Control system for a machine and control method

Abstract

The operation signal input section (613) accepts input of a manual operation signal of the swing body (120) and the work device (130) based on an operation of the operation device (143). The movement control section (619) generates an automatic operation signal that causes the swing body and the work device to be driven. The output determination section (621) determines which of the manual operation signal and the automatic operation signal is to be output based on the manual operation signal. In particular, the output determination section determines that the manual operation signal is to be output in a case where the manual operation signal indicates an operation that is opposed to the automatic operation signal. The operation signal output section (622) outputs the manual operation signal or the automatic operation signal based on a result of the determination.

Description

Technical Field

[0001] This disclosure relates to a control system and control method for loading machinery.

[0002] This application claims priority to Japanese Patent Application No. 2021-084781, filed on May 19, 2021, the contents of which are incorporated herein by reference. Background Technology

[0003] Patent Document 1 discloses a technology related to the semi-automatic control of loading machinery. The semi-automatic control involved in Patent Document 1 is as follows: after loading is completed for a loading target such as a dump truck, the operator receives a digging instruction, and the control device controls the rotation of the loading machinery and the drive of the working device, thereby performing automatic digging.

[0004] Prior art literature

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-041352 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] However, the position of the bucket after control based on semi-automatic control may not be consistent with the position of the bucket expected by the operator.

[0009] The purpose of this disclosure is to provide a control system and control method for loading machinery that controls the loading machinery based on operations performed by an operator in the automatic control of the loading machinery.

[0010] Methods for solving problems

[0011] According to one aspect of this disclosure, in the control system of a loading machine, the loading machine includes a rotating body that rotates about a rotation center, a support portion supporting the rotating body, and a working device having a bucket and mounted on the rotating body. The control system of the loading machine includes: an operation signal input unit that receives input of a manual operation signal of the rotating body and the working device based on the operation of the operating device for operating the rotating body and the working device; a movement control unit that generates an automatic operation signal that drives the rotating body and the working device; an output determination unit that, based on the manual operation signal, determines whether to output the manual operation signal or the automatic operation signal, and determines that the manual operation signal is to be output if the manual operation signal indicates an operation that opposes the automatic operation signal; and an operation signal output unit that outputs either the manual operation signal or the automatic operation signal based on the result of the determination.

[0012] Invention Effects

[0013] According to the above method, the control system of the loading machine can control the loading machine based on the operations performed by the operator in the automatic control of the loading machine. Attached Figure Description

[0014] Figure 1 This is a schematic diagram showing the structure of the loading mechanism according to the first embodiment.

[0015] Figure 2 This is a diagram showing the internal structure of the driver's cab according to the first embodiment.

[0016] Figure 3 This is a schematic block diagram showing the structure of the control device according to the first embodiment.

[0017] Figure 4 This is a diagram illustrating an example of the target posture at the start of digging using the working device of the first embodiment.

[0018] Figure 5 This is a diagram illustrating an example of the operation of the loading machine according to the first embodiment, from the start of automatic loading control to the start of soil discharge.

[0019] Figure 6 This is a diagram illustrating an example of the operation of the loading machine according to the first embodiment, from the start of soil discharge to the end of automatic loading control.

[0020] Figure 7 This is a diagram comparing the posture of the working device at the start of the automatic loading control in the first embodiment with the posture of the working device at the end of the automatic loading control.

[0021] Figure 8 This is a flowchart illustrating the operation of the control device according to the first embodiment.

[0022] Figure 9 This is a flowchart illustrating the operation of the control device according to the first embodiment, from the start of automatic loading control to the start of soil discharge.

[0023] Figure 10 This is a flowchart illustrating the operation of the control device according to the first embodiment, from the start of soil discharge to the end of automatic loading control.

[0024] Figure 11 This is a flowchart illustrating the automatic / manual switching judgment action of the control device according to the first embodiment.

[0025] Figure 12 This is a diagram showing an example of the operation signals of the working device of the first embodiment. Detailed Implementation

[0026] <First Implementation Method>

[0027] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings.

[0028] Structure of Loading Machine 100

[0029] Figure 1 This is a schematic diagram showing the structure of the loading mechanism 100 according to the first embodiment.

[0030] The loading machine 100 operates at the construction site, excavating sand, soil, and other construction materials and loading them into dump trucks or other vehicles for loading into the target T. In the first embodiment, the loading machine 100 is a face shovel. It should be noted that in other embodiments, the loading machine 100 can also be a backhoe excavator or a rope excavator. The loading machine 100 includes a traveling body 110 (support unit), a slewing body 120, a working device 130, and a cab 140.

[0031] The traveling body 110 is mounted on the mechanical support 100 so that it can move. The traveling body 110 has two tracks 111 arranged on the left and right sides, and two driving motors 112 for driving each track 111.

[0032] The rotating body 120 is supported on the traveling body 110 in a manner that allows it to rotate around the center of rotation.

[0033] The working device 130 is hydraulically driven. The working device 130 is supported at the front of the rotating body 120 in a manner that allows it to be driven vertically. The operator's cab 140 is a space for the operator to ride in and operate the loading machinery 100. The operator's cab 140 is located at the left front of the rotating body 120.

[0034] Here, the part of the rotating body 120 that mounts the working device 130 is referred to as the front part. In addition, regarding the rotating body 120, based on the front part, the part on the opposite side is referred to as the rear part, the part on the left side is referred to as the left part, and the part on the right side is referred to as the right part.

[0035] Structure of Rotary Body 120

[0036] The rotating body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a rotary motor 124.

[0037] Engine 121 is the prime mover that drives hydraulic pump 122. Engine 121 is an example of a power source.

[0038] Hydraulic pump 122 is a variable capacity pump driven by engine 121. Hydraulic pump 122 supplies working oil to each actuator (boom cylinder 131C, stick cylinder 132C, bucket cylinder 133C, clam cylinder 1332C, travel motor 112, and swing motor 124) via control valve 123.

[0039] Control valve 123 controls the flow rate of working oil supplied from hydraulic pump 122.

[0040] The rotary motor 124 is driven by working oil supplied from the hydraulic pump 122 via the control valve 123, which causes the rotary body 120 to rotate.

[0041] Structure of Working Device 130

[0042] The working device 130 includes a boom 131, a stick 132, a clam bucket 133, a boom cylinder 131C, a stick cylinder 132C, and a bucket cylinder 133C.

[0043] The base end of the boom 131 is mounted to the slewing body 120 via a boom pin. It should be noted that... Figure 1 In the loading mechanism 100 shown, the boom 131 is located at the center of the front of the rotating body 120, but it is not limited to this; the boom 131 can also be installed offset in the left-right direction. In this case, the rotation center of the rotating body 120 is not located on the operating plane of the working device 130.

[0044] The stick 132 connects the boom 131 to the clamshell bucket 133. The base end of the stick 132 is mounted to the front end of the boom 131 via a stick pin.

[0045] The clamshell bucket 133 has a backhaul 1331 pinned to the front end of the boom 132, a clam shell 1332 with teeth for digging sand and soil, and a clam shell cylinder 1332C for opening and closing the backhaul 1331 and the clam shell 1332. The backhaul 1331 and the clam shell 1332 are connected by a pin in a closable manner. When the backhaul 1331 and the clam shell 1332 are closed, they function as containers for collecting the excavated sand and soil. On the other hand, by opening the backhaul 1331 and the clam shell 1332, the collected sand and soil can be discharged. The base of the clam shell cylinder 1332C is attached to the backhaul 1331. The front end of the clam shell cylinder 1332C is attached to the clam shell 1332.

[0046] In other words, the boom 131, stick 132, dorsal wing 1331, and clamshell 1332 constitute a linkage. The boom 131, stick 132, dorsal wing 1331, and clamshell 1332 are examples of linkage components.

[0047] Boom cylinder 131C is a hydraulic cylinder used to operate boom 131. The base end of boom cylinder 131C is mounted on slewing body 120. The front end of boom cylinder 131C is mounted on boom 131.

[0048] The boom cylinder 132C is a hydraulic cylinder used to drive the boom 132. The base end of the boom cylinder 132C is mounted on the boom 131. The front end of the boom cylinder 132C is mounted on the boom 132.

