed by a controller 50 shown in FIG. 3. 3 is a top view of the container 13 shown in FIG. 2 and the target path P of the leveling operation. FIG. 6 is a cross-sectional view taken along the line F6-F6 in FIG. 5.

The work system 1 will be described with reference to Figures 1 to 6.

As shown in FIG. 1, the work system 1 is a system in which a work machine 20 performs work on a container 13. The work system 1 includes a vehicle 10, a work machine 20, a detection unit 30 shown in FIG. 3, an operation unit 41, and a controller 50.

As shown in FIG. 1, the vehicle 10 is a machine (transport vehicle) that transports an object (work target A) stored in a container 13. The vehicle 10 is, for example, a dump truck. The vehicle 10 includes a vehicle main body 11 and a container 13.

The vehicle body 11 supports the container 13. The vehicle body 11 is movable and may move on wheels or crawlers. The vehicle body 11 includes a vehicle cab 11a.

The container 13 contains the work object A. The container 13 is, for example, a box-shaped container without a lid. For example, the container 13 may be the loading platform of the vehicle 10, or it may not be the loading platform of the vehicle 10. The container 13 may be placed on the ground. The container 13 may also be a structure (side wall) surrounding a hole (e.g., a sand pit) in the ground. In this case, the container 13 does not need to have a bottom (the portion corresponding to the container floor surface 13a). The following mainly describes the case where the container 13 is a loading platform. The container 13 is positioned on the container rear side V2 (described below) of the vehicle cab 11a. The container 13 may be movable relative to the vehicle main body 11, or may be fixed to the vehicle main body 11. The following describes the case where the container 13 is positioned so that the container vertical surface 13b of the container 13 extends vertically. The container 13 has a container floor surface 13a and a container vertical surface 13b.

(Direction of the container 13, etc.)
For example, the vertical direction is defined as the up-down direction Z (upper side Z1, lower side Z2) (details will be described later). A specific direction of the container 13 that is perpendicular to the up-down direction Z is defined as the container front-rear direction V. One side of the container front-rear direction V is defined as the container front side V1, and the opposite side is defined as the container rear side V2. For example, as shown in FIG. 2, if the container 13 has a longitudinal shape, the container front-rear direction V is the longitudinal direction of the container 13. For example, if the shape of the container 13 as viewed from the upper side Z1 is rectangular, the container front-rear direction V is a direction along the sides of the rectangle. For example, if the container 13 is a loading platform, the container front side V1 is the side facing the vehicle driver's cab 11a from the container 13, and the container rear side V2 is the side facing the vehicle driver's cab 11a from the vehicle driver's cab 11a to the container 13. A direction perpendicular to both the vertical direction and the container front-rear direction V is defined as the container width direction W. One side of the container width direction W is defined as the container left side W1, and the opposite side is defined as the container right side W2. For example, the right side W2 of the container is the right side when viewed from the front side V1 of the container, and the left side W1 of the container is the left side when viewed from the front side V1 of the container. Note that the container front side V1 and the container rear side V2 in the following description may be reversed. The container right side W2 and the container left side W1 in the following description may be reversed.

As shown in Figure 1, the container floor surface 13a is the bottom surface of the container 13. The container floor surface 13a is planar or approximately planar (the same applies to the rear gate plate surface 13b1, the side gate plate surface 13b2, and the gate surface 13b3). The container vertical surface 13b is arranged to extend upward from the container floor surface 13a to the upper side Z1 and is arranged to extend in the vertical direction Z. The container vertical surface 13b comprises the rear gate plate surface 13b1, the side gate plate surface 13b2, and the gate surface 13b3. The rear gate plate surface 13b1 is the surface on the container rear side V2 of the container 13, and protrudes upward from the container rear side V2 portion of the container floor surface 13a to the upper side Z1. As shown in Figure 2, the side gate plate surfaces 13b2 are the outer (left and right) surfaces of the container 13 in the container width direction W, and protrude upward Z1 from the outer end of the container floor surface 13a in the container width direction W. As shown in Figure 1, the gate surface 13b3 is the surface on the container front side V1 of the container 13, and protrudes upward Z1 from the container front side V1 portion of the container floor surface 13a. The gate surface 13b3 protrudes upward Z1 more than the side gate plate surfaces 13b2, and protrudes upward Z1 more than the rear gate plate surface 13b1.

The work machine 20 is a machine that performs work. The work machine 20 is a machine that performs loading work and leveling work, which will be described later. The work machine 20 is, for example, a construction machine that performs construction work, such as a shovel. The work machine 20 is configured to be capable of automatic operation. The work machine 20 may be operated by a worker (operator) in a cab 23a (described later), or may be remotely controlled. The work machine 20 comprises a lower traveling body 21, an upper rotating body 23, an attachment 25, and a drive control unit 27 (see Figure 3).

The undercarriage 21 allows the work machine 20 to travel. The undercarriage 21 may be equipped with crawlers or wheels.

The upper rotating body 23 is rotatably mounted on the lower traveling body 21. An attachment 25 is attached to the upper rotating body 23. The upper rotating body 23 is equipped with a cab 23a. The cab 23a is where the worker (operator) can operate the work machine 20.

(Direction of work machine 20, etc.)
The direction in which the rotation axis of the upper rotating body 23 rotates relative to the lower running body 21 extends is defined as the up-down direction Z. The up-down direction Z is vertical or approximately vertical. In the up-down direction Z, the side (facing) from the lower running body 21 toward the upper rotating body 23 is defined as the upper side Z1, and the opposite side is defined as the lower side Z2. A direction perpendicular to the up-down direction Z, and as shown in FIG. 2 , the side from which the attachment 25 protrudes relative to the upper rotating body 23 is defined as the rear side X1 of the machine in the longitudinal direction X of the machine, and the opposite side is defined as the front side X2 of the machine in the longitudinal direction X of the machine. The direction in which the upper rotating body 23 rotates relative to the lower running body 21 is defined as the machine rotation direction Sw.

As shown in FIG. 1, the attachment 25 is the part that performs work and includes, for example, a boom 25a, an arm 25b, and a bucket 25c. The boom 25a is attached to the upper rotating body 23 so that it can be raised and lowered (rotated in the vertical direction Z). The arm 25b is rotatably attached to the boom 25a. The tip of the arm 25b is referred to as the arm tip 25bt. The bucket 25c is configured to be capable of loading and leveling the work object A. The bucket 25c is provided at the tip of the attachment 25 and rotatably attached to the arm 25b. The bucket 25c includes a bucket opening surface 25c1 and a bucket tip back surface 25c2. The bucket opening surface 25c1 is the opening surface of the bucket 25c and is configured to allow the work object A to enter and exit. The bucket tip back surface 25c2 is configured to be capable of leveling the work object A. The bucket tip back surface 25c2 is flat or approximately flat. The bucket tip back surface 25c2 is provided on the tip side of the bucket 25c (the side farther from the arm 25b). The bucket tip back surface 25c2 is the lower Z2 portion of the bucket 25c when the bucket opening surface 25c1 is positioned on the upper Z1 portion of the bucket 25c. The tip of the bucket 25c is referred to as the bucket tip portion 25ct.

The work object A is an object that is the target of work by the work machine 20. The work object A is captured by the bucket 25c and released from the bucket 25c. The work object A is leveled by the bucket 25c. The work object A is loaded into the container 13. The work object A may be soil, granules, chips, powder, etc. For example, the work object A may be soil or sand, stone, wood, metal, or waste.

The drive control unit 27 (see Figure 3) controls the actuator that drives the work machine 20. The drive control unit 27 controls the motor that rotates the upper rotating body 23 relative to the lower traveling body 21. The drive control unit 27 controls the cylinder that raises and lowers the boom 25a relative to the upper rotating body 23. The drive control unit 27 controls the cylinder that rotates the arm 25b relative to the boom 25a. The drive control unit 27 controls the cylinder that rotates the bucket 25c relative to the arm 25b.

