Loading machine and control device

Abstract

Provided is a loading machine having: a vehicle body; a working device attached to the vehicle body; a communication device that communicates with the transport vehicle directly or via the control device; and a controller configured to determine that loading of a to-be-transported object to the transport vehicle is completed and to output a departure command to the transport vehicle via the communication device, the controller being configured to determine that loading of the to-be-transported object to the transport vehicle is completed on the basis of model data including information indicating characteristics related to a transport operation of the transport vehicle. The present invention estimates the time required for departure preparation from the start of departure preparation of the transport vehicle until the transport vehicle is in a state in which the transport vehicle can be departed, and estimates the remaining loading time required for the completion of the loading of the transport object to the transport vehicle from the current time on the basis of operation state data as the loading machine. A time difference between the remaining loading time and the time required for departure preparation is calculated, and a departure preparation command is output to the transport vehicle via the communication device in a stage in which the time difference is less than a preset setting value. As a result, it is possible to quickly depart the transport vehicle after the completion of the loading work, thereby improving the productivity on site.

Description

Technical Field

[0001] The present invention relates to a loading machine such as a hydraulic excavator for loading a transport object onto a transport vehicle, and a control device. Background Art

[0002] In recent years, the automation and semi-automation of hydraulic excavators have been developing. By automating part of the operation of the hydraulic excavator, the burden on the operator can be reduced. The hydraulic excavator has a side as a loading machine, which loads the excavated soil and sand and other transported objects onto a transport vehicle such as a dump truck. In mines, etc., unmanned transport vehicles are sometimes used. In this case, the cooperative operation function of the hydraulic excavator and the transport vehicle is required.

[0003] As a cooperative working function between a hydraulic excavator and a transport vehicle, a hydraulic excavator is known that determines the progress of loading work based on the load amount of the transport object relative to the transport vehicle and instructs the transport vehicle to start the vehicle after the loading work is completed (Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-20156 Summary of the invention

[0007] However, the transport vehicle needs time to prepare for departure, which is used to increase the speed of the prime mover to a specified speed or release the parking brake, etc., and it takes time to actually be able to depart after receiving the instruction. In the technology described in Patent Document 1, after the loading operation based on the hydraulic excavator is completed, there is also a waste of time accompanying the departure preparation of the transport vehicle. This waste of time leads to a decrease in the machine operation rate on site, and further leads to a decrease in productivity.

[0008] An object of the present invention is to provide a loading machine and a control device that can quickly dispatch a transport vehicle after completion of a loading operation and improve productivity on site.

[0009] In order to achieve the above-mentioned purpose, the present invention provides a loading machine, which comprises: a body; an operating device installed on the body and performing loading operations on a transport vehicle; a communication device that communicates with the transport vehicle directly or via a control device; and a controller that determines whether the loading of the transport vehicle with the transport vehicle is completed and outputs a departure instruction to the transport vehicle via the communication device, wherein the controller is configured to store or receive model data including information representing characteristics related to the transporting action of the transport vehicle, estimate the departure preparation time required for the transport vehicle from the start of departure preparation until it becomes a state capable of departure based on the model data, estimate the remaining loading time required from the current moment to the completion of loading the transport vehicle with the transport vehicle based on loading machine-side operating status data as operating status data of the loading machine, calculate the time difference between the estimated remaining loading time and the departure preparation time required, and output the departure preparation instruction to the transport vehicle via the communication device at a stage where the calculated time difference is lower than a preset set value.

[0010] Effects of the Invention

[0011] According to the present invention, after the loading work is completed, the transport vehicle can be quickly dispatched, and the productivity at the site can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of a hydraulic excavator as an example of a loading machine according to the first embodiment of the present invention.

[0013] Figure 2 This is a schematic diagram showing an example of a work site where a loading machine according to the first embodiment of the present invention is operated.

[0014] Figure 3 This is a block diagram showing main functions of a controller included in the loading machine according to the first embodiment of the present invention.

[0015] Figure 4 This is an example of a flowchart showing a processing procedure for outputting a vehicle start command by the controller provided in the loading machine according to the first embodiment of the present invention.

[0016] Figure 5 This is an example of a timing chart showing the operation of the transport vehicle that cooperates with the loading machine according to the first embodiment of the present invention.

[0017] Figure 6 This is an example of a screen displayed on the display device of the transport vehicle in response to a display command from the controller included in the loading machine according to the first embodiment of the present invention.

[0018] Figure 7This is a block diagram showing main functions of a controller included in a loading machine according to a second embodiment of the present invention.

[0019] Figure 8 This is an example of a flowchart showing a procedure for updating the time required for vehicle departure preparation by the controller provided in the loading machine according to the second embodiment of the present invention.

[0020] Fig. 9 This is a block diagram showing the main functions of the control device according to the third embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following describes an embodiment in which the present invention is applied to a large hydraulic excavator capable of automatic driving as an example of a loading machine. However, the present invention can be applied to all loading machines that work in cooperation with a transport vehicle, for example, it can be applied to loading machines other than hydraulic excavators such as cranes, forklifts, and wheel loaders, based on medium-sized or smaller hydraulic excavators that are smaller than large hydraulic excavators. In addition, as a transport vehicle, it can be applied to crawler vehicles such as crawler transporters, based on dump trucks.

[0022] (First embodiment)

[0023] (1) Loading machinery

[0024] Figure 1 1 is a schematic diagram of a hydraulic excavator as an example of a loading machine according to a first embodiment of the present invention. The hydraulic excavator 1 shown in the figure includes a vehicle body 10 and a front working device 20. The vehicle body 10 includes a traveling body 11 and a revolving body 12.