[0049] Bucket cylinder 133C is a hydraulic cylinder used to drive clamshell bucket 133. The base end of bucket cylinder 133C is mounted on stick 132. The front end of bucket cylinder 133C is mounted on a connecting rod member connected to back wing 1331.

[0050] Structure of the driver's cab 140

[0051] Figure 2 This is a diagram showing the internal structure of the driver's cab 140 according to the first embodiment.

[0052] The driver's cab 140 includes a driver's seat 141, an operating terminal 142, and an operating device 143. The operating terminal 142 is a user interface located near the driver's seat 141 for interacting with the control device 160 described later. The operating terminal 142 can, for example, receive operations from the operator via a touch panel. Alternatively, the operating terminal 142 may also include a display unit such as an LCD. A touch panel is an example of a display unit.

[0053] Operating device 143 is a device for driving the traveling body 110, the rotating body 120, and the working device 130 through manual operation by an operator. Operating device 143 includes a left operating lever 143LO, a right operating lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, a clamshell opening pedal 143CO, a clamshell closing pedal 143CC, a slewing brake pedal 143TB, and a start switch 143SW.

[0054] The left control lever 143LO is located to the left of the driver's seat 141. The right control lever 143RO is located to the right of the driver's seat 141.

[0055] The left operating lever 143LO is an operating mechanism for rotating the rotary body 120 and digging / unloading the boom 132. Specifically, when the operator of the loading machine 100 reverses the left operating lever 143LO forward, the boom 132 performs an unloading action. Conversely, when the operator of the loading machine 100 reverses the left operating lever 143LO backward, the boom 132 performs a digging action. Furthermore, when the operator of the loading machine 100 reverses the left operating lever 143LO to the right, the rotary body 120 rotates to the right. Conversely, when the operator of the loading machine 100 reverses the left operating lever 143LO to the left, the rotary body 120 rotates to the left. It should be noted that in other embodiments, when the left operating lever 143LO is reversed forward / backward, the rotary body 120 may rotate to the right or left; when the left operating lever 143LO is reversed left / right, the boom 132 may perform a digging or unloading action.

[0056] The right operating lever 143RO is an operating mechanism for performing digging / unloading operations on the clamshell bucket 133 and raising / lowering operations on the boom 131. Specifically, when the operator of the loading machine 100 moves the right operating lever 143RO forward, the boom 131 is lowered. Conversely, when the operator of the loading machine 100 moves the right operating lever 143RO backward, the boom 131 is raised. Conversely, when the operator of the loading machine 100 moves the right operating lever 143RO to the right, the clamshell bucket 133 is unloaded. Conversely, when the operator of the loading machine 100 moves the right operating lever 143RO to the left, the clamshell bucket 133 is digging. It should be noted that in other embodiments, when the right operating lever 143RO is tilted forward or backward, the clamshell bucket 133 performs unloading or digging actions, and when the right operating lever 143RO is tilted to the left or right, the boom 131 performs lifting or lowering actions.

[0057] The left foot pedal 143LF is located on the left side of the floor in front of the driver's seat 141. The right foot pedal 143RF is located on the right side of the floor in front of the driver's seat 141. The left travel lever 143LT is pivotally supported on the left foot pedal 143LF, and is configured such that the tilting of the left travel lever 143LT is linked to the depressing of the left foot pedal 143LF. The right travel lever 143RT is pivotally supported on the right foot pedal 143RF, and is configured such that the tilting of the right travel lever 143RT is linked to the depressing of the right foot pedal 143RF.

[0058] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotation drive of the left track of the traveling body 110. Specifically, when the operator of the loading mechanism 100 reverses the left foot pedal 143LF or the left travel lever 143LT forward, the left track rotates in the forward direction. Conversely, when the operator of the loading mechanism 100 reverses the left foot pedal 143LF or the left travel lever 143LT backward, the left track rotates in the backward direction.

[0059] The right foot pedal 143RF and the right travel lever 143RT correspond to the rotation drive of the right track of the traveling body 110. Specifically, when the operator of the loading mechanism 100 reverses the right foot pedal 143RF or the right travel lever 143RT forward, the right track rotates in the forward direction. Conversely, when the operator of the loading mechanism 100 reverses the right foot pedal 143RF or the right travel lever 143RT backward, the right track rotates in the backward direction.

[0060] The clamshell opening pedal 143CO and the clamshell closing pedal 143CC are located to the right of the left foot pedal 143LF. The clamshell opening pedal 143CO is located to the left of the clamshell closing pedal 143CC. When the clamshell opening pedal 143CO is depressed, the clamshell bucket 133 opens at a speed corresponding to the amount of depressing. When the clamshell closing pedal 143CC is depressed, the clamshell bucket 133 closes at a speed corresponding to the amount of depressing.

[0061] The slewing brake pedal 143TB is located to the right of the right foot pedal 143RF. When the slewing brake pedal 143TB is depressed, the overflow pressure of the hydraulic circuit connecting the control valve 123 and the slewing motor 124 increases. Specifically, when the slewing brake pedal 143TB is depressed, the overflow pressure of the variable relief valve is increased by energizing the solenoid of the variable relief valve located in the hydraulic circuit connecting the control valve 123 and the slewing motor 124. This increases the braking force related to slewing.

[0062] The start switch 143SW is, for example, located on the handle portion of the left operating lever 143LO. It should be noted that the start switch 143SW only needs to be positioned near the operator seated in the driver's seat 141. When the start switch 143SW is pressed, an automatic loading indication signal is output to the control device 160. Upon receiving the automatic loading indication signal, the control device 160 begins the automatic loading control described later.

[0063] Structure of Measurement Systems

[0064] like Figure 1 As shown, the loading mechanism 100 includes a position and orientation calculator 151, an inclination meter 152, a boom angle sensor 153, a stick angle sensor 154, a bucket angle sensor 155, and a detection device 156.

[0065] The position and orientation calculator 151 calculates the position of the rotating body 120 and its orientation. The position and orientation calculator 151 has two receivers that receive positioning signals from artificial satellites constituting GNSS. The two receivers are respectively positioned at different locations on the rotating body 120. Based on the positioning signals received by the receivers, the position and orientation calculator 151 detects the position of the representative point of the rotating body 120 (the origin of the excavator's coordinate system) in the detection field coordinate system.

[0066] The position and orientation calculator 151 uses the positioning signals received by the two receivers as a relation between the setting position of the other receiver and the setting position of the first receiver to calculate the orientation of the rotating body 120. The orientation of the rotating body 120 is a direction orthogonal to the front of the rotating body 120 and has the same horizontal component as the direction of extension of the straight line extending from the boom 131 of the working device 130 to the clamshell bucket 133.

[0067] The tilt meter 152 measures the acceleration and angular velocity of the rotating body 120, and detects the attitude (e.g., roll angle, pitch angle, and tilt angle) of the rotating body 120 based on the measurement results. The tilt meter 152 is, for example, disposed on the lower surface of the rotating body 120. The tilt meter 152 can, for example, be an inertial measurement unit (IMU).

[0068] A boom angle sensor 153 is installed on the boom 131 to detect the tilt angle of the boom 131.

[0069] The boom angle sensor 154 is installed on the boom 132 to detect the tilt angle of the boom 132.

[0070] The bucket angle sensor 155 is installed on the back wing 1331 of the clamshell bucket 133 to detect the tilt angle of the clamshell bucket 133.

[0071] The boom angle sensor 153, stick angle sensor 154, and bucket angle sensor 155 of the first embodiment detect the tilt angle relative to the ground plane. It should be noted that the angle sensors in other embodiments are not limited to this and can also detect the tilt angle relative to other reference planes. For example, in other embodiments, the angle sensor can also detect the relative rotation angle by means of a potentiometer disposed at the base end of the boom 131, stick 132, and clamshell bucket 133, or it can be a sensor that measures the cylinder length of the boom cylinder 131C, stick cylinder 132C, and bucket cylinder 133C and converts the cylinder length into an angle to detect the tilt angle.

[0072] The detection device 156 detects the three-dimensional position of objects existing around the loading machine 100. Examples of detection devices 156 include stereo cameras, laser scanners, and UWB (Ultra Wide Band) rangefinders. The detection device 156 is installed, for example, on the upper part of the cab 140 with the detection direction facing forward. It should be noted that the detection device 156 can be installed anywhere as long as it can capture images of the area around the loading machine 100. For example, it can be installed on the side wall of the rotating body 120 outside the cab 140. Alternatively, the detection direction may not be forward. The detection device 156 determines the three-dimensional position of the object in a coordinate system based on the position of the detection device 156. It should be noted that the loading machine 100 in other embodiments may also include multiple detection devices 156.