The detection unit 30 (see Figure 3) detects various conditions. The detection unit 30 shown in Figure 3 outputs detection values to the controller 50. The detection unit 30 includes an attitude detection unit 31, an imaging device 32, a container detection unit 33, a work object detection unit 34, an in-bucket mass detection unit 35, and a sinking amount detection unit 36.

The attitude detection unit 31 detects the attitude of the work machine 20 shown in FIG. 1. The attitude detection unit 31 (see FIG. 3) may detect the position and orientation of the work machine 20 relative to the work site. The attitude detection unit 31 may detect the position and orientation of a reference part of the work machine 20 relative to the work site. The reference part of the work machine 20 may be, for example, a specific part of the upper rotating body 23 or the lower running body 21, or may be, for example, the attachment part (boom foot) of the boom 25a to the upper rotating body 23. The attitude detection unit 31 may detect information (angle, angular velocity, angular acceleration, etc.) about the rotation of the upper rotating body 23 relative to the lower running body 21. The attitude detection unit 31 may detect information (angle, angular velocity, angular acceleration, etc.) about the rotation of the boom 25a relative to the upper rotating body 23. The attitude detection unit 31 may detect information about the rotation of the arm 25b relative to the boom 25a. The attitude detection unit 31 may detect information about the rotation of the bucket 25c relative to the arm 25b.

This attitude detection unit 31 (see Figure 3) may be equipped with a sensor that detects angles (e.g., a rotary encoder), a sensor that detects inclination relative to the horizontal direction, or a sensor that detects the stroke of the cylinder that drives the attachment 25. The attitude detection unit 31 may detect the attitude of the work machine 20 based on at least one of a two-dimensional image and an image (distance image) containing distance information (depth information). In this case, at least one of the two-dimensional image and the distance image may be captured by an imaging device 32 (see Figure 3).

This attitude detection unit 31 (see Figure 3) may be mounted on the work machine 20 or may be located outside the work machine 20 (for example, at the work site). The same applies to the detection units 30, operation unit 41, and controller 50 other than the attitude detection unit 31 shown in Figure 3, which may be mounted on the work machine 20 or located outside the work machine 20.

The imaging device 32 captures an image of an object to be imaged. The object to be imaged by the imaging device 32 may be the work machine 20 shown in FIG. 1, for example, the attachment 25, or for example, the bucket 25c. The object to be imaged by the imaging device 32 (see FIG. 3) may be the vehicle 10, for example, the container 13. The object to be imaged by the imaging device 32 may be the work object A. The imaging device 32 may detect two-dimensional information of the object to be imaged (for example, its position and shape in the image). The imaging device 32 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 32 may detect three-dimensional information of the object to be imaged (for example, its three-dimensional coordinates and three-dimensional shape) or may acquire a range image. The imaging device 32 may be equipped with a device that detects three-dimensional information using laser light, for example, a LIDAR (Light Detection and Ranging) sensor, or a TOF (Time Of Flight) sensor. The imaging device 32 may be equipped with a device that detects three-dimensional information using radio waves (for example, a millimeter-wave radar). The imaging device 32 may include a stereo camera. The imaging device 32 may detect three-dimensional information of the imaging target based on a distance image and a two-dimensional image. Only one imaging device 32 may be provided, or multiple imaging devices 32 may be provided.

The container detection unit 33 (see Figure 3) detects information about the container 13. The container detection unit 33 may detect the position of the container 13 or the shape of the container 13. The container detection unit 33 may detect information about the container 13 based on an image (at least one of a two-dimensional image and a distance image (the same applies to "image" below)) (in this case, the container detection unit 33 may be the imaging device 32). The container detection unit 33 may detect information about the container 13 based on teaching information. Detection of information about the container 13 based on teaching information is performed, for example, as follows: A worker (operator) boards the work machine 20 and operates the work machine 20, or the worker remotely operates the work machine 20. For example, the worker operates the work machine 20 to position a specific portion of the attachment 25 (e.g., the bucket tip 25ct) at a specific portion of the container 13 (e.g., a corner of the container 13). The position (coordinates) where the specific part is located is then calculated based on the attitude of the work machine 20 detected by the attitude detection unit 31 (see Figure 3). Information about the container 13 is then detected based on the position where the specific part is located. In this case, the container detection unit 33 may be the attitude detection unit 31.

The work object detection unit 34 (see Figure 3) detects information about the work object A. The work object detection unit 34 detects information about the work object A inside the container 13, for example. The work object detection unit 34 may detect the position of the work object A, the shape of the work object A, or the height of the work object A (position in the vertical direction Z). The work object detection unit 34 may detect information about the work object A based on an image. In this case, the work object detection unit 34 may be the imaging device 32 (see Figure 3).

The in-bucket mass detection unit 35 (see FIG. 3) detects the mass of the work object A in the bucket 25c (captured by the bucket 25c). The in-bucket mass detection unit 35 detects the mass of the work object A being loaded into the container 13. For example, the in-bucket mass detection unit 35 may detect the mass of the work object A based on the load acting on the bucket 25c. In this case, for example, the in-bucket mass detection unit 35 may detect the load (hydraulic pressure) acting on a bucket cylinder (not shown) that rotates the bucket 25c relative to the arm 25b. In this case, the in-bucket mass detection unit 35 may be equipped with a hydraulic sensor. Also, for example, the in-bucket mass detection unit 35 may detect the load acting on a link (not shown) connecting the arm 25b, bucket 25c, and bucket cylinder. In this case, the in-bucket mass detection unit 35 may be equipped with, for example, a load cell. The in-bucket mass detection unit 35 may calculate the mass of the work object A based on information about the density of the work object A and an image of the work object A in the bucket 25c (the in-bucket mass detection unit 35 may include an imaging device 32 (see Figure 3)).

The sinking amount detection unit 36 (see Figure 3) detects the amount of sinking of the container 13 (here, the loading platform) relative to the ground. The sinking amount detection unit 36 detects the amount of sinking of the container 13 relative to the wheels of the vehicle 10. The sinking amount detection unit 36 may be, for example, a sensor provided on the suspension of the vehicle 10. The sinking amount detection unit 36 may also detect the amount of sinking based on an image of the vehicle 10. In this case, the sinking amount detection unit 36 is also the container detection unit 33 and includes the imaging device 32.

The operation unit 41 (see Figure 3) is used by the operator to input information. The operation unit 41 shown in Figure 3 issues instructions to the controller 50 based on operation by the operator. When the operation unit 41 is provided on the work machine 20, the operation unit 41 may be, for example, a display or control lever provided in the operator's cab 23a (see Figure 1). The operation unit 41 may be a tablet, a smartphone, or a personal computer. The operation unit 41 may also be provided on a server. Operations performed on the operation unit 41 may, for example, be operations to specify a work mode (described below), or operations to set various setting values (adjustment values, threshold values, etc.).

The controller 50 is a computer that performs signal input/output, calculations (processing), information storage, etc. For example, the functions of the controller 50 are realized by the calculation unit executing a program stored in the memory unit of the controller 50. For example, the detection results from the detection unit 30 are input to the controller 50. For example, the controller 50 controls the automatic operation of the work machine 20 (the controller 50 is an automatic operation controller). For example, the controller 50 outputs commands to operate the work machine 20. The controller 50 includes a loading mass estimator 51, a work plan setting unit 53, a work mode setting unit 55, and an automatic operation control unit 57.