[0025] The traveling body 11 has left and right crawlers (traveling devices) 16, and includes an idler wheel 13 as a driven wheel, a driving drum 14 as a driving wheel, and an endless track crawler 15 wound around the idler wheel 13 and the driving drum 14. The driving drum 14 is driven by left and right traveling motors (not shown), and the endless track crawler 15 rotates between the idler wheel 13 and the driving drum 14, whereby the hydraulic excavator 1 travels. For example, a hydraulic motor is used as the traveling motor.

[0026] The rotating body 12 is disposed on the upper part of the traveling body 11 so as to be rotatable left and right via a rotating device (not shown). The rotating device connecting the rotating body 12 to the traveling body 11 includes a rotating motor (not shown), and the rotating body 12 is rotated left or right relative to the traveling body 11 by driving the rotating motor. For the rotating motor, a hydraulic motor is used, for example. A cab 18 for an operator is provided at the front part of the rotating body 12 (in the present embodiment, the front left side). In addition, the rotating body 12 is equipped with a prime mover, a hydraulic system, and the like.

[0027] The front working machine 20 is a multi-jointed arm type working device for performing operations such as earth and sand excavation, and is installed at the front part of the swing body 12 (in this embodiment, the right side of the cab 18). The front working machine 20 is used for loading operations of transported objects onto a transport vehicle. The front working machine 20 is composed of a boom 21, a dipper arm 22, and a bucket 23. In addition, the transported objects are objects loaded onto a transport vehicle by a loading machine such as a hydraulic excavator 1. In addition to earth and sand and rubble, they can also include various items such as other dismantled objects of buildings, ore, and wood fragments. However, in the description of the embodiments from now on, the transported objects are represented by earth and sand.

[0028] The boom 21 is rotatably connected to the base frame of the swing body 12, which is called a revolving frame, and is driven by the boom cylinder 24 to rotate up and down relative to the swing body 12. Both ends of the boom cylinder 24 are rotatably connected to the boom 21 and the swing body 12. The arm 22 is rotatably connected to the front end of the boom 21, and is driven by the arm cylinder 25 to rotate forward and backward relative to the boom 21. Both ends of the arm cylinder 25 are rotatably connected to the arm 22 and the boom 21. The bucket 23 is rotatably connected to the front end of the arm 22, and is driven by the bucket cylinder 26 to rotate up and down relative to the arm 22. Both ends of the bucket cylinder 26 are rotatably connected to the boom 21 and the bucket 23.

[0029] The hydraulic excavator 1 includes a drive system 31 and a posture sensor 32 ( Figure 3 )、Load amount sensor 33( Figure 3 )、Positioning sensor 34( Figure 3 ), communication device 35, and controller 40.

[0030] The drive system 31 is a system for driving drive components of the hydraulic excavator 1 such as the front working device 20, the traveling body 11, and the swing body 12. The drive system 31 is composed of hydraulic equipment such as a hydraulic pump, electrical equipment for controlling these hydraulic equipment, hydraulic piping, and signal lines.

[0031] The posture sensor 32 is a sensor that detects the posture of the front working machine 20 as one of the operating state data (loading machine side operating state data) of the hydraulic excavator 1. As the posture sensor 32, for example, an angle sensor that detects the angle of the boom 21 relative to the swing body 12, an angle sensor that detects the angle of the arm 22 relative to the boom 21, and an angle sensor that detects the angle of the bucket 23 relative to the arm 22 can be used. In addition, accelerometers (such as IMU) based on the gravity direction can be respectively provided on the boom 21, the arm 22, and the bucket 23, and these accelerometers can be used as the posture sensor 32. Specifically, the controller 40 calculates the posture of the front working machine 20, the angles of the boom 21, the arm 22, and the bucket 23, and the position of the bucket 23 based on the output of the posture sensor 32.

[0032] The load sensor 33 detects, as one of the operating state data of the hydraulic excavator 1, that earth and sand scooped into the bucket 23 is carried on the front working device 20 and is transported to the transport vehicle 101 ( Figure 2 ) is a sensor for measuring the weight of the earth and sand loaded, that is, the load weight. As the load sensor 33, for example, a pressure gauge for measuring the cylinder chamber pressure of the boom cylinder 24 can also be used. The output of the load sensor 33 and the position of the bucket 23 obtained from the output of the posture sensor 32 are used as a basis, and the controller 40 calculates the load weight scooped into the bucket 23.

[0033] The positioning sensor 34 is a sensor that detects the position of the vehicle body 10. The positioning sensor 34 is, for example, a positioning device such as RTK-GNSS (Real Time Kinematic-Global Navigation Satellite System). The positioning sensor 34 obtains the position data of the earth coordinate system of the antenna (not shown) installed on the vehicle body 10. Two antennas are installed, so that the controller 40 can also calculate the orientation data of the vehicle body 10 (rotating body 12) from the position data of the two antennas. The position of the vehicle body 10 obtained by the positioning sensor 34 is strictly speaking the position of the antenna installed on the vehicle body 10, but it can be freely converted into a specific position of the vehicle body 10 (for example, the rotation center position of the vehicle body 10) using the known dimensional data of the vehicle body 10. Although not specifically shown in the figure, sometimes the hydraulic excavator 1 is also equipped with a wireless device that receives correction data from the reference station GNSS (not shown). When this wireless device is used, the position data of the vehicle body 10 is corrected using the correction data received by the wireless device.

[0034] The communication device 35 and the communication device 135 ( Figure 2 ) and the control device 200 ( Figure 2 ) is appropriately wirelessly connected, and various data such as instructions, notifications, and displays and the operating status data of the machine body are bidirectionally communicated between the communication device 135 of the transport vehicle and the control device 200. There is also a case where the communication device 35 is connected to the communication device 135 of the transport vehicle and the control device 200 via a repeater (not shown) as needed.