[0073] Structure of Control Device 160

[0074] Figure 3 This is a schematic block diagram showing the structure of the control device 160 according to the first embodiment.

[0075] The loading machine 100 includes a control device 160. The control device 160 can be installed on the operating terminal 142, or it can be installed separately from the operating terminal 142 and receive input / output from the operating terminal 142. The control device 160 receives operating signals from the operating device 143. The operating signals indicate the object being operated and the drive speed. Hereinafter, the magnitude of the drive speed indicated by the operating signal is also referred to as the operating amount. The control device 160 inputs the received operating signals or the calculated operating signals for automatic loading control into the control valve 123, thereby driving the working device 130, the rotating body 120, and the traveling body 110. Hereinafter, the operating signals received from the operating device 143 are also referred to as manual operating signals, and the calculated operating signals are also referred to as automatic operating signals.

[0076] The control device 160 is a computer equipped with a processor 610, a main memory 630, a storage device 650, and an interface 670. The storage device 650 stores programs. The processor 610 reads the program from the storage device 650, expands it in the main memory 630, and executes the processing according to the program.

[0077] Examples of storage devices 650 include semiconductor memory, magnetic disks, optical disks, optical discs, etc. Storage device 650 can be an internal medium directly connected to the control device 160 via a shared communication line, or an external medium connected to the control device 160 via interface 670. Both main memory 630 and storage device 650 are non-transitory tangible storage media.

[0078] The processor 610, through the execution of the program, includes a measurement data acquisition unit 611, a map generation unit 612, an operation signal input unit 613, a working device position determination unit 614, a loading target determination unit 615, a start angle determination unit 616, an avoidance angle determination unit 617, a target posture determination unit 618, a movement control unit 619, a clam control unit 620, an output judgment unit 621, and an operation signal output unit 622.

[0079] The measurement data acquisition unit 611 acquires measurement data obtained from the measurement system installed in the machinery 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the tilt meter 152, the boom angle sensor 153, the stick angle sensor 154, the bucket angle sensor 155, and the detection device 156. The measurement data acquisition unit 611 calculates the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the tilt meter 152.

[0080] The map generation unit 612 uses measurement data obtained from the detection device 156 to generate map data representing the surroundings of the loaded machinery 100. The map generation unit 612 generates the map data, for example, using SLAM (Simultaneous Localization and Mapping) technology. The map data is represented in a vehicle coordinate system. The vehicle coordinate system is an orthogonal coordinate system with the rotation center of the rotating body 120 as its origin and represented by axes extending in the front-rear direction, the left-right direction, and the up-down direction. Since the detection device 156 is fixed to the rotating body 120, the map generation unit 612 can generate map data in the vehicle coordinate system by parallelly shifting the SLAM calculation results based on the positional relationship between the rotation center and the detection device 156. The map data generated by the map generation unit 612 is recorded in the main memory 630.

[0081] The operation signal input unit 613 receives manual operation signals from the operation device 143. The manual operation signals include the rotation operation signals of the boom 131, the rotation operation signals of the stick 132, the rotation operation signals of the clamshell bucket 133, the opening and closing operation signals of the clamshell bucket 133, the slewing operation signals of the slewing body 120, the travel operation signals of the traveling body 110, and the automatic loading indication signal of the loading machine 100.

[0082] The working device position determination unit 614 determines the position P of the front end of the boom 132 in the vehicle body coordinate system with the rotating body 120 as the reference, based on the measurement data obtained by the measurement data acquisition unit 611. Figure 5 ) and the height H from the front end of the boom 132 to the lowest point of the clamshell bucket 133. Figure 5The lowest point of the clamshell bucket 133 refers to the point in the shape of the clamshell bucket 133 that is closest to the ground surface.

[0083] The working device position determination unit 614 determines the vertical and horizontal components of the boom 131's length based on the boom 131's tilt angle and its known length (distance from the pin at the base end to the pin at the front end). Similarly, the working device position determination unit 614 determines the vertical and horizontal components of the stick 132's length. The working device position determination unit 614 determines the position P of the front end of the stick 132 as the sum of the vertical and horizontal components of the boom 131 and stick 132's lengths, separated from the loading machine 100's position and directed towards the direction determined by the loading machine 100's orientation and posture. Furthermore, the working device position determination unit 614 determines the lowest point of the clamshell bucket 133's vertical direction based on the clamshell bucket 133's tilt angle and its known shape, and determines the height H from the front end of the stick 132 to the lowest point and the horizontal distance D from the front end to the lowest point. Figure 5 ).

[0084] When an automatic loading instruction signal is input to the operation signal input unit 613, the loading target determination unit 615 determines the loading point based on map data generated by the map generation unit 612. The loading point is a position above the loading target T (e.g., the bucket of a dump truck). In automatic loading control, unloading control begins when the tip of the boom 132 reaches the loading point. Specifically, the loading target determination unit 615 determines the position and shape of the loading target T based on map data and the known shape of the loading target T. For example, the loading target determination unit 615 determines the position of the loading target T by three-dimensional pattern matching. The loading target determination unit 615 determines the loading point based on the center point of the upper surface of the determined loading target T and the shape of the clamshell bucket 133.

[0085] The starting angle determination unit 616 determines the starting angle as the angle between the orientation of the rotating body 120 when the automatic loading instruction signal is input to the operation signal input unit 613 and the orientation where the loading point exists. The orientation of the rotating body 120 when the automatic loading instruction signal is input can also be described as the orientation of the rotating body 120 at the start of the automatic loading control of the loading machine 100. In other words, the starting angle determination unit 616 determines the starting angle as the angle formed by a line segment extending from the rotation center of the rotating body 120 towards the position of the front end of the stick 132 determined by the working device position determination unit 614 at the start of the automatic loading control, and a line segment extending from the rotation center of the rotating body 120 towards the loading point.

[0086] The interference avoidance angle determination unit 617 determines the interference avoidance angle based on the position and shape of the loading target T determined by the loading target determination unit 615. The interference avoidance angle is the rotation angle of the working device 130 and the loading target T when they do not interfere when viewed from above. Specifically, the interference avoidance angle determination unit 617 determines the interference avoidance angle through the following steps.

[0087] The avoidance angle determination unit 617 determines, based on the position and shape of the loading target T determined by the loading target determination unit 615, the point p1 at the rearmost position in the rotation direction of the rotating body 120 within the outer shape of the loading target T. Figure 5 The avoidance angle determination unit 617 calculates the first angle φ1 formed by the line segment extending from the rotation center of the rotating body 120 to the front end of the stick 132 at the start of the automatic loading control, and the line segment extending from the rotation center of the rotating body 120 to a point on the shape of the determined loading target T. Figure 5 The avoidance angle determining unit 617 determines the point p2 (the foremost point in the rotation direction of the rotating body 120) in the outer shape of the clamshell bucket 133, based on the position of the front end of the boom 132 determined by the working device position determining unit 614 and the known shape of the clamshell bucket 133. Figure 5 The avoidance angle determination unit 617 calculates the second angle φ2 formed by a line segment extending from the rotation center of the rotating body 120 to the front end of the boom 132, and a line segment extending from the rotation center of the rotating body 120 to a point on the defined shape of the clamshell bucket 133. The avoidance angle determination unit 617 further subtracts the control float angle φ3 from the difference between the first angle φ1 and the second angle φ2, thereby calculating the interference avoidance angle θ1. Figure 5 ).