The loaded mass integrator 51 calculates the integrated value of the mass of the work object A loaded into the container 13 shown in Figure 1. The loaded mass integrator 51 (see Figure 3) calculates the integrated value from the start of the loading operation (when there is no or almost no work object A in the container 13) to the present. The loaded mass integrator 51 integrates the mass of the work object A detected by the in-bucket mass detector 35 (see Figure 3) each time the work object A is loaded from the bucket 25c into the container 13.

The work plan setting unit 53 (see Figure 3) sets a work plan for the work machine 20. The work plan is information related to the work targets of the work machine 20. The work plan may include information on the target range in which the bucket 25c will perform work (e.g., the target capture range C (see Figure 2) described below). The work plan may include information on the target path (e.g., the target path P for leveling work (see Figure 5)) of a specific part of the attachment 25 (e.g., the arm tip 25bt, e.g., the bucket tip 25ct). The work plan may include information on the rotation angle of the upper rotating body 23. The work plan may include information on the radius from the center of rotation of the upper rotating body 23 relative to the lower traveling body 21 to the specific part (information in the fore-and-aft direction X of the machine). The work plan may include information on the height (position in the up-down direction Z) of the specific part (e.g., the height from the bottom of the upper rotating body 23 to the specific part). At least a portion of the work plan may be set in the work plan setting unit 53 by teaching, or may be set in the work plan setting unit 53 by a method other than teaching (for example, by inputting numerical values).

The work mode setting unit 55 (see Figure 3) sets the work mode. The work mode is the type of work operation performed by the work machine 20. The work mode setting unit 55 selects and sets one work mode from multiple work modes. The work mode setting unit 55 changes the work mode. Various work modes can be set. Work modes include a loading mode and a leveling mode. Work modes may also include modes for work other than loading and leveling. Specifically, for example, work modes may include modes for work such as stirring or moving work object A within a certain area.

The automatic driving control unit 57 (see Figure 3) automatically drives the work machine 20 so that it operates (automatically drives) in accordance with the work plan. The automatic driving control unit 57 shown in Figure 3 calculates commands (operational variables) to be output to the drive control unit 27 so that the work machine 20 operates (automatically drives) in accordance with the work plan, and outputs these commands to the drive control unit 27. The automatic driving control unit 57 controls the operation of the work machine 20 based on the detection value of the attitude detection unit 31.

(Operation)
The work system 1 is configured to operate as follows. An overview of the operation of the work system 1 is as follows: The controller 50 causes the work machine 20 to perform loading work and leveling work by automatic operation. Specifically, the work plan setting unit 53 sets work plans for loading work and leveling work. The work mode setting unit 55 sets (selects) a loading work mode or a leveling work mode. The automatic operation control unit 57 operates the work machine 20 in accordance with the work plan corresponding to the mode set in the work mode setting unit 55. As a result, the work machine 20 operates by automatic operation in accordance with the work plan.

(Arrangement of work machine 20 relative to container 13)
The work machine 20 shown in FIG. 1 may be disposed in various relative positions with respect to the container 13. For example, the work machine 20 may be disposed so as to face the container 13 in the container fore-and-aft direction V. In the example shown in FIG. 1, the work machine 20 is disposed on the container rear side V2 of the container 13. For example, as shown in FIG. 2, the work machine 20 may be disposed so as to face the container 13 in the container width direction W. In the example shown in FIG. 2, the work machine 20 is disposed on the container left side W1 of the container 13. The work machine 20 may also be disposed on the container right side W2 of the container 13. The following mainly describes a case where the work machine 20 is disposed so as to face the container 13 in the container width direction W. The controller 50 will be described below with reference to FIG. 3, and steps S10 to S22 shown in FIG. 4 will be described with reference to FIG. 4.

(Loading work)
The controller 50 causes the work machine 20 shown in FIG. 2 to perform a loading operation by automatic operation (step S10 in FIG. 4). The loading operation is an operation in which a work object A is loaded into the container 13 using the bucket 25c. A specific example of the loading operation is as follows. The loading operation includes a plurality of work phases (work contents). For example, the work phases include a capture phase, a lifting and swinging phase, a release phase, and a return swing phase. The capture phase is a phase in which the bucket 25c captures the work object A within the target capture range C (e.g., excavates soil). For example, the target capture range C is set to a location where the work object A has been collected (e.g., a soil pile, a soil pit, etc.). The lifting and swing phase is a phase in which the bucket 25c moves from the target capture range C toward the container 13 while having captured the work object A. In the lifting swing phase, the bucket 25c moves in the machine swing direction Sw and the vertical direction Z (mainly upward Z1). In the release phase, the bucket 25c releases (e.g., dumps) the work object A directly above the container 13 (loading position E). In the return swing phase, the bucket 25c moves from a position directly above the container 13 toward the target capture range C. In the return swing phase, the bucket 25c moves in the machine swing direction Sw and the vertical direction Z (mainly downward Z2). In loading operations, a series of work phases, including the capture phase, lifting swing phase, release phase, and return swing phase, are repeatedly performed.

(Loading position E)
During loading, the position (loading position E) at which the workpiece A is loaded from the bucket 25c into the container 13 can be set in various ways. For example, the loading position E may be changed for each loading (each release phase), or may remain the same until a certain condition is met. [Example 1A] For example, the loading position E may be changed sequentially in a predetermined direction. [Example 1Aa] For example, the loading position E may be changed sequentially in the container fore-and-aft direction V (the longitudinal direction of the container 13). For example, the loading position E may be changed sequentially from the container front side V1 to the container rear side V2 (or vice versa). For example, the loading position E may be changed sequentially in the container width direction W. For example, the loading position E may be changed sequentially from the container right side W2 to the container left side W1 (or vice versa). For example, the loading position E may be changed sequentially in the machine swing direction Sw. For example, the loading position E may be changed sequentially in the machine fore-and-aft direction X. [Example 1Ab] For example, the loading position E may be changed sequentially from one end side to the other end side (the end opposite to the one end side) of the container 13. The loading position E does not have to be changed sequentially from one end side to the other end of the container 13. [Example 1B] The loading position E does not have to be changed sequentially in a predetermined direction, but may be changed intermittently (to discontinuous positions).

(Conditions for completing loading work)
Loading operation end conditions are set in advance (before determining whether loading operation has ended) in the controller 50 (more specifically, the work mode setting unit 55 (see FIG. 3 )). The loading operation end conditions are conditions that cause the work machine 20 to end loading operation. The loading operation end conditions are also conditions that cause the work machine 20 to start leveling operation (leveling operation start conditions). Various loading operation end conditions can be set. Only one loading operation end condition may be set, or multiple loading operation end conditions may be set (see FIG. 4 ). When multiple loading operation end conditions are set, the controller 50 may end loading operation when at least one loading operation end condition is satisfied, or may end loading operation when two or more loading operation end conditions (for example, all) are satisfied. Specific examples of loading operation end conditions are as follows:

(Operation of the operation unit 41, etc.)
The loading operation termination condition may include the output of a command to terminate the loading operation. The loading operation termination condition may include the output of a command to start leveling operation. The loading operation termination condition may include the output of a command to change the operation mode from the loading operation mode to the leveling operation mode. For example, the loading operation termination condition may include the output of the above command from the operation unit 41 (see FIG. 3) (step S11 in FIG. 4). Note that the loading operation termination condition may also include the output of a command to terminate the loading operation (a command not operated by the worker) from an element other than the operation unit 41.