[0035] The controller 40 is a vehicle-mounted computer mounted on the hydraulic excavator 1, and has a function of outputting a command signal to the drive system 31 without relying on the operation of the operator to automatically drive the hydraulic excavator 1. The controller 40 is connected to the drive system 31 and the communication device 35 via a signal line, and can output a control signal to the drive system 31, or transmit and receive data between the communication device 135 of the transport vehicle via the communication device 35.

[0036] The controller 40 has a function of judging that the loading of soil and sand into the transport vehicle 101 is completed and outputting a departure instruction to the transport vehicle 101 along with the completion of the loading, and a function of outputting a departure preparation instruction before the departure instruction so that the transport vehicle 101 can be quickly dispatched after the loading is completed. The departure instruction and the departure preparation instruction are directly transmitted from the controller 40 of the hydraulic excavator 1 to the transport vehicle 101 via the communication device 35, but it is also possible to transmit the departure instruction from the controller 40 to the control device 200 ( Figure 2 ) output, and sent to the transport vehicle 101 via the control device 200. In addition, the departure instruction to the transport vehicle 101 is not limited to a signal instructing the transport vehicle 101 to forcibly depart. The departure instruction also includes a departure permission notice sent along with the completion of the loading of soil and sand. For example, when the travel of the transport vehicle 101 is based on the control performed by the control device 200, it also includes the departure permission from the control device 200 and the notice constituting the departure instruction of the transport vehicle 101 under the AND condition. This is in accordance with the procedure of the transport vehicle. The functions and processing sequence of the controller 40 of the hydraulic excavator 1 are described below.

[0037] (2) Operation site

[0038] Figure 2 This is a schematic diagram showing an example of a work site where the loading machine according to the first embodiment of the present invention operates. Figure 2 In the work site shown, transport vehicles 101 and 102 are parked near the excavation site of soil and sand S by the hydraulic excavator 1. The transport vehicle 101 is a vehicle in the process of being loaded with soil and sand S by the hydraulic excavator 1, and is parked so that the cargo box is located inside the rotation radius of the front working machine 20 of the hydraulic excavator 1. The transport vehicle 102 is a standby vehicle waiting for the completion of loading of soil and sand S on the transport vehicle 101, and has the same structure as the transport vehicle 101.

[0039] The transport vehicles 101 and 102 have a controller 110 as an on-board computer, a communication device 135, and a positioning sensor (GNSS). The controllers 110 of the hydraulic excavator 1 and the transport vehicles 101 and 102 can communicate with each other wirelessly via the communication devices 35 and 135, and can directly perform data communication in both directions. However, the configuration is not limited to that in which the hydraulic excavator 1 and the transport vehicles 101 and 102 directly perform data communication, and it is also possible to perform data communication via the control device 200 installed in the base station BS as described above.

[0040] exist Figure 2In the work site shown, for example, the hydraulic excavator 1 drives the front working machine 20 to dig the transported object, namely, soil and sand S, and loads the excavated soil and sand S onto the transport vehicle 101. The hydraulic excavator 1 repeats the excavation and loading actions many times until the transport vehicle 101 is fully loaded. When the controller 40 determines that the transport vehicle 101 is fully loaded, the hydraulic excavator 1 outputs a departure command to the transport vehicle 101 via the communication device 35. If the departure command is received via the communication device 135, the transport vehicle 101 departs and detaches from the loading site of the soil and sand S for which the hydraulic excavator 1 is responsible. Then, the transport vehicle 102 waiting near the hydraulic excavator 1 moves and stops near the hydraulic excavator 1, and the hydraulic excavator 1 loads the excavated soil and sand S onto the transport vehicle 102. During this period, the next transport vehicle arrives at the waiting site. This series of processes is repeated in the work site.

[0041] (3) Controller

[0042] Figure 3 This is a block diagram showing main functions of the controller 40 included in the loading machine according to the first embodiment of the present invention.

[0043] The controller 40 is connected to the communication device 35 via a signal line, and receives the model data, operating state data (operating state data on the transport vehicle side), and position data of the transport vehicle from the transport vehicle 101 via the communication device 35 as transport vehicle information.

[0044] The model data is data including information such as the model and type of the transport vehicle 101 for determining characteristics (such as specifications) related to the transport operation of the transport vehicle 101, and is data registered, stored, or received in the controller 110 of the transport vehicle 101. For example, the model data includes the model name of the transport vehicle 101, the model code, the specifications of the power source and various devices, the specifications related to the driving acceleration and the driving speed, the weight of the transported object that can be carried, and the like.

[0045] The transport vehicle side operation state data includes various data (information) related to the current operation state of the transport vehicle 101, such as the prime mover rotation speed, the on / off of the parking brake, etc., in addition to the states such as the prime mover being stopped, the prime mover being idling, being driven, and being discharged. The transport vehicle side operation state data can be obtained by detecting state quantities that change according to the operation of the prime mover, actuator, hydraulic pump, etc. of the transport vehicle 101 by sensors (rotation sensors, pressure sensors, potentiometers, etc.) mounted on the transport vehicle.

[0046] The position data is data on the current position and posture (orientation) of the transport vehicle 101 , and is obtained by a positioning sensor of the transport vehicle 101 .

[0047] In addition, the posture sensor 32, the load sensor 33, the positioning sensor 34, and the drive system 31 are connected to the controller 40 via signal lines. The controller 40 inputs or calculates the posture and position of the front working device 20 of the hydraulic excavator 1, the weight of the earth and sand S scooped into the bucket 23, and the position and orientation of the swing body 12 from the outputs of the posture sensor 32, the load sensor 33, and the positioning sensor 34 as loading machine information.