[0088] The target posture determination unit 618 calculates the posture of the working device 130 when the front end of the boom 132 is located at the loading point based on the distance and height from the rotation center determined by the loading target determination unit 615 to the loading point, and determines the target posture of the working device 130 at the start of soil discharge. In addition, the target posture determination unit 618 reads the predetermined target posture of the working device 130 at the start of digging from the storage 650 or the main memory 630, thereby determining the target posture of the working device 130 at the start of digging. Figure 4This diagram illustrates an example of the target posture of the working device 130 of the first embodiment at the start of digging. The target posture at the start of digging is, for example, a posture close to the point where the clamshell bucket 133 does not interfere with the traveling body 110, and close to the point where the bottom surface of the clamshell bucket 133 does not contact the plane Z1 containing the bottom surface of the traveling body 110. In other words, in the target posture at the start of digging, the distance of the clamshell bucket 133 from the rotation center is located outside the interference prohibition region Z2, which is formed outside the imaginary cylinder tangent to the traveling body 110. Such a target posture facilitates the entry into the next digging operation. It should be noted that by defining the interference prohibition region Z2 by an imaginary cylinder instead of a cuboid equivalent to the traveling body 110, contact between the traveling body 110 and the clamshell bucket 133 during the rotation of the rotating body 120 can be prevented. The bottom surface of the clamshell bucket 133 in the target posture at the start of excavation can be parallel to plane Z1 or form an acute angle with respect to plane Z1. The target posture can be represented, for example, by the positions of the front end of the boom 131, the front end of the stick 132, and the tip of the clamshell bucket 133 in the vehicle coordinate system. It should be noted that the posture of the working device 130 includes the positions and angles of each component constituting the working device 130 in the vehicle coordinate system.

[0089] Figure 3 When the operation signal input unit 613 receives an automatic loading instruction signal, the movement control unit 619, based on the loading point determined by the loading target determination unit 615 and the interference avoidance angle determined by the avoidance angle determination unit 617, generates an automatic operation signal to realize the combined action of the rotating body 120 and the working device 130 for moving the clamshell bucket 133 to the loading point. Specifically, the movement control unit 619 generates an automatic operation signal to drive the working device 130 so that its posture becomes the target posture determined by the target posture determination unit 618 at the start of soil dumping. In addition, the movement control unit 619 adjusts the rotation start timing so that the posture of the working device 130 becomes the target posture at the start of soil dumping before the rotation angle reaches the interference avoidance angle. That is, when the rotation of the rotary body 120 begins, if the working device 130 does not reach the target posture before the rotation angle reaches the interference avoidance angle, the motion control unit 619 does not generate a rotation operation signal for the rotary body 120, but only generates an operation signal for the working device 130. On the other hand, if the motion control unit 619 determines that the working device 130 has reached the target posture before the rotation angle reaches the interference avoidance angle, it generates both a rotation operation signal for the rotary body 120 and an operation signal for the working device 130, thereby achieving a combined operation of the rotary body 120 and the working device 130.

[0090] In addition, after the front end of the boom 132 reaches the loading point, the movement control unit 619 rotates the slewing body 120 to the starting angle determined by the starting angle determination unit 616, and generates an automatic operation signal to drive the slewing body 120 and the working device 130 in such a way that the posture of the working device 130 becomes the target posture determined by the target posture determination unit 618 at the start of digging.

[0091] The clamshell control unit 620 generates an automatic operation signal to open the clamshell bucket 133 when the front end of the boom 132 reaches the loading point. Additionally, the clamshell control unit 620 generates an automatic operation signal to close the clamshell bucket 133 when the rotation angle of the slewing body 120 exceeds the difference between the starting angle and the interference avoidance angle. It should be noted that, alternatively, the clamshell control unit 620 may generate an automatic operation signal to open the clamshell bucket 133 even before the front end of the boom 132 reaches the loading point, when the clamshell bucket 133 overlaps with the loading target T from a top-down view.

[0092] The output judgment unit 621, based on the manual operation signal input to the operation signal input unit 613 and the automatic operation signal generated by the movement control unit 619, determines whether the boom 131, stick 132, clamshell bucket 133, and clamshell shell 1332 (controlled objects) should be controlled by the manual operation signal or the automatic operation signal. The output judgment unit 621 records and manages the value of the automatic operation flag in the main memory 630 for each controlled object. The output judgment unit 621 determines that the controlled object with the automatic operation flag set to ON should be controlled by the automatic operation signal, and the controlled object with the automatic operation flag set to OFF should be controlled by the manual operation signal.

[0093] Based on the judgment result of the output judgment unit 621, the operation signal output unit 622 outputs the manual operation signal input to the operation signal input unit 613 or the automatic operation signal generated by the movement control unit 619.

[0094] Actions during automatic loading control

[0095] Here, the operation of the loading mechanism 100 during automatic loading control according to the first embodiment will be described with reference to the accompanying drawings.

[0096] Figure 5 This is a diagram illustrating an example of the operation of the loading machine 100 according to the first embodiment, from the start of automatic loading control to the start of soil discharge. Figure 6 This is a diagram illustrating an example of the operation of the loading machine 100 according to the first embodiment, from the start of soil discharge to the end of automatic loading control.

[0097] The working device 130 excavates sand and soil as the excavation target through manual operation by the operator. With sand and soil held in the clamshell bucket 133, the automatic loading control of the first embodiment begins. After the automatic loading control begins, the loading machine 100 discharges the sand and soil onto the loading target T, causing the working device 130 to move to the next excavation start point. In the first embodiment, at the end of the automatic loading control, the rotary body 120 is oriented in the direction in which the automatic loading control began to facilitate the next excavation operation. Furthermore, the working device 130 is positioned such that the bottom surface of the clamshell bucket 133 is lowered to near the ground and the clamshell bucket 133 is positioned close to the vehicle body side to facilitate the next excavation operation.

[0098] Specifically, after the automatic loading control begins, such as Figure 5 As shown, the control device 160 first starts driving the working device 130 (boom 131, stick 132, and clamshell bucket 133), causing the clamshell bucket 133 to move upward. Then, the control device 160 starts the rotation of the slewing body 120. The control device 160 adjusts the timing of the rotation start in such a way that the posture of the working device 130 becomes the target posture for starting soil removal before the rotation angle of the slewing body 120 coincides with the interference avoidance angle θ1. Hereinafter, the interference avoidance angle θ1 will also be referred to as the first interference avoidance angle θ1. It should be noted that when the posture of the working device 130 becomes the target posture for starting soil removal before the rotation angle of the slewing body 120 coincides with the first interference avoidance angle θ1, that is, when the height of the lowest point of the clamshell bucket 133 is higher than the upper surface of the loading target T, the working device 130 will not come into contact with the loading target T due to the rotation of the slewing body 120. After the front end of the boom 132 reaches the loading point, the control device 160 opens the clamshell bucket 133 and begins to discharge soil.

[0099] After a certain period of time has elapsed since the start of soil removal, the control device 160, as follows: Figure 6 The rotation of the rotating body 120 begins as shown. The control device 160 does not start driving the working device 130 until the rotation angle of the rotating body 120 exceeds the difference angle θ2 between the starting angle θ0 and the interference avoidance angle θ1. Hereinafter, angle θ2 will also be referred to as the second interference avoidance angle θ2. When the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 starts driving the working device 130. When the rotation angle of the rotating body 120 reaches the starting angle θ0, the control device 160 stops driving the rotating body 120. Furthermore, when the posture of the working device 130 becomes the target posture at the start of excavation, the control device 160 stops driving the working device 130.

[0100] It should be noted that after the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 accepts the operation performed by the operator through the operation device 143. For the controlled object that has received the operation from the operator, the control device 160 does not output an automatic operation signal, but outputs a manual operation signal. On the other hand, for the controlled object that has not received the operation from the operator, the control device 160 continues to output an automatic operation signal.

[0101] Figure 7 This diagram compares the posture of the working device 130 at the start of the automatic loading control and the posture of the working device 130 at the end of the automatic loading control in the first embodiment. Automatic loading control begins when the working device 130 is digging sand and sand is held in the clamshell bucket 133. Therefore, at the start of automatic loading control, the clamshell bucket 133 is positioned with its teeth facing upwards above the object being dug. To dig the object, the shovel tip needs to be positioned opposite the object and scoop it up from below. Therefore, to begin digging from the clamshell bucket 133's posture 133s at the start of automatic loading control, the position and posture of the clamshell bucket 133 need to be changed. For this purpose, the clamshell bucket 133's posture 133e at the end of automatic loading control, i.e., the target posture at the start of digging, is positioned with its teeth facing forward at a height close to the ground surface. Thus, by setting the clamshell bucket 133 to the target position at the start of digging when the automatic loading control ends, the operator can easily transfer the operation to the next digging operation.