(Number of loading operations, etc.)
The loading operation termination condition may include the number of times the container 13 has been loaded from the bucket 25c shown in FIG. 2 (the number of times the above-described "series of phases" has been performed) reaching a predetermined number (number of times threshold) (step S12 in FIG. 4). [Example 2A] The number of times threshold may be set manually by an operator. [Example 2Aa] For example, the number of times, which is the number of times threshold, may be set by the operation unit 41 (see FIG. 3). [Example 2Ab] For example, information for setting the number of times threshold may be set by the operation unit 41, and the controller 50 may calculate the number of times threshold based on the information set by the operation unit 41. Specifically, for example, the controller 50 may calculate the number of times threshold based on manually set information (such as dimensions) of the container 13. [Example 2B] The number of times threshold may be automatically set by the controller 50. For example, the controller 50 may calculate the number of times threshold based on information about the container 13 detected by the container detection unit 33 (see FIG. 3). [Example 2C] The number of times threshold may be an initial value, a fixed value, or the like previously set in the controller 50.

Various setting values (threshold values, adjustment values, etc.) other than the count threshold may be set manually by the operator, may be calculated automatically by the controller 50, or may be preset values in the controller 50.

(cumulative loading mass)
The loading operation termination condition may include the mass of the work object A loaded into the container 13 during the loading operation reaching a target value (cumulative accumulated mass threshold) (step S13 in FIG. 4). More specifically, the loading operation termination condition may include the value calculated by the loaded mass integrating unit 51 (see FIG. 3) reaching the cumulative accumulated mass threshold (becoming equal to or greater than the cumulative accumulated mass threshold).

(End of loading work)
The controller 50 causes the work machine 20 to end the loading operation when a loading operation end condition is satisfied (step S15 in FIG. 4 ). More specifically, the controller 50 causes the work machine 20 to end the loading operation when the loading operation end condition is satisfied and the bucket 25c has completed releasing the work object A. For example, if the loading operation end condition is satisfied during the return swing phase, the capture phase, or the lifting swing phase, the controller 50 causes the work machine 20 to perform the loading operation until the bucket 25c has completed releasing the work object A. Furthermore, if the loading operation end condition is satisfied during the release phase when the bucket 25c has not completed releasing the work object A, the controller 50 causes the work machine 20 to perform the loading operation until the bucket 25c has completed releasing the work object A. Specifically, for example, when ending the loading operation, the automatic driving control unit 57 (see FIG. 3 ) outputs a command to end the loading operation to the drive control unit 27 (see FIG. 3 ). As a result, the work machine 20 ends the loading operation.

The position where the bucket 25c is positioned at the end of the loading operation is the loading end position Ee. The loading end position Ee is the position of the bucket 25c when it releases the work object A at the end of the loading operation (before the leveling operation begins and at the very end). Note that in Figure 2, the loading end position Ee is indicated by a dot. The same applies to each point on the target path P for the leveling operation shown in Figures 2 and 5. This dot indicates the position of a specific part of the attachment 25 (for example, the arm tip 25bt).

(Leveling work)
After the loading operation is completed, the controller 50 causes the work machine 20 shown in Figure 2 to start a leveling operation. The leveling operation is an operation in which the work object A loaded into the container 13 is leveled with the bucket 25c. The position of the bucket 25c when the leveling operation starts is defined as the leveling operation start position Ps. After the loading operation is completed, the controller 50 moves the bucket 25c from the loading end position Ee to the leveling operation start position Ps.

(Movement from loading end position Ee to leveling work start position Ps)
At this time, it is preferable that the controller 50 moves the bucket 25c from the loading end position Ee to the leveling work start position Ps along a path that can suppress unnecessary operation of the attachment 25. For example, the path of the arm tip 25bt when the bucket 25c moves from the loading end position Ee to the leveling work start position Ps may be a straight line or a substantially straight line.

(Area of the leveling work start position Ps)
It is preferable to set the leveling work start position Ps so as to prevent unnecessary operation of the attachment 25. Specifically, the leveling work start position Ps is set in a portion of the container 13 on the loading end position Ee side. That is, the controller 50 causes the work machine 20 to start leveling work in a portion of the container 13 on the loading end position Ee side (see steps S20, S21, and S22 in FIG. 4). This makes it possible to reduce the travel distance of the bucket 25c from the loading end position Ee to the leveling work start position Ps, thereby shortening the work time.

The "side of the loading end position Ee" is the area that includes the loading end position Ee when the internal area of the container 13 as viewed from the upper side Z1 is divided into two equal parts in a "predetermined direction" (e.g., the container front area Gv1 and the container rear area Gv2, described below). The "predetermined direction" may be, for example, the container front-to-rear direction V or the container width direction W. The "predetermined direction" may be, for example, the machine rotation direction Sw or the machine front-to-rear direction X. Note that when the loading end position Ee is located on the boundary between the two areas (e.g., the container front area Gv1 and the container rear area Gv2, described below), the leveling operation start position Ps may be in either of the two areas. In such cases, the area to be used as the leveling operation start position Ps may be preset in the controller 50.

[Example 3A] For example, if the container 13 has a longitudinal direction when viewed from the top Z1, the leveling start position Ps is determined as follows: The leveling start position Ps is set to a portion of the container 13 on the loading end position Ee side in the longitudinal direction (container front-rear direction V) of the container 13. That is, the controller 50 starts the leveling operation on the loading end position Ee side in the longitudinal direction (container front-rear direction V) of the container 13. Specifically, for example, if the interior area of the container 13 as viewed from the top Z1 is divided into two equal regions in the container front-rear direction V, the region on the container front side V1 is set as the container front region Gv1, and the region on the container rear side V2 is set as the container rear region Gv2. If the loading end position Ee is the container front region Gv1 (YES in step S20 of FIG. 4), the leveling start position Ps is also set to the container front region Gv1 (step S21 of FIG. 4). If the loading end position Ee is in the container rear area Gv2 (NO in step S20 of Figure 4), the leveling work start position Ps is set to the container rear area Gv2 (step S22 of Figure 4).

In the flowchart shown in FIG. 4, if the loading end position Ee is located at the boundary between the container front area Gv1 and the container rear area Gv2 shown in FIG. 2, the result in step S20 of FIG. 4 will be NO. In this case, the leveling work start position Ps shown in FIG. 2 is set to the container rear area Gv2 (step S22 of FIG. 4). If the loading end position Ee is located at the boundary between the container front area Gv1 and the container rear area Gv2, the leveling work start position Ps may also be set to the container front area Gv1.

[Example 3B] For example, the leveling work start position Ps may be set to a portion of the container 13 on the loading end position Ee side in the container width direction W (i.e., the short side direction). Specifically, for example, if the internal area of the container 13 as viewed from the top Z1 is divided into two equal parts in the container width direction W, the area on the left side W1 of the container is set to the container left side area Gw1, and the area on the right side W2 of the container is set to the container right side area Gw2. If the loading end position Ee is the container left side area Gw1, the leveling work start position Ps is set to the container left side area Gw1. If the loading end position Ee is the container right side area Gw2, the leveling work start position Ps is set to the container right side area Gw2.

It should be noted that the above [Example 3A] and [Example 3B] may be combined. Specifically, for example, if the loading end position Ee is in the container rear area Gv2 and the container left area Gw1, the leveling operation start position Ps may also be in the container rear area Gv2 and the container left area Gw1 (the same applies to other areas).

(Distance from the end of the container 13 to the work start position Ps)
It is preferable that the position of the bucket 25c (more specifically, the target path P for the leveling work (see Figure 5)) be set so that contact between the container 13 (more specifically, the container vertical surface 13b) and the bucket 25c can be suppressed when the leveling work is performed.

It is preferable to set the leveling start position Ps so that contact between the container 13 (container vertical surface 13b) and the bucket 25c can be prevented when the bucket 25c is positioned at the leveling start position Ps. The horizontal distance (horizontal distance) between the bucket 25c positioned at the leveling start position Ps and the container vertical surface 13b can be set to various values. This horizontal distance may be set manually by the worker or automatically by the controller 50 (more specifically, the work plan setting unit 53 (see Figure 3)) (see the explanation of the count threshold).