[0048] Here, as described above, the controller 40 has a function of outputting a departure instruction to the transport vehicle 101 as the loading of the soil S to the transport vehicle 101 is completed, and a function of outputting a departure preparation instruction before the departure instruction so that the transport vehicle 101 can be quickly dispatched after the loading is completed. As details of these functions, the controller 40 has the functions of departure preparation instruction timing calculation 40a, departure preparation instruction output 40b, loading completion judgment 40c, interference prevention control 40d, and departure instruction output 40e. These functions are described below.

[0049] (3.1) Departure preparation instruction timing calculation 40a

[0050] The departure preparation instruction timing calculation 40a is a function of calculating the timing at which the hydraulic excavator 1 outputs the departure preparation instruction to the transport vehicle 101 so that the timing matches the completion of loading of the soil and sand S to the transport vehicle 101 and the departure preparation of the transport vehicle 101 is completed at this timing. The departure preparation instruction timing calculation 40a includes the functions of the departure preparation time estimation 40a1, the remaining loading time estimation 40a2, and the time difference calculation 40a3.

[0051] (3.1.1) Estimation of departure preparation time 40a1

[0052] The departure preparation time estimation 40a1 is a function of estimating the departure preparation time T1 required for the transport vehicle 101 from the start of departure preparation until it becomes ready to depart, based on the model data of the transport vehicle 101. The departure preparation time T1 is, for example, the time required for the engine speed of the transport vehicle to increase and the brake to be released. The storage device (e.g., Figure 7In the storage device 40f), a table is stored in which the time required for departure preparation T1 corresponding to each model data of the transport vehicle is pre-set as a specified value for each operating state of the transport vehicle. The operating state of the transport vehicle is whether the prime mover of the transport vehicle is stopped, the prime mover is idling, the parking brake is on / off, etc. A table pre-set as a specified value for each state is stored. When the controller 40 performs the function of estimating the departure preparation time 40a1, the controller 40 reads this table from the storage device and sets the estimated value of the time required for departure preparation T1 based on the received model data and operating state data of the transport vehicle 101.

[0053] In addition, instead of estimating the time T1 required for departure preparation by referring to a table that defines the relationship between the model data of the transport vehicle, the operating status data of the transport vehicle, and the time T1 required for departure preparation, a method of estimating the time T1 required for departure preparation based on the operating status data of the transport vehicle may be used. For example, the controller 40 executes a program in a manner that calculates the time T1 required for departure preparation based on the operating status data such as the speed of the prime mover of the transport vehicle 101 and the on and off of the brake. In this case, the controller 40 inputs the model data and operating status data of the transport vehicle 101 received via the communication device 35, and calculates the estimated value of the time T1 required for departure preparation based on the model data and operating status data of the transport vehicle 101 in accordance with the program.

[0054] (3.1.2) Remaining loading time estimation 40a2

[0055] The remaining loading time estimation 40a2 is a function of estimating the remaining loading time T0 required from the current time to the completion of loading of the soil and sand S to the transport vehicle 101 based on the operating state data of the hydraulic excavator 1 as the operating state data of the loading machine side. As described above, the controller 40 receives the posture data of the front working machine 20 detected by the posture sensor 32 and the load weight detected by the load amount sensor 33 as the operating state data of the hydraulic excavator 1. When the controller 40 executes the remaining loading time estimation 40a2 function, for example, the controller 40 first calculates the relative position between the transport vehicle 101 and the vehicle body 10 based on the position data of the transport vehicle 101 received via the communication device. Then, the controller 40 calculates the remaining loading time T0 based on the relative position of the transport vehicle 101, the posture data of the front working machine 20, and the load weight.

[0056] For example, the load amount loaded on the transport vehicle 101 by a single excavation loading action can be calculated based on the distance of the bucket 23 relative to the vehicle body 10 obtained from the posture data and the output of the load amount sensor 33. In accordance with this, the remaining load amount until full loading can be calculated from the difference between the cumulative value of the load amount of soil and sand S on the transport vehicle 101 and the full load amount (prescribed value) of the transport vehicle 101. After the remaining load amount is calculated, the number of excavation loading actions of soil and sand S required from the current time until the transport vehicle 101 becomes fully loaded is determined based on the volume (prescribed value) of the bucket 23. In addition, by determining the relative position between the transport vehicle 101 and the vehicle body 10, the track of the front working machine 20 (for example, the bucket 23) and its distance D1 for each excavation loading action can be calculated. Based on the distance D1 and the number N, the total track of the front working machine 20 from the current time until the transport vehicle 101 becomes fully loaded and its total distance D2 are obtained. Furthermore, the time required for the front working machine 20 to move the total distance D2 can be obtained from the swing speed and the excavation speed (specified value or measured value) as the remaining loading time T0. At this time, the moment of inertia of the hydraulic excavator 1 during the swing action can be calculated based on the load (weight) of the soil and sand S measured by the load sensor 33, and the remaining loading time T0 can be accurately calculated by taking the acceleration and deceleration of the swing action into consideration.

[0057] Before the transport vehicle 101 becomes fully loaded, in this embodiment, the controller 40 successively performs a series of calculations on the remaining loading time T0 and counts down until the remaining loading time T0 falls below a preset threshold value Ts2. The threshold value Ts2 is a positive real number that specifies a short time (e.g., about 1 second).