[0102] Operation of Control Device 160

[0103] Figure 8 This is a flowchart illustrating the operation of the control device 160 according to the first embodiment.

[0104] During operation, the control device 160 of the installed machinery 100 performs [actions] at regular control cycles. Figure 8 The state update process is shown.

[0105] The measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, tilt meter 152, boom angle sensor 153, stick angle sensor 154, bucket angle sensor 155, and detection device 156 (step SS1). The map generation unit 612 uses the measurement data acquired from the detection device 156 in step SS1 to update the map data recorded in the main memory 630 (step SS2). As a result, the control device 160 keeps the map data representing the situation near the loading machine 100 up-to-date and can display the latest position of the loading target T in the map data.

[0106] The working device position determination unit 614 determines the position P of the front end of the boom 132 and the height H from the front end of the boom 132 to the lowest point of the clamshell bucket 133 in the vehicle body coordinate system with the rotating body 120 as the reference (step SS3) based on the measurement data obtained in step SS1. As a result, the control device 160 can always determine the current posture of the working device 130.

[0107] Figure 9 This is a flowchart illustrating the operation of the control device 160 according to the first embodiment, from the start of automatic loading control to the start of soil discharge. Figure 10 This is a flowchart illustrating the operation of the control device 160 according to the first embodiment, from the start of soil discharge to the end of automatic loading control. Figure 11 This is a flowchart illustrating the automatic / manual switching judgment action of the control device according to the first embodiment.

[0108] After the operator presses the start switch 143SW, the operation signal input section 613 of the control device 160 receives an automatic loading instruction signal. The control device 160, triggered by the automatic loading signal, starts... Figure 9 The automatic loading control begins from step S0.

[0109] After the automatic loading indication signal is input, the output judgment unit 621 of the control device 160 resets the values ​​of all automatic operation indicators related to the slewing body 120, boom 131, stick 132, clamshell bucket 133, and clamshell shell 1332 to ON (step S0). Figure 8 The status update process shown updates the measurement data, map data, and the posture of the working device 130 to the latest status (step S1). The loading target determination unit 615 determines the position and shape of the loading target T based on the map data updated in step S1 (step S2). Based on the position of the loading target T determined in step S2 and the height H from the front end of the boom 132 to the lowest point of the clamshell bucket 133 determined in step S1, the loading point is determined (step S3).

[0110] The starting angle determination unit 616 determines the starting angle θ0 based on the position of the loading point in the map data determined in step S3 (step S4). Since the map data is represented in the vehicle body coordinate system, the starting angle determination unit 616, for example, determines the angle θ0 as the angle of the position vector of the loading point relative to the coordinate axis extending forward of the rotating body 120. The avoidance angle determination unit 617 determines the first interference avoidance angle θ1 based on the position and shape of the loading target T determined in step S2 (step S5). The target posture determination unit 618 determines the posture of the boom 131 and the stick 132 when the front end of the stick 132 is located at the loading point as the target posture (step S6).

[0111] Next, the control device 160 passes through Figure 8 The status update process shown updates the measurement data, map data, and the posture of the working device 130 to the latest status (step S7). Next, the movement control unit 619 determines whether the posture of the working device 130 determined in step S7 is similar to the target posture determined in step S6 (step S8). For example, if the difference between the position of the tip of the stick 132 in the target posture and the current position of the tip of the stick 132 is less than a predetermined value, the movement control unit 619 determines that the posture of the working device 130 is similar to the target posture.

[0112] If the posture of the working device 130 is not close to the target posture (step S8: No), the movement control unit 619 generates an automatic operation signal to bring the boom 131 and stick 132 closer to the target posture (step S9). At this time, the movement control unit 619 generates the automatic operation signal based on the position and speed of the boom 131 and stick 132 determined in step S7.

[0113] Furthermore, based on the generated automatic operation signals of the boom 131 and stick 132, the movement control unit 619 calculates the sum of the angular velocities of the boom 131 and stick 132, and generates an automatic operation signal that causes the clamshell bucket 133 to rotate at a speed equal to the sum of the angular velocities (step S10). Thus, the movement control unit 619 is able to generate an operation signal that maintains the ground angle of the clamshell bucket 133.

[0114] The movement control unit 619 determines whether the working device 130 is rotating (step S11). For example, the movement control unit 619 determines that it is rotating if the rotation speed of the rotating body 120 is above a predetermined speed. If the working device 130 is not rotating (step S11: No), the movement control unit 619 calculates the completion time until the working device 130 reaches the target posture based on the speeds of the boom 131 and stick 132 determined in step S7 (step S12). In addition, when the rotating body 120 has started rotating, the movement control unit 619 calculates the arrival time from the rotation angle to the first interference avoidance angle θ1 determined in step S5 (step S13). The movement control unit 619 determines whether the completion time calculated in step S12 is less than the arrival time calculated in step S13 (step S14). In other words, the movement control unit 619 determines whether the working device 130 has reached the target posture when the rotation angle reaches the first interference avoidance angle θ1.

[0115] If the completion time is longer than the arrival time (step S14: No), that is, if the working device 130 does not reach the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 619 does not generate a rotation operation signal for the rotating body 120. On the other hand, if the completion time is shorter than the arrival time (step S14: Yes), that is, if the working device 130 reaches the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 619 generates a rotation operation signal for the rotating body 120 (step S15). As a result, the control device 160 can prevent the working device 130 from contacting the loading target T.

[0116] Since all the automatic operation flags recorded in the main memory 630 are ON, the output determination unit 621 determines that any controlled object is controlled by the automatic operation signal. Therefore, the operation signal output unit 622 outputs the automatic operation signal generated in at least one of steps S9, S10, and S15 to the control valve 123 (step S16). This drives the loading mechanism 100. Next, the control device 160 returns to step S7 to continue control.

[0117] On the other hand, if it is determined in step S11 that the working device 130 is rotating (step S11: Yes), the movement control unit 619, based on the rotation speed of the working device 130 determined in step S7, determines whether the tip of the boom 132 has reached the loading point due to rotation caused by inertia (step S17) when the operation signal to stop rotation has been received. If the tip of the boom 132 has not reached the loading point during rotation caused by inertia (step S17: No), the movement control unit 619 generates a rotation operation signal in step S15, and the operation signal output unit 622 outputs the rotation operation signal to the control valve 123 in step S16.

[0118] On the other hand, if it is determined that the tip of the boom 132 has reached the loading point due to rotation caused by inertia (step S17: Yes), the control device 160... Figure 8 The status update process shown updates the measurement data, map data, and the posture of the working device 130 to the latest status. Figure 10 (Step S18). Based on the map data updated in step S18, the movement control unit 619 determines whether the tip of the boom 132 has reached the loading point (step S19). If the tip of the boom 132 has not reached the loading point (step S19: No), the control device 160 returns to step S18 and waits until the loading point is reached. At this time, since all the values ​​of the automatic operation signals recorded in the main memory 630 are ON, the control device 160 does not accept the manual operation of the operation device 143.

[0119] When the front end of the boom 132 reaches the loading point (step S19: Yes), the clam bucket control unit 620 generates an opening operation signal for the clam bucket 133 (step S20). The operation signal output unit 622 outputs the opening operation signal generated in step S20 to the control valve 123 (step S21). The clam bucket control unit 620 waits for a certain period of time after outputting the opening operation signal for the clam bucket 133 (step S22). This time refers to the time from when a certain amount of sand falls from the opened clam bucket 133. It should be noted that this time may also be shorter than the time from when all the sand falls from the clam bucket 133.

[0120] After a certain period of time, the target posture determination unit 618 reads the predetermined target posture of the working device 130 at the start of digging from the storage 650 or the main memory 630, and determines the target posture of the working device 130 at the start of digging (step S23). The target posture at the start of digging is, for example, a posture that is close to the degree to which the clamshell bucket 133 does not interfere with the traveling body 110, and close to the degree to which the bottom surface of the clamshell bucket 133 does not interfere with the plane passing through the bottom surface of the traveling body 110.