(Sequence of leveling work)
After the leveling work is started at the leveling work start position Ps, the position where the bucket 25c performs the leveling work (leveling work position) can be set in various ways.

For example, the leveling work position may be changed sequentially in a predetermined direction (e.g., the container's front-to-rear direction V, the container's width direction W, etc.). For example, the leveling work position may be changed sequentially from a portion of the container 13 on the loading end position Ee side to a portion of the container 13 on the opposite side from the loading end position Ee side. For example, the leveling work position may be changed sequentially from one end of the container 13 to the other end.

Specifically, for example, assume that the loading end position Ee is the container rear region Gv2. In this case, the leveling operation position may be sequentially changed from the container rear V2 end of the container 13 to the container front V1 end of the container 13. [Example 4A] In this case, leveling operation may be performed over the entire (or substantially the entire) container width direction W at the container rear V2 end of the container 13. Then, leveling operation may be performed over the entire (or substantially the entire) container width direction W at a position forward V1 of the container 13 from the container rear V2 end (see Figure 5). In this way, the position where leveling operation is performed over the entire (or substantially the entire) container width direction W may be sequentially changed to the container front V1. [Example 4B] Alternatively, the leveling operation position may be sequentially changed from the container rear V2 end of the container 13 to the container front V1 end of the container 13 without being changed in the container width direction W. After that, the smoothing operation position may be changed in the container width direction W and then changed sequentially in the container front-to-rear direction V (from the container front side V1 to the container rear side V2, or vice versa).

The leveling work position does not have to be changed sequentially in a predetermined direction (for example, the container's front-to-rear direction V, container's width direction W, etc.). The leveling work position does not have to be changed sequentially from one end of the container 13 to the other end. The leveling work position may be changed intermittently (to discontinuous positions) within the container 13.

(Press and smooth)
For example, as the leveling operation, the controller 50 causes the bucket 25c to perform "push-leveling," which pushes the work object A shown in FIG. 1 downward Z2. "Push-leveling" refers to a part of the bucket 25c (specifically, for example, the back surface 25c2 of the bucket tip) pushing the work object A in the container 13 downward Z2. For example, the controller 50 causes the bucket 25c to perform push-leveling multiple times while changing its position. As a result, the bucket 25c shown in FIG. 5 levels (flattens or makes approximately flat) the work object A in the push-leveling range Q.

When viewed from above Z1, the pushing and leveling range Q is the range of the workpiece A that the bucket 25c pushes and levels in one pushing and leveling operation. The pushing and leveling range Q is the range of the workpiece A directly below the bucket 25c that is being pushed and leveled. In other words, the pushing and leveling range Q is the range of the workpiece A that is below Z2 the bucket 25c and faces the bucket 25c in the vertical direction Z.

(Lap portion Ql)
When the bucket 25c presses and smooths the workpiece A, a portion of the workpiece A is pushed out (protrudes) to the periphery of the smoothing range Q. More specifically, the upper surface Z1 of the workpiece A around the smoothing range Q is higher than the upper surface Z1 of the workpiece A within the smoothing range Q. At this time, smoothing is preferably performed so as to smooth the workpiece A pushed out to the periphery of the smoothing range Q. Specifically, for example, the controller 50 changes the smoothing range Q so that portions of adjacent smoothing ranges Q overlap (so that overlapping lap portions Q1 are provided). The direction in which multiple smoothing ranges Q are adjacent (the overlap direction) may be the container front-rear direction V, the container width direction W, the machine rotation direction Sw, the machine front-rear direction X, or a combination of these directions. In the example shown in FIG. 5, the directions in which multiple smoothing ranges Q are adjacent are the container front-rear direction V and the container width direction W. More specifically, a part of the pressing and leveling range Qp1 when the bucket 25c is at position P1 (described later) and a part of the pressing and leveling range Qp2 when the bucket 25c is at position P2 (described later) overlap in the container width direction W. Furthermore, a part of the pressing and leveling range Qp1 and a part of the pressing and leveling range Qp3 when the bucket 25c is at position P3 (described later) overlap in the container front-rear direction V.

The width of the lap portion Ql (amount of overlap) may be set manually by the worker (for example, by operating the operation unit 41 (see Figure 3)), or may be set automatically by the controller 50 (work plan setting unit 53 (see Figure 3)). For example, the width of the lap portion Ql may be set based on the shape of the work object A (extruded work object A) surrounding the pressing and leveling area Q detected by the work object detection unit 34 (see Figure 3). Note that Figure 6 illustrates a case where the lap portion Ql (see Figure 5) is not provided.

(Submersion and pressing-leveling end position Pe of container 13)
As shown in Figure 1, if the container 13 is the bed of the vehicle 10, the container 13 is pushed by the bucket 25c via the work object A and moves (sinks) downward Z2 relative to the ground. For example, if the work object A has been leveled and the bucket 25c further pushes the work object A down, the work machine 20 will perform unnecessary pushing and leveling. Furthermore, if the bucket 25c pushes the work object A down too far, there is a risk of damaging the vehicle 10. Therefore, to prevent these problems, it is preferable to set the pushing and leveling end position Pe shown in Figure 6. The "pushing and leveling end position Pe" is the position of the bucket 25c when one pushing and leveling cycle is completed.

[Example 5A] The pushing-leveling end position Pe may be set based on the amount of sinking of the container 13. More specifically, the controller 50 causes the bucket 25c to end one round of pushing-leveling when the amount of sinking of the container 13 (here, the loading platform) detected by the sinking amount detection unit 36 (see Figure 3) exceeds a predetermined amount (sinking amount threshold).

This example [Example 5A] will be compared with the case where the pushing-leveling end position Pe is set based on the load acting on the bucket 25c (see [Example 5B] below). It is expected that the load acting on the bucket 25c will increase (change significantly) after the container 13 has sunk significantly. However, it is expected that by the time the load acting on the bucket 25c increases, the container 13 has already sunk significantly, and the bucket 25c has already pushed the work object A down too far. On the other hand, when the pushing-leveling end position Pe is set based on the amount of sinking of the container 13, it is possible to prevent the bucket 25c from pushing the work object A down too far.

[Example 5B] The pushing and leveling end position Pe may be set based on the load acting on the bucket 25c. The load acting on the bucket 25c may be detected by the bucket mass detection unit 35 (see Figure 3). The load acting on the bucket 25c may be detected, for example, based on the load (e.g., hydraulic pressure) acting on a bucket cylinder (not shown) that rotates the bucket 25c relative to the arm 25b. The load acting on the bucket 25c may also be detected based on the load acting on a link (not shown) connecting the arm 25b, bucket 25c, and bucket cylinder.

[Example 5C] The pressing and leveling end position Pe may be set based on information (e.g., shape, etc.) about the work object A detected by the work object detection unit 34 (see FIG. 3). For example, the pressing and leveling end position Pe may be set based on the height (position in the vertical direction Z) of the face (surface) of the upper side Z1 of the work object A. [Example 5D] The pressing and leveling end position Pe may be set based on information (e.g., position, shape, etc.) about the container 13 detected by the container detection unit 33 (see FIG. 3). For example, the pressing and leveling end position Pe may be set based on the height of the container 13, or may be set based on the height of the container vertical surface 13b (e.g., rear gate plate surface 13b1 or side gate plate surface 13b2). The pressing and leveling end position Pe may be set based on the height of the container floor surface 13a. [Example 5E] The pressing and leveling end position Pe may be set manually by the worker (e.g., by operating the operation unit 41 (see FIG. 3)).

(Leveling, etc.)
The leveling work does not have to be performed by pushing and leveling. For example, the leveling work may be an operation (horizontal leveling) in which the bucket 25c shown in Fig. 1 is moved horizontally while in contact with the work object A. The direction of movement of the bucket 25c in horizontal leveling may be the container front-rear direction V, the container width direction W, the machine rotation direction Sw (see Fig. 2), the machine front-rear direction X, or a combination of these directions.