[0058] (3.1.3) Time difference calculation 40a3

[0059] The time difference calculation 40a3 is a function for calculating the time difference Td between the remaining loading time T0 estimated by the remaining loading time estimation function 40a2 and the departure preparation required time T1 estimated by the departure preparation time estimation function 40a1. For example, the time difference Td can be calculated by the following formula.

[0060] Td = T0 - T1 ... (Formula 1)

[0061] The purpose of this embodiment is to output the departure preparation command at the time T1 required for departure preparation from the estimated time when the loading of the soil S onto the transport vehicle 101 is completed. Therefore, the time difference Td can be said to be the remaining time from the current time to the timing of outputting the departure preparation command.

[0062] (3.2) Departure preparation command output 40b

[0063] The departure preparation instruction output 40b is a function of judging whether the time difference Td calculated by the time difference calculation function 40a3 is lower than a preset setting value Ts1, and outputting the departure preparation instruction to the transport vehicle 101 via the communication device 35 when the time difference Td is lower than the setting value Ts1. The setting value Ts1 is a positive real number that specifies a short time (for example, about 1 second). The transport vehicle 101 that receives the departure preparation instruction quickly starts departure preparation before the loading of the soil and sand S is completed, for example, by increasing the speed of the prime mover or releasing the parking brake.

[0064] (3.3) Loading completion judgment 40c

[0065] The loading completion judgment 40c is a function for judging whether the transport vehicle 101 is fully loaded and the loading of the soil and sand S on the transport vehicle 101 is completed. In this embodiment, when executing the loading completion judgment 40c, the controller 40 judges whether the remaining loading time T0 is less than a preset threshold value Ts2.

[0066] (3.4) Interference prevention control 40d

[0067] The interference prevention control 40d is a function of outputting a command signal to the drive system 31 to drive the front working machine 20 in order to avoid the front working machine 20 of the hydraulic excavator 1 from contacting the transport vehicle 101 when the transport vehicle 101 starts. For example, the controller 40 calculates the position of the front working machine 20 (for example, the bucket 23) relative to the transport vehicle 101 based on the relative position between the transport vehicle 101 and the vehicle body 10 and the posture data of the front working machine 20. Based on the calculated position of the front working machine 20 and the position of the transport vehicle 101, the controller 40 determines whether the front working machine 20 is in a position that will interfere with the transport vehicle 101 that is starting if the transport vehicle 101 starts. When the controller 40 outputs the start command, if the front working machine 20 is in a position that will interfere with the transport vehicle 101, the controller 40 outputs a command signal to the drive system 31 to move the front working machine 20 to a position that will not interfere with the transport vehicle 101.

[0068] (3.5) Departure command output 40e

[0069] The departure command output 40e is a function of outputting a departure command signal to the transport vehicle 101 via the communication device 35. The controller 40 executes the departure command output 40e function after the result of the loading completion judgment 40c is that the transport vehicle 101 is judged to be fully loaded (for example, when the remaining loading time T0 is lower than the preset threshold value Ts2). The transport vehicle 101 that receives the departure command with the completion of the departure preparation departs and leaves the loading site of the soil and sand S that the hydraulic excavator 1 is responsible for.

[0070] (4) Flowchart

[0071] Figure 4 This is an example of a flowchart showing the processing procedure of the controller 40 provided in the hydraulic excavator 1 according to the first embodiment of the present invention for outputting a start command to the transport vehicle 101. The controller 40 executes the following processing every time a new transport vehicle arrives at the loading position of the soil and sand S for which the hydraulic excavator 1 is responsible. Figure 4 process.

[0072] Step S101

[0073] When the transport vehicle 101 or the control device 200 recognizes that the transport vehicle 101 has arrived at the loading position for which the hydraulic excavator 1 is responsible and has stopped, the controller 40 starts Figure 4 When the process is started, the controller 40 outputs a command signal to the drive system 31 to execute the excavation and loading operation, and excavates the soil and sand S, and loads the excavated soil and sand S onto the transport vehicle 101 (step S101).

[0074] Step S102

[0075] As the excavation and loading operation starts, the controller 40 receives the model data and operation status data of the transport vehicle 101 via the communication device 35, and estimates the departure preparation time T1 required for the departure preparation of the transport vehicle 101 (step S102). The calculation sequence of the departure preparation time T1 is the same as that of the departure preparation time estimation 40a1 ( Figure 3 ) has the same function.

[0076] Step S103

[0077] In addition, during the excavation and loading operation, the controller 40 successively calculates the remaining loading time T0 and estimates it as the time required from the current time until the transport vehicle 101 is fully loaded (step 103). The calculation sequence of the remaining loading time T0 is the same as the remaining loading time estimation 40a2 ( Figure 3 ) has the same function.

[0078] Step S104

[0079] After calculating the remaining loading time T0, the controller 40 calculates the time difference Td between the time required for departure preparation T1 and the remaining loading time T0, and calculates the remaining time from the current time until the appropriate timing of outputting the departure preparation start instruction (step S104). The calculation sequence of the time difference Td is the same as the above-mentioned time difference calculation 40a3 ( Figure 3 ) has the same function.

[0080] Step S105

[0081] After calculating the time difference Td, the controller 40 compares the time difference Td with the set value Ts1 to determine whether the time difference Td is less than the set value Ts1 (step S105). If the controller 40 determines that the time difference Td is greater than the set value Ts1, the sequence returns to step S103 and the sequence of steps S103-S105 is repeated until the time difference Td is less than the set value Ts1.