[0121] Next, the control device 160 passes through Figure 8 The status update process shown updates the measurement data, map data, and the posture of the working device 130 to the latest state (step S24). Next, the movement control unit 619 determines whether the rotation angle of the rotating body 120 from the start of soil removal to the current time point is less than the difference between the starting angle θ0 and the first interference avoidance angle θ1, i.e., the second interference avoidance angle θ2 (step S25). If the rotation angle is less than the second interference avoidance angle θ2 (step S25: Yes), the working device 130 may come into contact with the loading target T. Therefore, the movement control unit 619 generates an automatic operation signal (neutral signal) to maintain the posture of the working device 130.

[0122] In step S25, if the rotation angle is greater than or equal to the second interference avoidance angle θ2 (step S25: No), the movement control unit 619 determines whether the posture of the working device 130 determined in step S24 is similar to the target posture determined in step S23 (step S26). If the posture of the working device 130 is not similar to the target posture (step S26: No), the movement control unit 619 generates an automatic operation signal to bring the boom 131, stick 132, and clamshell bucket 133 closer to the target posture (step S27). Additionally, the clamshell control unit 620 generates a clamshell bucket closing operation signal (step S28). If the posture of the working device 130 is similar to the target posture (step S26: Yes), the movement control unit 619 does not generate an automatic operation signal for the working device 130.

[0123] Furthermore, based on the rotational speed of the working device 130 determined in step S24, the movement control unit 619 determines whether it is possible to rotate back to the starting angle θ0 determined in step S4 (step S29) by means of rotation caused by inertia, while keeping the value of the rotation operation signal zero. If it is impossible to rotate back to the starting angle θ0 by means of rotation caused by inertia (step S29: No), the movement control unit 619 generates a rotation operation signal (step S30). On the other hand, if it is possible to rotate back to the starting angle θ0 by means of rotation caused by inertia (step S29: Yes), the movement control unit 619 does not generate a rotation operation signal.

[0124] Next, the output judgment unit 621 is as follows: Figure 11 Select the control objects one by one as shown (rotating body 120, boom 131, stick 132, clam bucket 133, clam shell 1332) (step S31), and perform the processing of steps S31 to S42 for the selected control objects.

[0125] The output determination unit 621 determines whether the value of the automatic operation flag related to the controlled object selected in step S31 is ON (step S32). If the value of the automatic operation flag is ON (step S32: Yes), the output determination unit 621 determines whether the operation signal input unit 613 has received an input of a manual operation signal for operating the controlled object selected in step S31 (step S33). If the operation amount of the manual operation signal is equal to or greater than a threshold corresponding to the play, the output determination unit 621 determines that the input of the manual operation signal has been received.

[0126] It should be noted that the manual operation signals related to the slewing body 120 are based on the left-right direction operation signals of the left operating lever 143LO and the operation signals of the slewing brake pedal 143TB. The manual operation signals related to the boom 131 are based on the front-back direction operation signals of the right operating lever 143RO. The manual operation signals related to the stick 132 are based on the front-back direction operation signals of the left operating lever 143LO. The manual operation signals related to the rotation of the clamshell bucket 133 are the left-right direction operation signals of the right operating lever 143RO. The manual operation signals related to the opening and closing of the clamshell 1332 are the clamshell opening pedal 143CO and the clamshell closing pedal 143CC.

[0127] If an input of a manual operation signal related to the controlled object selected in step S31 is present (step S33: Yes), the output determination unit 621 determines whether the manual operation signal represents an operation that resists the automatic operation signal related to the controlled object generated in steps S27, S28, or S30 (step S34). Specifically, the output determination unit 621 determines that the manual operation signal represents an operation that resists the automatic operation signal if the operation direction of the manual operation signal is opposite to the operation direction of the automatic operation signal, or if the operation of the manual operation signal is a braking operation. For example, if the automatic operation signal represents a left-hand rotation operation and the manual operation signal represents a right-hand rotation operation, the output determination unit 621 determines that the manual operation signal represents an operation that resists the automatic operation signal. As another example, if the automatic operation signal represents a closing operation of the clamshell 1332 and the manual operation signal represents an opening operation of the clamshell 1332, the output determination unit 621 determines that the manual operation signal represents an operation that resists the automatic operation signal. For example, when the automatic operation signal indicates a left-hand rotation operation and the manual operation signal indicates that the rotation brake pedal 143TB is depressed, the output judgment unit 621 determines that the manual operation signal indicates an operation that opposes the automatic operation signal.

[0128] If the manual operation signal does not resist the automatic operation signal (step S34: No), the output determination unit 621 determines whether the operation amount of the manual operation signal is less than the operation amount of the automatic operation signal (step S35).

[0129] If the amount of the manual operation signal is less than the amount of the automatic operation signal (step S35: Yes), or if it is determined in step S33 that there is no input of a manual operation signal (step S33: No), the output judgment unit 621 determines whether the control amount of the controlled object selected in step S31 has reached the target value (step S36). If the controlled object is the rotating body 120, the output judgment unit 621 determines whether the rotation angle has reached the starting angle θ0. If the controlled object is the boom 131, stick 132, or clamshell bucket 133, the output judgment unit 621 determines whether the rotation angle has reached the angle involved in the target posture determined in step S23. If the controlled object is the clamshell 1332, the output judgment unit 621 determines whether the opening degree has reached zero.

[0130] If the control quantity of the controlled object selected in step S31 does not reach the target value (step S36: No), the output determination unit 621 determines that the controlled object selected in step S31 is controlled by an automatic operation signal. That is, the value of the automatic operation flag related to the controlled object selected in step S31 is maintained as ON. The operation signal output unit 622 outputs the automatic operation signal related to the controlled object selected in step S31 from the automatic operation signals generated in steps S27, S28, or S30 (step S37).

[0131] On the other hand, if the manual operation signal is an operation that opposes the automatic operation signal (step S34: Yes), if the operation amount of the manual operation signal is less than the operation amount of the automatic operation signal (step S35: No), or if the control amount of the controlled object reaches the target value (step S36: Yes), the output determination unit 621 performs the following processing. The output determination unit 621 determines whether the controlled object selected in step S31 is a linkage member (boom 131, stick 132, and clamshell bucket 133) constituting the working device 130 (step S38).

[0132] When the controlled object switching from automatic to manual operation is a linkage member constituting the working device 130 (step S38: Yes), the output determination unit 621 determines whether the rotation angle of the rotating body 120 from the start of soil discharge to the current time point is less than the difference between the starting angle θ0 and the first interference avoidance angle θ1, i.e., the second interference avoidance angle θ2 (step S39). If the rotation angle is less than the second interference avoidance angle θ2 (step S39: Yes), the working device 130 may come into contact with the loading target T, so the output determination unit 621 determines that the controlled object selected in step S31 should be controlled by the automatic operation signal. That is, the value of the automatic operation flag related to the controlled object selected in step S31 is maintained as ON. Next, the operation signal output unit 622 outputs the automatic operation signal related to the controlled object selected in step S31 (step S37).

[0133] On the other hand, when the rotation angle is greater than or equal to the second interference avoidance angle θ2 (step S39: No), the movement control unit 619 determines the link members among the plurality of link members whose automatic operation indicators are ON, excluding those selected in step S31. For example, if the boom 131 is selected in step S31, the movement control unit 619 determines the members in the stick 132 and clamshell bucket 133 whose automatic operation indicators are ON. The movement control unit 619 reduces the operation amount of the automatic operation signal related to the determined link member at a constant rate from the operation amount determined in step S27 (step S40).

[0134] Figure 12This is a diagram illustrating an example of the operation signals of the working device according to the first embodiment. Figure 12 In the diagram, solid lines represent the operational magnitude of output operation signals, dashed lines represent the operational magnitude of automatic operation signals, and single-dot dashed lines represent the operational magnitude of manual operation signals. Figure 12 In the example shown, at time t1, the automatic operation signals for the boom 131, stick 132, and clamshell bucket 133 are output. Then, at time t2, the operator begins inputting a manual operation signal to operate the stick 132 in the opposite direction to automatic control. Furthermore, the operator, following the stick 132, begins inputting a manual operation signal to operate the clamshell bucket 133 in the opposite direction to automatic control. On the other hand, from time t2 to time t3, the amount of any operation of the stick 132 and the clamshell bucket 133 is less than a threshold, therefore the output determination unit 621 determines that no manual operation signal was input in step S33. Therefore, from time t1 to time t3, an automatic operation signal is output as the operation signal for the boom 131, stick 132, and clamshell bucket 133.