(Example of coordinate calculation)
A specific example of the position of the bucket 25c when the leveling work is pushing and leveling and the pushing and leveling range Q shown in FIG. 5 is changed from the rear side V2 of the container to the front side V1 of the container is as follows: The controller 50 (more specifically, the work plan setting unit 53 (see FIG. 3 )) calculates a target path P for the bucket 25c. The target path P includes information on target positions and the order of the target positions. The target positions of the target path P include position P1, position P2, ..., position Pn. The order of position P1, position P2, ..., position Pn is the order of the target positions (the order in which the bucket 25c performs pushing and leveling). "Position Pn" is the last target position on the target path P, and in the example shown in FIG. 5, it is position P6. A raising position and a lowering position are set for each target position (P1, P2, ..., Pn). For example, as shown in FIG. 6, a raising position P1_1 and a lowering position P1_2 are set for position P1.

The lifting position P1_1 is the position of the bucket 25c before the bucket 25c performs pushing and leveling (the lifting position before leveling), and the position of the bucket 25c after the bucket 25c performs pushing and leveling and then moves to the upper side Z1 (the lifting position after leveling). Note that the lifting position before leveling and the lifting position after leveling may be the same position or different positions. In the example shown in Figure 6, the lifting position P1_1 shows the position of the bucket tip back surface 25c2 (the same applies to the lowering position P1_2).

The lowering position P1_2 is the position of the bucket 25c when it is positioned at the lowest Z2 during leveling at position P1, and is the leveling end position Pe. As with position P1, raising and lowering positions are also set for target positions (P2, P3, ... Pn) other than position P1 shown in Figure 5.

For example, the controller 50 represents each target position (P1, P2, ... Pn) and the position of the container 13 using predetermined coordinates. These coordinates may include, for example, coordinates in the machine's longitudinal direction X, vertical direction Z, and machine rotation direction Sw (X coordinate, Z coordinate, and Sw coordinate). The reference (origin) of these coordinates may be, for example, the position of the attachment portion (boom foot pin) of the boom 25a to the upper rotating body 23 shown in FIG. 1, or the rotation center of the upper rotating body 23 relative to the lower traveling body 21.

(input data)
Before the controller 50 sets (generates, calculates, and outputs) the target positions (P1, P2, ..., Pn) shown in FIG. 5 , input data is set in the controller 50. The input data may include, for example, position information of the container 13. For example, the position information of the container 13 may include position information (specifically, three-dimensional coordinates) of the end points IA, IB, IC, and ID of the container 13. For example, the end point IA is the upper Z1 end of the intersection between the side gate plate surface 13b2 on the machine front side X2 and the rear gate plate surface 13b1. For example, the end point IB is the upper Z1 end of the intersection between the side gate plate surface 13b2 on the machine rear side X1 and the rear gate plate surface 13b1. For example, endpoint IC is the intersection of the side gate plate surface 13b2 and the gate surface 13b3 on the machine front side X2, and is the upper Z1 end of the side gate plate surface 13b2. For example, endpoint ID is the intersection of the side gate plate surface 13b2 and the gate surface 13b3 on the machine rear side X1, and is the upper Z1 end of the side gate plate surface 13b2. The input data may include each adjustment value described below.

(output data)
The controller 50 sets a target path P for the leveling operation based on the input data. For example, the controller 50 sets the position and angle of a specific portion of the attachment 25 at each target position (P1, P2, ... Pn). Specifically, for example, the controller 50 may calculate the angle of the machine swing direction Sw (swing angle) of the upper swing body 23 relative to the lower traveling body 21 shown in FIG. 2 at each target position. The controller 50 may calculate the position of a specific portion of the arm 25b (e.g., the arm tip 25bt) at each target position. The controller 50 may calculate the bucket angle Xi shown in FIG. 1 at each target position. The bucket angle Xi may be the angle of the bucket 25c relative to the vertical direction, the angle of the bucket 25c relative to the horizontal direction (ground angle), or the angle of the bucket 25c relative to the arm 25b. In the example shown in FIG. 1, the bucket angle Xi is the angle of the bucket tip back surface 25c2 relative to the vertical direction. For example, the controller 50 may calculate the position of a specific portion of the bucket 25c (e.g., the bucket tip 25ct) at each target position. For example, the controller 50 may calculate the coordinates of the bucket tip 25ct and convert these coordinates into the coordinates of the arm tip 25bt and the bucket angle Xi.

The controller 50 calculates the number of times n to press and level the material. The number of times n to press and level the material may be calculated based on the dimensions of the container 13 shown in FIG. 5. The number of times n to press and level the material may be calculated based on the dimensions of the bucket 25c. The number of times n to press and level the material may be calculated based on the amount of shift between adjacent pressing and leveling ranges Q. The amount of shift is, for example, the distance in a predetermined shift direction between certain points (e.g., central points) of adjacent pressing and leveling ranges Q. The predetermined shift direction may be the container front-to-rear direction V, the container width direction W, the machine rotation direction Sw, or the machine front-to-rear direction X. The amount of shift may be calculated based on manual operation by the operator (e.g., operation of the operation unit 41 (see FIG. 3)) or automatically calculated by the controller 50. For example, the amount of shift may be calculated based on information (e.g., dimensions) of the bucket 25c detected by the imaging device 32 (see FIG. 3). The number of times n to press and smooth the material is preferably calculated so that the bucket 25c does not come into contact with the container 13 (more specifically, the container vertical surface 13b).

Specifically, for example, when the number of times n to press and level is calculated based on the dimensions of the container 13 and the amount of shift in the machine rotation direction Sw (amount of shift rotation angle), the number of times n to press and level is calculated using the following formula.
n = number of rows x (|IB_sw - ID_sw| - first adjustment value) / shift rotation angle amount

Here, the number of rows is the number of pressing and leveling areas Q in the container width direction W (number of pressing and leveling operations). In the example shown in Figure 5, the number of rows is two (for example, two, at positions P1 and P2). IB_sw is the angle (swing angle) of the upper rotating body 23 in the machine rotation direction Sw when it is assumed that the attachment 25 shown in Figure 2 is facing the end point IB (for example, the center line of the attachment 25 extending in the machine fore-and-aft direction X when viewed from the upper side Z1 passes through the end point IB). ID_sw is the swing angle when it is assumed that the attachment 25 is facing the end point ID. The first adjustment value is an adjustment value set so that the bucket 25c does not come into contact with the container 13. The offset swing angle amount is the amount of offset between adjacent pressing and leveling areas Q in the machine rotation direction Sw shown in Figure 5.

(Coordinates of lifting position P1_1)
The position (coordinates) of the raising position P1_1 of the position P1 shown in FIG. 6 is calculated, for example, as follows. As described above, the raising position P1_1 before leveling and the raising position P1_1 after leveling may be the same position or different positions. Furthermore, the calculation method for the coordinates of the raising position P1_1 may be the same or different between the raising position P1_1 before leveling and the raising position P1_1 after leveling. The raising position P1_1 and the lowering position P1_2 will be described below with reference to FIG. 6.

The X coordinate of the arm tip 25bt shown in Figure 5 at the lifting position P1_1 is defined as P1_1_x. For example, in the X coordinate, X1 toward the rear of the machine is defined as the positive direction, and X2 toward the front of the machine is defined as the negative direction. In this case, P1_1_x is calculated using the following formula.
P1_1_x=IA_x+(|IA_x-IB_x|-second adjustment value)/(number of columns+1)

Here, IA_x is the X coordinate of endpoint IA. IB_x is the X coordinate of endpoint IB. The second adjustment value is an adjustment value set to prevent bucket 25c from contacting container 13. "Number of columns + 1" is 3 in the example shown in Figure 5 (where the number of columns is 2).

