A system and method are provided for evenly distributing the loading of material in a loading container of a transport vehicle (e.g., articulated dump truck) by a work machine (e.g., excavator). At least one sensor mounted on the work machine generates data corresponding to at least a portion of the loading container. The captured data is processed to determine a current profile of material loaded in the loading container, wherein output signals are generated corresponding to a difference between the current profile and a predetermined target profile for the material loaded in the loading container. In certain embodiments, the output signals are used to assist an operator of the work machine with manual loading via an onboard display unit and superposed images associated with the current and/or target profiles. In other embodiments, the output signals automatically control at least part of the loading process.

A distance calculation unit calculates a first distance that is a distance between a first bucket point being a point on a bucket and a target design surface representing a target shape of an excavation target. The distance calculation unit calculates a second distance that is a distance between the target design surface and a second bucket point. The second bucket point is on the bucket on a straight line passing through the first bucket point and is parallel to an edge of the bucket. A tilt control unit compares the first distance and the second distance to calculate a tilt control amount to rotate the bucket around a tilt axis.

A first control unit outputs, to a work machine including work equipment, a first control signal of moving the work equipment to a position above a loading point before a transport vehicle including a dump body reaches the loading point. A transmission unit transmits, to the transport vehicle, an accessing instruction to travel the transport vehicle such that the dump body is located at the loading point. A second control unit outputs a second control signal of controlling the work machine or the transport vehicle such that a deviation between a waiting position of the work equipment and a position of the dump body when the transport vehicle arrives at the loading point based on the accessing instruction becomes small. The waiting position is a position of the work equipment holding an excavation object and waiting based on the first control signal.

A container measuring system includes a distance image acquiring part and a calculation part. The distance image acquiring part is provided on a working machine for performing a work of loading into a container, and is capable of acquiring a distance image of the container. The calculation part processes the distance image of the container acquired by the distance image acquiring part. The calculation part calculates a three-dimensional position of a flat face part constituting the container on the basis of the distance image of the container. The calculation part calculates three-dimensional information including a three-dimensional position and a three-dimensional shape of the container on the basis of the three-dimensional position of the flat face part.

An estimative load determination part included in a work machine determines, based on a load acquired by a load acquisition section, an estimative load of an object of a work held by an attachment when an estimative load determinative criterion is satisfied. The estimative load determinative criterion includes at least one of a criterion that a predetermined first reduction manipulation is detected in a holding task and a criterion that the first reduction manipulation is detected after the holding task, the first reduction manipulation being for reducing an amount of the object held by the attachment.

A shovel includes a plurality of driven elements, a plurality of actuators configured to drive the plurality of driven elements, and a hardware processor configured to, in response to detecting that two or more actuators of the plurality of actuators are synchronously moved, prohibit a motion of another actuator of the plurality of actuators that is different from the two or more actuators of the plurality of actuators.

An excavator includes a lower traveling body; an upper turning body turnably mounted to the lower traveling body; an attachment that is attached to the upper turning body; a bucket constituting the attachment; and a control device configured to calculate a weight of an object that is moved from inside the bucket onto a loading platform of a transport vehicle, based on output of a space recognition device, configured to recognize a space surrounding the upper turning body, and the weight of the object in the bucket.

An automatic control determination unit determines whether to start automatic dumping control. A dumping control unit generates a first command to rotate a bucket in a dump direction until an inclination of the bucket reaches a predetermined dumping completion angle upon determining to start the automatic dumping control. The dumping control unit generates a second command to rotate a boom in a raising direction during a period until the inclination of the bucket reaches the dumping completion angle from an inclination at the time of start of the automatic dumping control.

This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collects any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.

An excavator may perform a finishing operation to prepare a slope while maintaining workability. The excavator includes an undercarriage, a slewing upper structure rotatably mounted on the undercarriage, a boom pivotally mounted on the upper structure, an arm rotatably mounted on a tip end of the boom, a bucket mounted on a tip end of the arm, and a controller. The controller restricts a lowering operation of the boom, so that at least one of a pressing force of the bucket against the ground and a speed of lowering the bucket toward the ground does not become relatively large.