[0135] At time t3, when the operation amount of the manual operation signal of the boom 132 exceeds a threshold, the operation directions of the automatic operation signal and the manual operation signal are opposite. Therefore, the output judgment unit 621 determines in step S34 that the manual operation signal is an operation that opposes the automatic operation signal. Consequently, the automatic operation flag of the boom 132 becomes OFF, and then, as the operation signal of the boom 132, a manual operation signal is output. At this time, in step S40, the movement control unit 619 reduces the operation amount of the automatic operation signals of the boom 131 and the clamshell bucket 133 at a constant rate. In other words, after time t3, the operation amount of the output automatic operation signal ( Figure 12 (Solid line) from the operation amount determined in step S27 ( Figure 12 (The dashed line) decreases at a constant rate.

[0136] Subsequently, when the operation amount of the manual operation signal of the clamshell bucket 133 exceeds a threshold at time t4, the operation directions of the automatic operation signal and the manual operation signal are opposite. Therefore, the output judgment unit 621 determines in step S34 that the manual operation signal is an operation that opposes the automatic operation signal. As a result, the automatic operation flag of the clamshell bucket 133 becomes OFF. Then, a manual operation signal is output as the operation signal for the boom 132 and the clamshell bucket 133. It should be noted that at time t4, the operator begins to input the manual operation signal for operating the boom 131 in the same direction as the automatic control. On the other hand, from time t4 to time t5, the operation amount is less than the operation amount of the automatic operation signal, so an automatic operation signal is output as the operation signal for the boom 131.

[0137] Then, at time t5, when the manual operation signal of boom 131 exceeds the automatic operation signal (step S35), the automatic operation flag of boom 131 is set to OFF. Afterwards, a manual operation signal is output as the operation signal for the working device 130. Thus, in Figure 12 In the example shown, the movement control unit 619 switches the signals sequentially output to the stick 132, clamshell bucket 133, and boom 131 to manual operation signals. Ultimately, the operation of all axes of the working device 130 is switched to manual operation.

[0138] It should be noted that, Figure 12 The process shown is just one example. The order and timing of switching of automatic operation signals may vary depending on the operator's operation sequence.

[0139] In other words, when the motion control unit 619 operates only a portion of the linkage components in the working device 130, it gradually brings the amount of operation involved in the automatic operation of the other linkage components closer to the output involved in manual operation. As a result, the control device 160 can smoothly switch the control of the working device 130 from automatic operation to manual operation.

[0140] And, as Figure 11 As shown, the output determination unit 621 rewrites the value of the automatic operation flag related to the controlled object selected in step S31 to OFF (step S41). The output determination unit 621 thereby switches the output source of the operation signal from an automatic operation signal to a manual operation signal. Next, the movement control unit 619 outputs the manual operation signal related to the controlled object selected in step S31 (step S42).

[0141] After outputting automatic or manual operation signals to each controlled object through steps S31 to S42, the output determination unit 621 determines whether all values ​​of the automatic operation flags recorded in the main memory 630 are OFF (step S43). In other words, the output determination unit 621 determines whether all controlled objects have switched to manual operation.

[0142] If at least one automatic operation indicator is ON (step S43: No), the control device 160 returns the processing to... Figure 10 In step S24, the automatic loading control continues. On the other hand, if all automatic operation flags are OFF (step S43: Yes), the control device 160 ends the automatic loading control.

[0143] Function / Effect

[0144] Thus, the control device 160 of the first embodiment determines whether to output a manual operation signal or an automatic operation signal based on the manual operation signal input from the operation device 143. At this time, the control device 160 determines to output a manual operation signal when the manual operation signal indicates an operation that opposes the automatic operation signal. If the control device 160 controls itself to always output a manual operation signal when there is an input of a manual operation signal performed by the operator, the operation amount of the operation signal changes drastically, making switching inflexible. Therefore, the control device 160 switches operations gradually so that the operation amount of the operation signal does not change drastically. On the other hand, when the manual operation signal indicates an operation that opposes the automatic operation signal, it is more likely that the operation is for correcting the operation of the loading machine 100, based on the fact that the automatic control action differs from the operator's intention. Therefore, the control device 160 determines to output a manual operation signal when the manual operation signal indicates an operation that opposes the automatic operation signal, thereby enabling operation switching according to the operator's intention.

[0145] Furthermore, in the first embodiment, the control device 160 outputs a manual operation signal when the manual operation signal does not indicate an operation that opposes the automatic operation signal, and when the operation amount of the manual operation signal is greater than the operation amount of the automatic operation signal. Thus, the control device 160 can switch operations in a manner where the operation amount of the operation signal does not change drastically.

[0146] Furthermore, in the automatic control of moving the clamshell bucket 133 from above the loading target to the digging point, the control device 160 of the first embodiment outputs an automatic operation signal independent of the manual operation signal until the rotation angle of the slewing body 120 reaches the interference avoidance angle. Therefore, even when the clamshell bucket 133 is above the loading target and there is input for manual operation of the working device 130 or the slewing body 120, contact between the working device 130 and the loading target can be prevented.

[0147] <Other Implementation Methods>

[0148] The above description of one embodiment, with reference to the accompanying drawings, is detailed. However, the specific structure is not limited to the above-described manner, and various design changes are possible. That is, in other embodiments, the order of the above-described processes can be appropriately changed. Furthermore, some processes can be performed in parallel.

[0149] The control device 160 in the above-described embodiments can be a device comprised of a single computer, or it can be a device in which the structure of the control device 160 is separately configured for multiple computers, and the multiple computers cooperate with each other to function as the control device 160. In this case, it is also possible that the computer constituting part of the control device 160 is mounted inside the loading machine 100, while other computers are located outside the loading machine 100.

[0150] The loading machine 100 in the above-described embodiment is a front shovel excavator, but it is not limited to this. For example, the loading machine 100 in other embodiments may also be a backhoe excavator. It should be noted that when the loading machine 100 is a backhoe excavator, the target posture of the working device 130 at the start of digging is different from that in the first embodiment. The backhoe excavator digs by pulling the working device 130 towards the front, so the position of the bucket involved in the target posture at the start of digging is preferably far away from the rotating body 120. For example, the loading machine 100 may also determine the shape of the object to be dug based on map data, and take the posture that is far away from the rotating body 120, close to the object to be dug, and with the shovel tip pointing towards the object to be dug as the target posture at the start of digging.

[0151] The loading machine 100 of the above-described embodiment has a clamshell bucket 133, but is not limited thereto. For example, the loading machine 100 of other embodiments may also be a loading machine with a conventional bucket. In this case, the loading machine 100 may also have a discharge control unit instead of the clamshell control unit 620. The discharge control unit outputs a rotation operation signal in the discharge direction instead of an open operation signal. It should be noted that the control device 160 may also output a rotation operation signal of the rotary body 120 in the output of the rotation operation signal in the discharge direction in order to shorten the cycle time.

[0152] The target posture in the above-described embodiments is preset and recorded in the main memory 630 or the storage 650, but is not limited thereto. For example, the loading machine 100 in other embodiments may also be configured to change the target posture through operation of the operation terminal 142. For example, the loading machine 100 in other embodiments may also change the target posture by inputting values ​​indicating the position and angle of the boom 131, stick 132, and clamshell bucket 133 to the operation terminal 142. In addition, the loading machine 100 in other embodiments may also, after the operator controls the working device 130 to a preferred posture, determine the posture of the working device 130 by operating the operation terminal 142, and cover the target posture with that posture.

[0153] The control device 160 in the above-described embodiment determines the loading target based on SLAM map data derived from the measurement data of the detection device 156, but is not limited thereto. For example, the control device 160 in other embodiments may also accept the latitude, longitude, and orientation of the loading target as input, and calculate the position and shape of the loading target in the vehicle coordinate system based on the measurement results of the position and orientation calculator 151. Furthermore, the control device 160 in other embodiments may control the loading machine 100 based on a global coordinate system expressed by latitude, longitude, and altitude, rather than the vehicle coordinate system. In this case, the control device 160 may also calculate angles such as the starting angle and the turning angle as angles relative to the reference orientation of the global coordinate system.