The Z coordinate of the arm tip 25bt shown in Figure 6 at the raised position P1_1 is defined as P1_1_z. For example, in the Z coordinate, the upper side Z1 is defined as the positive direction, and the lower side Z2 is defined as the negative direction.

[Example 6A] P1_1_z may be set based on the Z coordinate (P1_2_z) of the arm 25b at the lowering position P1_2. For example, P1_1_z of the raising position P1_1 before leveling may be calculated based on P1_2_z (described later) that is determined even without pressing and leveling. For example, P1_1_z of the raising position P1_1 after leveling may be calculated based on P1_2_z that is determined even without pressing and leveling, or may be calculated based on P1_2_z (described later) that is determined after pressing and leveling. Specifically, for example, P1_1_z is calculated using the following formula:
P1_1_z=P1_2_z+third adjustment value

Here, the third adjustment value is the height of the raising position P1_1 relative to the lowering position P1_2. The third adjustment value may be set manually by the worker (for example, by operating the operation unit 41 (see FIG. 3)), or may be set automatically by the controller 50. For example, the third adjustment value may be calculated based on the height of the work object A detected by the work object detection unit 34 (see FIG. 3).

[Example 6B] P1_1_z may be set without being based on P1_2_z. For example, P1_1_z may be set to a value such that the bucket 25c positioned at the lifting position P1_1 is positioned above the work object A by Z1. In this case, P1_1_z may be calculated based on the height of the work object A detected by the work object detection unit 34 (see Figure 3), for example.

The bucket angle Xi (P1_1_xi) at the raised position P1_1 (see Figure 1 for the bucket angle Xi) is set to a size suitable for the bucket 25c to push and level the workpiece A. Specifically, for example, P1_1_xi is set to a size (specifically, 270 degrees, etc.) such that the bucket tip back surface 25c2 is parallel or approximately parallel to the horizontal direction.

2 is calculated by the following formula, for example: In the machine swing direction Sw, the left side (left side of swing) when facing the rear side X1 of the machine is defined as the positive direction, and the left side of swing is defined as the negative direction.
P1_1_sw=IB_sw−fourth adjustment value

Here, the fourth adjustment value is an adjustment value (specifically, 5 degrees, etc.) set to prevent the bucket 25c from contacting the container 13. Note that P1_1_sw may also be "IA_sw - fourth adjustment value." IA_sw is the rotation angle of the upper rotating body 23 when it is assumed that the attachment 25 is facing the end point IA.

The coordinates of the lifting position at each target position (P2, P3, ... Pn) other than position P1 shown in Figure 5 are calculated using the same calculation method (concept) as used to calculate the coordinates of lifting position P1_1 at position P1.

(Coordinates of lowering position P1_2)
The position (coordinates) of lowering position P1_2 of position P1 is calculated, for example, as follows. The X coordinate (P1_2_x) of the arm tip 25bt at lowering position P1_2 is set to the same value as the X coordinate (P1_1_x) of the arm tip 25bt at raising position P1_1. The bucket angle Xi (see FIG. 1) and the swing angle of the upper swing body 23 (see FIG. 2) at lowering position P1_2 are set to the same values as the bucket angle Xi and swing angle at raising position P1_1.

The Z coordinate (P1_2_z) of the arm tip 25bt shown in Figure 6 at the lowered position P1_2 is calculated as follows. P1_2_z may be determined without pressing and leveling, or it may be determined after pressing and leveling.

[Example 7A] For example, in the cases of [Example 7A1] and [Example 7A2] below, P1_2_z is determined even if pressing and leveling is not performed. [Example 7A1] P1_2_z may be set manually by the worker (for example, by operating the operation unit 41 (see FIG. 3) or by teaching). [Example 7A2] P1_2_z may be set based on information about the container 13. Specifically, for example, P1_2_z may be set based on the height of the container floor surface 13a. P1_2_z may be set based on the height of the side gate plate surface 13b2, the height of the rear gate plate surface 13b1, or the height of at least one of the end points IA, IB, IC, and ID. P1_2_z may be set based on information about the work object A before pressing and leveling (for example, shape, height, etc.). The information about the work object A before pressing and leveling is detected by the work object detection unit 34 (see FIG. 3).

[Example 7B] For example, P1_2_z may be the position where the sinking amount of the container 13 detected by the sinking amount detection unit 36 (see Figure 3) exceeds a predetermined amount (sinking amount threshold). In this case, P1_2_z is determined after pressing and leveling is performed.

The coordinates of the lowering position at each target position (P2, P3, ... Pn) other than position P1 shown in Figure 5 are calculated using the same calculation method (concept) as used to calculate the coordinates of lowering position P1_2 at position P1.

(Coordinates of position P2)
Position P2 shown in FIG. 5 is set at a position shifted from position P1 by a predetermined amount in the container width direction W (the right side of the container W2 in FIG. 5 ) or the machine front-rear direction X (the rear side X1 of the machine in FIG. 5 ). For example, the Z coordinate and bucket angle Xi (see FIG. 1 ) of the arm tip 25bt at position P2 may be set to be the same as (or different from) the Z coordinate and bucket angle Xi of the arm tip 25bt at position P1. The X coordinate and pivot angle of the arm tip 25bt at position P2 may be set so that position P2 is shifted by a predetermined amount in the container width direction W relative to position P1. The X coordinate of the arm tip 25bt at position P2 may be set so that position P2 is shifted by a predetermined amount in the machine front-rear direction X relative to position P1. In this case, the pivot angle at position P2 may be equal to (or different from) the pivot angle at position P1.

(Coordinates of position P3)
Position P3 is set at a position shifted from position P1 by a predetermined amount in the container front-rear direction V (container front side V1 in FIG. 5 ) or the machine swing direction Sw. Specifically, for example, the Z coordinate and bucket angle Xi (see FIG. 1 ) of the arm tip 25bt at position P3 may be set to be the same as (or different from) the Z coordinate and bucket angle Xi of the arm tip 25bt at position P1. The X coordinate of the arm tip 25bt at position P3 may be set so that the position of position P3 in the container width direction W and the position of position P1 in the container width direction W are the same (or approximately the same). The X coordinate of the arm tip 25bt at position P3 may be the same as the X coordinate of the arm tip 25bt at position P1. The swing angle (P3_sw) at position P3 is calculated, for example, by the following formula:
P3_sw = P1_1_sw - shifted turning angle amount
= IB_sw - fourth adjustment value - shifted turning angle amount

The positions of target positions other than positions P1, P2, and P3 (positions P4, P5, and P6) are calculated using the same calculation method (concept) as positions P1, P2, and P3. Note that the above coordinate calculation method is an example, and coordinates may be calculated in various ways.

(Effects of the first invention)
The effects of the work system 1 shown in Figure 1 are as follows. The work system 1 comprises a work machine 20 having a bucket 25c, and a controller 50 (see Figure 3) that automatically operates the work machine 20. The controller 50 causes the work machine 20 to perform loading work and leveling work. The loading work is the work of loading work object A into the container 13 using the bucket 25c. The leveling work is the work of leveling the work object A loaded into the container 13 with the bucket 25c after the loading work is completed.

[Configuration 1] As shown in Figure 2, the position where the bucket 25c is placed at the end of the loading operation is the loading end position Ee. At this time, the controller 50 (see Figure 3) causes the work machine 20 to begin leveling work in the part of the container 13 on the loading end position Ee side.

The above [Configuration 1] makes it possible to reduce the travel distance of the bucket 25c when the work of the automatically operated work machine 20 changes from loading work to leveling work. Therefore, compared to when leveling work is not started in the area toward the loading end position Ee, the work efficiency of the automatically operated work machine 20 can be improved when the work of the automatically operated work machine 20 changes from loading work to leveling work.