[0082] Step S106

[0083] When the controller 40 determines that the time difference Td is less than the set value Ts1, it outputs a departure preparation instruction signal to the transport vehicle 101 via the communication device 35 (step S106). In response to this, the transport vehicle 101 receives the departure preparation instruction signal via the communication device 135, and starts departure preparation (increasing the engine speed, releasing the parking brake, etc.) according to the departure preparation instruction signal. The sequence of steps S105 and S106 is equivalent to the departure preparation instruction output 40b ( Figure 3 ) function.

[0084] Step S107

[0085] After the departure preparation instruction signal is output, the controller 40 counts down the remaining loading time T0 based on the elapsed time from the output of the departure preparation instruction signal, and determines whether the remaining loading time T0 becomes less than the threshold value Ts2 (step S107). If the controller 40 determines that the remaining loading time T0 is greater than the threshold value Ts2, the sequence of step S107 is repeated. The sequence of step S107 is equivalent to the loading completion determination 40c ( Figure 3 ) function.

[0086] Step S108

[0087] When it is determined that the remaining loading time T0 is lower than the threshold value Ts2, the controller 40 executes the above-mentioned interference prevention control 40d ( Figure 3 ) function, sends instructions to the drive system 31 to drive the front working machine 20 as needed (step S108).

[0088] Step S109

[0089] When the remaining loading time T0 is lower than the threshold value Ts2 and there is no risk of interference between the transport vehicle 101 and the front working machine 20, a departure instruction signal is output to the transport vehicle 101 via the communication device 35 (step S109), and the transport vehicle 101 is terminated. Figure 4 In this case, the transport vehicle 101 receives the departure instruction signal at the timing when the departure preparation is completed via the communication device 135, and departs according to the departure instruction signal. The sequence of step S109 is equivalent to the departure instruction output 40e ( Figure 3) function.

[0090] (5) Timing diagram

[0091] Figure 5 1 is an example of a timing diagram showing the operation of the transport vehicle 101 that cooperates with the hydraulic excavator 1 according to the first embodiment of the present invention. The diagram illustrates the following situation: the remaining loading time T0 is calculated at the current time t1, and the loading operation of the soil and sand S on the transport vehicle 101 by the hydraulic excavator 1 is completed at the time t3 after the remaining loading time T0 has passed from the current time t1. In this case, the time t2, which is the time required for the departure preparation T1 calculated at the time of the current time t1 from the time t3, becomes the appropriate timing for the controller 40 of the hydraulic excavator 1 to output the departure preparation instruction to the transport vehicle 101. The time from the current time t1 to the time t2 becomes the above-mentioned time difference Td, that is, the remaining time until the appropriate output timing of the departure preparation instruction. Then, the departure preparation instruction is output from the controller 40 at the time t2, and the transport vehicle 101 that receives the departure preparation instruction starts the departure preparation. For example, the speed of the prime mover of the transport vehicle 101 increases during the period from time t2 to time t3, and further, at a predetermined timing from time t2 to time t3, for example, the parking brake is released at time t3, and at time t3 when the loading operation of the soil and sand S is completed, the departure preparation of the transport vehicle 101 is also completed. In addition, at time t3, the controller 40 of the hydraulic excavator 1 outputs a departure command to the transport vehicle 101. The transport vehicle 101 that receives the departure command starts, increases the vehicle speed, and leaves the loading site of the soil and sand S that the hydraulic excavator 1 is responsible for.

[0092] (6) When the transport vehicle is a manned vehicle

[0093] Figure 6 This is an example of a screen displayed on the display device of the transport vehicle 101 according to a display command issued from the controller provided in the loading machine of the first embodiment of the present invention. The transport vehicle 101 may be a manned vehicle or an unmanned vehicle. When the transport vehicle 101 is manned, it is preferred that a display device 105 disposed in the cab (e.g., in front of the driver's seat) of the transport vehicle 101 displays the screen. Figure 6 The display screen for notifying the operator of the transport vehicle 101 of the timing of starting the departure preparation as exemplified above. For example, the controller 40 is configured to generate a display screen ( ) for displaying the timing of outputting the departure preparation instruction based on the time difference Td in conjunction with the calculation of the time difference Td in steps S104 and S106. Figure 6 ) data and outputs it to the transport vehicle 101 via the communication device 35. Figure 6This is an example of a display screen showing a countdown display of the remaining time until the hydraulic excavator 1 outputs a departure preparation command and the remaining time until the departure command is output.

[0094] According to this display, the operator of the transport vehicle 101 increases the engine speed or releases the parking brake before the scheduled departure time (loading completion time) to perform operations necessary for departure preparation.

[0095] (7) When the transport vehicle is unmanned

[0096] Assume that the transport vehicle 101 is controlled by the controller 110 ( Figure 2 ), that is, an unmanned vehicle driven automatically by an onboard computer. In this case, after the transport vehicle 101 receives the departure preparation instruction output from the controller 40 of the hydraulic excavator 1, it starts departure preparation under the control of the controller 110 according to the departure preparation instruction. Then, after receiving the departure instruction output from the controller 40 of the hydraulic excavator 1, the transport vehicle 101 starts according to the departure instruction under the control of the controller 110.

[0097] However, the transport vehicle 101 may be configured to automatically start after the departure preparation is completed without waiting for the departure instruction from the hydraulic excavator 1, provided that the loading of the soil and sand S is completed at the timing when the departure preparation started in accordance with the departure preparation instruction is completed.

[0098] (8) Effect

[0099] (8.1) Improvement of productivity

[0100] For example, in Figure 2 In the work site shown, if the departure of the fully loaded transport vehicle 101 is delayed, the waiting transport vehicle 102 cannot approach the hydraulic excavator 1. The delay in the departure of the transport vehicle 101 wastes time, and the start of the loading work on the transport vehicle 102 is also delayed.