[0154] The control device 160 in the above-described embodiment calculates the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the tiltmeter 152, but is not limited thereto. For example, the control device 160 in other embodiments may also calculate the angle of the rotating body 120 based on the difference in orientation measured by the position and orientation calculator 151. In addition, in other embodiments, the angle of the rotating body 120 may also be determined using the detection value of the rotation angle sensor provided on the rotary motor 124.

[0155] The control device 160 of the above-described embodiment performs automatic loading control based on a comparison of the rotation angle and the interference avoidance angle, but is not limited thereto. For example, the control device 160 of other embodiments may also be based on the position of the clamshell bucket 133 and the point p1 (the furthest point in the rotation direction of the rotating body 120 in the shape of the loading target T) Figure 5 Automatic loading control is performed by comparing the values ​​of the two components. For example, in other embodiments, the control device 160 may also adjust the swing start timing so that the clamshell bucket 133 is located in the area near point p1.

[0156] The loading machine 100 described in the above embodiment is a loading machine operated directly by an operator sitting in a cab 140, but it is not limited to this. For example, the loading machine 100 in other embodiments can also be a loading machine operated remotely. That is, in other embodiments, operation signals can be transmitted from a remotely installed operating device 143 to a control device 160 via communication. In this case, part or all of the structure of the control device 160 can also be installed in a remote operating room where the operating device 143 is installed. For example, the structure of the operation signal input unit 613, the movement control unit 619, the output judgment unit 621, the operation signal output unit 622, etc., can also be the structure of a computer installed in the remote operating room.

[0157] The automatic loading control of the above-described embodiment moves the clamshell bucket 133 from its excavation completion position to the loading point, and then to the position for starting the next excavation, but is not limited to this. For example, in other embodiments, the clamshell bucket 133 can be moved from its excavation completion position to the loading point and excavated by manual operation, with the loading machine 100 only automatically controlling the movement from the loading point to the position for starting the next excavation. In this case, the operator can also, after the clamshell bucket 133 reaches the loading point, output a signal to the control device 160 to drive the working device to the position for starting the next excavation by operating a switch provided on the control lever, etc. With the signal from the switch, the control device 160 controls the working device 130 in a way that the posture of the working device 130 is a pre-set target posture different from that at the start of excavation, in the same way as in the automatic loading control of the above-described embodiment.

[0158] In the above-described embodiment, the control device 160 controls the working device 130 based on the position P of the front end of the boom 132. However, the position P of the front end of the boom 132 can also be the center of the front end of the boom 132, or it can be a position offset to the left or right. In addition, in other embodiments, the position P of the front end of the boom 132 can be replaced, and the working device 130 can be controlled based on any position of the clamshell bucket 133.

[0159] Explanation of reference numerals in the attached figures:

[0160] 100... loaded into the machine;

[0161] 110...Traveling body (support part);

[0162] 111...tracks;

[0163] 120... rotation body;

[0164] 121... engine;

[0165] 122... Hydraulic pump;

[0166] 123... control valve;

[0167] 124... Rotary motor;

[0168] 130...working device;

[0169] 131... boom;

[0170] 131C... boom cylinder;

[0171] 132... pole;

[0172] 132C... boom cylinder;

[0173] 133... Clamshell bucket;

[0174] 1331...back wing;

[0175] 1332... Clam shell;

[0176] 1332C... Clam tank;

[0177] 133C... Bucket cylinder;

[0178] 140...cab;

[0179] 141...Driver's Seat;

[0180] 142...Operating terminal;

[0181] 143...operating device;

[0182] 143SW...Start switch;

[0183] 151... Position and orientation calculator;

[0184] 152... Inclinometer;

[0185] 153... Boom angle sensor;

[0186] 154... boom angle sensor;

[0187] 155... Bucket angle sensor;

[0188] 156... Detection device;

[0189] 160... control device;

[0190] 610... processor;

[0191] 611... Measurement Data Acquisition Department;

[0192] 612...Map Generation Department;

[0193] 613... Operation signal input section;

[0194] 614...Working device position determination unit;

[0195] 615... Load the target determination unit;

[0196] 616...Start Angle Determination Section;

[0197] 617...Avoidance Angle Determination Section;

[0198] 618...Target Posture Determination Section;

[0199] 619...Mobility Control Unit;

[0200] 620...Clam Control Department;

[0201] 621... Output decision unit;

[0202] 622... Operation signal output section;

[0203] 630... Main memory;

[0204] 650... storage;

[0205] 670... interface.

Claims

1. A control system for a loading machine, the loading machine comprising a rotating body that rotates about a center of rotation, a support portion supporting the rotating body, and a working device having a bucket and mounted on the rotating body, the working device comprising a plurality of linkage components including the bucket, wherein, The control system of the loading machine includes: The operation signal input unit accepts input of manual operation signals of the plurality of linkage components based on the operation of the operation device for operating the rotary body and the plurality of linkage components; The movement control unit generates automatic operation signals that drive the plurality of linkage components; The output determination unit, for each of the plurality of linkage components, determines whether to output the manual operation signal or the automatic operation signal based on the manual operation signal. For the linkage component among the plurality of linkage components whose manual operation signal indicates an operation that resists the automatic operation signal, it determines that the manual operation signal should be output. For the linkage components among the plurality of linkage components other than the linkage component whose manual operation signal indicates an operation that resists the automatic operation signal, it determines that the automatic operation signal should be output. as well as The operation signal output unit, based on the result of the determination, outputs the manual operation signal instead of the automatic operation signal for the linkage member among the plurality of linkage members for which the manual operation signal indicates an operation that resists the automatic operation signal; and continues to output the automatic operation signal for the linkage members other than the linkage members among the plurality of linkage members for which the manual operation signal indicates an operation that resists the automatic operation signal.

2. The control system for the loading mechanism according to claim 1, wherein, When the operation direction of the manual operation signal is inconsistent with the operation direction of the automatic operation signal, the output judgment unit determines that the manual operation signal represents an operation that resists the automatic operation signal.

3. The control system for the loading mechanism according to claim 1, wherein, When the manual operation signal is a braking operation, the output judgment unit determines that the manual operation signal represents an operation that resists the automatic operation signal.

4. The control system for the loading mechanism according to any one of claims 1 to 3, wherein, The output determination unit determines to output the manual operation signal when the manual operation signal does not represent an operation that opposes the automatic operation signal, and the operation amount of the manual operation signal is greater than the operation amount of the automatic operation signal.

5. The control system for the loading mechanism according to any one of claims 1 to 3, wherein, The control system of the loading machine includes an interference avoidance angle determination unit. In the automatic control of moving the bucket from above the loading target to the digging start point, the interference avoidance angle determination unit determines the rotation angle of the rotating body, i.e., the angle at which the bucket and the loading target no longer overlap when viewed from above. The operation signal output unit outputs the automatic operation signal to the working device, independent of the manual operation signal, until the rotation angle of the rotating body reaches the interference avoidance angle.

6. The control system for the loading mechanism according to any one of claims 1 to 3, wherein, If the determination result indicates that the manual operation signal is output for at least one of the plurality of linkage components, the movement control unit generates the automatic operation signal for the other linkage components besides the at least one linkage component, in a manner that approximates the operation amount of the manual operation signal involved in the other linkage components.

7. A control method for a loading machine, the loading machine comprising a rotating body that rotates about a center of rotation, a support portion supporting the rotating body, and a working device having a bucket and mounted on the rotating body, the working device comprising a plurality of linkage components including the bucket, wherein, The control method for the loading mechanism includes the following steps: It accepts input of manual operation signals for the plurality of linkage components based on the operation of the operating device for operating the rotating body and the plurality of linkage components; Generate automatic operation signals that drive the plurality of linkage components; For each of the plurality of linkage components, based on the manual operation signal, a determination is made regarding whether to output the manual operation signal or the automatic operation signal. For the linkage component whose manual operation signal represents an operation resisting the automatic operation signal, it is determined to output the manual operation signal. For the linkage components other than those whose manual operation signal represents an operation resisting the automatic operation signal, it is determined to output the automatic operation signal. Based on the judgment, for the linkage components among the plurality of linkage components where the manual operation signal indicates an operation that resists the automatic operation signal, the manual operation signal is output instead of the automatic operation signal; for the linkage components among the plurality of linkage components other than the linkage components where the manual operation signal indicates an operation that resists the automatic operation signal, the automatic operation signal continues to be output.

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