(Effects of the second invention)
[Configuration 2] The container 13 has a shape with a longitudinal direction when viewed from the top Z1. The controller 50 controls the work machine 20 to start leveling work at the loading end position Ee in the longitudinal direction of the container 13 (the container front-rear direction V).

The above-described [Configuration 2] achieves the following effect. Consider the case where the leveling operation is initiated not from the loading end position Ee in the container's longitudinal direction V but from the loading end position Ee side in the container's width direction W (the container's left region Gw1 or container's right region Gw2). In this case, the travel distance of the bucket 25c from the loading end position Ee to the leveling operation start position Ps (the leveling operation start position) can be, at most, approximately the distance from one end to the other end of the container 13 in the container's longitudinal direction V. On the other hand, if the leveling operation is initiated from the loading end position Ee side in the container's longitudinal direction V (the container's front region Gv1 or container's rear region Gv2), the following occurs. In this case, the travel distance of the bucket 25c from the loading end position Ee to the leveling operation start position Ps is, at most, approximately within the distance from one end to the other end of the container 13 in the container's width direction W, or within half the length of the container 13 in the container's longitudinal direction V. This makes it possible to further reduce the travel distance of the bucket 25c when the automatic operation of the work machine 20 changes from loading work to leveling work. This makes it possible to further improve the work efficiency of the automatic operation of the work machine 20.

(Effects of the third invention)
[Configuration 3] The controller 50 (see Figure 3) causes the work machine 20 to perform leveling work in sequence from the portion of the container 13 on the loading end position Ee side to the portion of the container 13 on the opposite side from the loading end position Ee side.

The above-mentioned [Configuration 3] reduces the travel distance of the bucket 25c compared to when leveling work is performed at intermittent (discontinuous) positions within the container 13. This further improves the work efficiency of the automatic operation of the work machine 20.

(Effects of the fourth invention)
As the leveling operation, the controller 50 (see FIG. 3) causes the bucket 25c to perform "push-leveling" multiple times, pushing the workpiece A toward the lower side Z2. As shown in FIG. 5, the range in which the bucket 25c pushes and levels the workpiece A in one "push-leveling" operation, as viewed from the upper side Z1, is defined as a pushing-leveling range Q.

[Configuration 4] The controller 50 (see Figure 3) causes the work machine 20 to perform leveling work while changing the pushing and leveling range Q so that portions of adjacent pushing and leveling ranges Q overlap (so that lap portions Ql are created).

With the above [Configuration 4], even if workpiece A is pushed around bucket 25c during leveling, bucket 25c can level the pushed-out workpiece A. Therefore, workpiece A can be leveled more flatly than if the above [Configuration 4] is not included.

(Effects of the fifth invention)
As shown in Fig. 3, the work system 1 includes a sinking amount detection unit 36. The sinking amount detection unit 36 detects the amount of sinking of the loading platform, which is the container 13 shown in Fig. 6, relative to the ground. The controller 50 (see Fig. 3) causes the bucket 25c to perform "push leveling," which pushes the work object A downward Z2, as the leveling work.

[Configuration 5] The controller 50 (see Figure 3) causes the bucket 25c to stop pushing and leveling when the amount of sinking of the container 13 (cargo platform) detected by the sinking amount detection unit 36 (see Figure 3) exceeds a predetermined amount (sinking amount threshold) (see pushing and leveling end position Pe).

Configuration 5 above provides the following effect. When the container 13 (cargo bed) is significantly sunken, it is assumed that the work object A has already been leveled. If the bucket 25c further pushes down on the work object A in this state, the work machine 20 will perform unnecessary work and there is a risk of damage to the vehicle 10, including the container 13. Therefore, Configuration 5 above can prevent the bucket 25c from unnecessarily pushing down on the work object A. This can further improve the work efficiency of the work machine 20. Furthermore, Configuration 5 above can prevent damage to the vehicle 10, including the container 13 (cargo bed).

(Modification)
The above-described embodiment may be modified in various ways. For example, the number of components in the above-described embodiment may be changed, or some of the components may not be provided. For example, the connections of the components shown in FIG. 3 and other figures may be changed. For example, what has been described as multiple different components or parts may be combined into a single component or part. For example, what has been described as a single component or part may be provided as multiple different components or parts. Specifically, for example, the components of the controller 50 (such as the work plan setting unit 53 and the automatic driving control unit 57) may be provided separately. For example, various parameters (such as setting values, thresholds, and ranges) may be preset in the controller 50 or may be directly set by an operator through manual operation (e.g., operation of the operation unit 41 or teaching). The various parameters may be calculated by the controller 50 based on information manually set by the operator, or may be calculated by the controller 50 based on information detected by the detection unit 30. For example, the various parameters may be fixed, may be manually changed, or may be automatically changed by the controller 50 in accordance with certain conditions. For example, some of the steps in the flowchart shown in FIG. 4 may not be performed. For example, each component may have only a part of each feature (function, arrangement, shape, manufacturing method, operation, etc.).

REFERENCE SIGNS LIST 1 Work system 13 Container 20 Work machine 25c Bucket 36 Sinking amount detection unit 50 Controller A Work object Ee Loading end position Ps Leveling work start position

Claims (6)

a work machine having a bucket;
a controller that automatically operates the work machine;
Equipped with
The controller
a loading operation of loading a work object into a container using the bucket;
a leveling operation of leveling the work objects loaded into the container with the bucket after the loading operation is completed;
causing the work machine to perform the above;
When the position where the bucket is placed at the end of the loading operation is defined as a loading end position,
the controller causes the work machine to start the leveling operation in a loading end position area that is an area that includes the loading end position when the internal area of the container as viewed from above is divided into predetermined areas ,
The controller causes the bucket to perform a pushing and leveling operation to push the work object downward as the leveling operation.
Working system. The work system according to claim 1 ,
The controller causes the bucket to perform the pushing and leveling process a plurality of times,
When the range in which the bucket presses and levels the work object in one pressing and leveling operation as viewed from above is defined as the pressing and leveling range,
the controller causes the work machine to perform the leveling work while changing the pushing and leveling ranges so that parts of adjacent pushing and leveling ranges overlap with each other.
Working system. 3. The work system according to claim 1 or 2 ,
a sinking amount detection unit that detects the amount of sinking of the container bed relative to the ground ,
the controller causes the bucket to stop the pushing and leveling when the sinking amount of the loading platform detected by the sinking amount detection unit exceeds a predetermined amount.
Working system. a work machine having a bucket;
a controller that automatically operates the work machine;
Equipped with
The controller
a loading operation of loading a work object into a container using the bucket;
a leveling operation of leveling the work objects loaded into the container with the bucket after the loading operation is completed;
causing the work machine to perform the above;
A loading operation completion condition, which is a condition for causing the work machine to complete the loading operation, is set in the controller,
the loading operation termination condition includes at least one of the following: the number of times that loading from the bucket into the container has been performed during the loading operation has reached a predetermined number threshold; and the mass of the work object loaded into the container has reached a predetermined cumulative loaded mass threshold.
When the position where the bucket is placed at the end of the loading operation is defined as a loading end position,
the controller causes the work machine to start the leveling operation in a loading end position area that is an area including the loading end position when the internal area of the container as viewed from above is divided into predetermined areas.
Working system. The work system according to any one of claims 1 to 4 ,
The container has a shape having a longitudinal direction when viewed from above,
The loading end position area is an area that includes the loading end position when the internal area of the container as viewed from above is divided into predetermined areas in the longitudinal direction of the container.
Working system. The work system according to any one of claims 1 to 5 ,
the controller causes the work machine to perform the leveling operation sequentially from the loading end position area to an area in the interior area of the container that is different from the loading end position area .
Working system.