[0101] In contrast, in this embodiment, if Figure 5As shown in the figure, the hydraulic excavator 1 outputs the departure preparation instruction to the transport vehicle 101 before the loading is completed, so that the loading completion and timing are matched with the progress of the excavation and loading action based on the hydraulic excavator 1 to complete the departure preparation of the transport vehicle 101. As a result, the departure preparation of the transport vehicle 101 can be started before the loading of the soil and sand S by the hydraulic excavator 1 is completed, the departure preparation of the transport vehicle 101 can be completed by matching the timing with the completion of the loading, and the transport vehicle 101 can be quickly dispatched after the loading is completed. In this way, the wasted time caused by the delay in the departure of the transport vehicle 101 can be shortened. In addition, the departure preparation instruction to the transport vehicle 101 is automatically output from the hydraulic excavator 1 without the instruction of the operator. The loading of soil and sand S to the transport vehicle by the hydraulic excavator 1 is repeated many times a day, thereby almost eliminating or greatly shortening the departure delay time of the transport vehicle during each loading operation, thereby improving the productivity on site.

[0102] (8.2) Cost reduction

[0103] In addition, if only the delay time of the departure of the transport vehicle 101 is shortened, the departure preparation instruction may be outputted at a time which is estimated to be longer than the departure preparation time T1 from the scheduled time of completion of loading. However, in this case, the time from the completion of departure preparation of the transport vehicle 101 to departure becomes longer, and the transport vehicle 101 has to maintain the state of unnecessary increase in the speed of the prime mover even when it is parked, resulting in the occurrence of problems such as fuel waste.

[0104] In contrast, according to the present embodiment, by outputting a departure preparation command at the timing of departure preparation completion in conjunction with loading completion, it is possible to suppress fuel waste, improve productivity, and suppress operating costs at the work site.

[0105] (8.3) Efficiency of loading operations

[0106] According to the interference prevention control 40d ( Figure 3 ), even if the front working machine 20 is in a position interfering with the transport vehicle 101 when loading is completed, the interference prevention control 40d function can automatically avoid the interference between the transport vehicle 101 to be dispatched and the front working machine 20. Therefore, it is not necessary to set the track of the bucket 23 during loading operation to be unnecessarily high relative to the transport vehicle 101 so that the front working machine 20 does not stop at a position interfering with the transport vehicle 101 when loading is completed. It is not necessary to unnecessarily increase the track of the front working machine 20 during excavation operation, so that wasteful operation of the hydraulic excavator 1 can be reduced, and the effect of suppressing deterioration of fuel consumption of the hydraulic excavator 1 and the effect of improving the operation speed can be expected.

[0107] (8.4) Support for manned vehicles

[0108] In the case where the transport vehicle 101 is an unmanned vehicle, the transport vehicle 101 can be started to prepare for departure according to the output of the departure preparation instruction in cooperation with the automatic control function of the transport vehicle 101, but it is also assumed that the transport vehicle 101 is a manned vehicle without an automatic control function. In this case, Figure 8 By notifying the operator of the transport vehicle 101 via the display device 105 of the transport vehicle 101 of the timing of outputting the departure preparation instruction as shown in the example, the operator can be urged to check the departure preparation at an appropriate timing.

[0109] (Second embodiment)

[0110] The first embodiment is based on the premise that the time required for the preparation for the departure T1 corresponding to the model data and the operating status data of the transport vehicle 101 is known. That is, in the case where a transport vehicle of an unknown model without an application example is introduced to the work site, the time required for the preparation for the departure T1 cannot be estimated if there is no data on the model and specification of the unknown transport vehicle in the table. In addition, even for a known transport vehicle, there may be a large difference between the time required for the preparation for the departure T1 specified in the table and the actual true value. The second embodiment is an example to deal with these points.

[0111] Figure 7 1 is a block diagram showing the main functions of the controller 40 of the hydraulic excavator 1 according to the second embodiment of the present invention, which is similar to the controller 40 of the first embodiment. Figure 3 The corresponding figure. Figure 7 In the present invention, the same elements as or corresponding elements to those in the first embodiment are denoted by the same reference numerals as those in the drawings already described, and description thereof is omitted.

[0112] The difference between the present embodiment and the first embodiment is that the function of the departure preparation time estimation 40a1 includes a function of updating the table by actual feedback.

[0113] In the storage device 40f provided in the controller 40 or connected to the controller 40, as described in the first embodiment, a table is stored in which the time required for the departure preparation T1 corresponding to each model data of the transport vehicle is pre-set as a specified value for each operating state of the transport vehicle (such as the stop of the prime mover). In addition, when the model data of the transport vehicle 101 received via the communication device 35 is unknown, the controller 40 re-creates the table related to the received model data and records it in the storage device 40f. In the newly created table, the data of the time required for the departure preparation T1 for each operating state of the transport vehicle 101 is unknown, so the pre-prepared specified value is first registered.

[0114] The controller 40 sequentially receives data such as the speed of the prime mover and the on / off state of the parking brake of the transport vehicle 101 via the communication device 35 as the operation state data of the transport vehicle 101. As in the first embodiment, the controller 40 calculates the time T1 required for the vehicle departure preparation from the received model data of the transport vehicle 101, and sequentially outputs the vehicle departure preparation instruction and the vehicle departure instruction as the excavation and loading operation progresses.

[0115] In this embodiment, after outputting the departure preparation instruction, the controller 40 calculates the actual departure preparation time T1r actually required for the transport vehicle 101 to prepare for departure after outputting the departure preparation instruction for the transport vehicle 101, based on the successively received operation status data of the transport vehicle 101. As the actual departure preparation time T1r, for example, the time from the output of the departure preparation instruction until the state in which the engine speed of the transport vehicle 101 is greater than a fixed value and the parking brake is released can be calculated.

[0116] After calculating the actual time for departure preparation T1r, the controller 40 obtains the difference (absolute value) between the time required for departure preparation T1, which is the basis for outputting the departure preparation instruction, and the actual time for departure preparation T1r, and determines whether the difference is less than a preset reference value ds. The reference value ds is a positive real number that specifies a short time (for example, about 1 second). When the difference between the time required for departure preparation T1 and the actual time for departure preparation T1r is smaller than the preset reference value ds, it means that the time required for departure preparation T1 specified in the table is appropriate. In this case, the controller 40 maintains the value of the time required for departure preparation T1 for the table of transport vehicles 101 stored in the storage device 40f. On the contrary, when the difference between the time required for departure preparation T1 and the actual time for departure preparation T1r is greater than the preset reference value ds, it means that the time required for departure preparation T1 specified in the table is excessive or insufficient. In this case, the controller 40 updates the table regarding the transport vehicle 101 stored in the storage device 40f based on the required departure preparation time T1 and the actual departure preparation time T1r.

[0117] Figure 8 This is an example of a flowchart showing an update procedure of the departure preparation required time T1 by the controller 40 of the hydraulic excavator 1 in the second embodiment of the present invention. Figure 8 The updating procedure of the time required for departure preparation T1 shown in the flowchart is included in the function of the departure preparation time estimation 40a1.

[0118] Step S102

[0119] After recognizing that the transport vehicle 101 is parked at the loading position of the hydraulic excavator 1, the controller 40 executes the same operation as in the first embodiment. Figure 4According to the process, the time required for the preparation for the departure of the transport vehicle 101 is estimated (step S102). If the model data of the transport vehicle 101 is known, the time required for the preparation for the departure of the transport vehicle 101 is calculated according to the table already stored in the storage device 40f, as in the first embodiment. If the model data of the transport vehicle 101 is unknown, a new table is created with respect to the model data, in which the time required for the preparation for the departure of the transport vehicle 101 is set to a predetermined value, and the table is recorded in the storage device 40f, and the time required for the preparation for the departure of the transport vehicle 101 is calculated according to the new table.

[0120] Step S102a

[0121] After calculating the time T1 required for the vehicle to be ready for departure, the controller 40 executes Figure 4 The processing after step S103 is accompanied by the output of the departure preparation instruction to the transport vehicle 101 (step S106), and the departure preparation instruction output time ta is recorded in the storage device 40f (step S102a).

[0122] Step S102b

[0123] After the output of the departure preparation instruction (after recording the departure preparation instruction output time ta), the controller 40 calculates the departure preparation completion time tb when the departure preparation of the transport vehicle 101 is actually completed after the output of the departure preparation instruction based on the operating status data of the transport vehicle 101 at real time (step S102b).

[0124] Step S102c

[0125] After calculating the departure preparation completion time tb, the controller 40 calculates the time from the departure preparation command output time ta to the departure preparation completion time tb, ie, the departure preparation actual time T1r (=tb-ta) (step S102c).

[0126] Step S102d

[0127] After calculating the actual departure preparation time T1r, the controller 40 calculates the difference (|T1r-T1|) between the departure preparation required time T1 estimated in step S102 and the departure preparation actual time T1r, and determines whether the difference is less than the reference value ds (step S102d). If it is determined that the difference between the departure preparation required time T1 and the departure preparation actual time T1r is less than the reference value ds, the controller 40 does not change the departure preparation required time T1 in the table specified for the transport vehicle 101, and ends. Figure 8 process.

[0128] Step S102e

[0129] When the difference between the departure preparation required time T1 and the departure preparation actual time T1r is greater than the reference value ds, the controller 40 corrects and updates the departure preparation required time T1 in the table specified for the transport vehicle 101, and ends the process. Figure 8 In this example, the correction value ΔT is calculated by the following formula, and the departure preparation time T1 is corrected by the correction value ΔT.

[0130] ΔT=T1r-T1-ds…(Formula 2)

[0131] When the correction value ΔT is a positive value, it means that the actual departure preparation time T1r is longer than the departure preparation required time T1 estimated in step S102. In this case, the controller 40 subtracts the value ΔT from the departure preparation required time T1 in the table specified for the transport vehicle 101, and updates the departure preparation required time T1 to the subtracted value. On the other hand, when the correction value ΔT is a negative value, it means that the actual departure preparation time T1r is shorter than the departure preparation required time T1 estimated in step S102. In this case, the controller 40 adds the absolute value of the value ΔT to the departure preparation required time T1 in the table specified for the transport vehicle 101, and updates the departure preparation required time T1 to the added value.

[0132] The other points of this embodiment are the same as those of the first embodiment.

[0133] According to this embodiment, in addition to the same effects as those of the first embodiment, the following advantages are also provided: the time required for the preparation for departure T1 of a transport vehicle of unknown model can be calculated, a departure preparation instruction can be output, and the delay time of the departure of the transport vehicle can be suppressed. In addition, when the value of the time required for the preparation for departure T1 associated with the model of the transport vehicle lacks appropriateness, the value of the time required for the preparation for departure T1 is updated based on feedback of the actual value, and the appropriateness of the time required for the preparation for departure T1 is improved with actual accumulation. Thus, with actual accumulation at the work site, the estimation accuracy of the time required for the preparation for departure T1 can be improved and productivity can be improved.

[0134] (Third embodiment)

[0135] In the first and second embodiments, the controller 40 mounted on the hydraulic excavator 1 is used as an example to output the departure preparation instruction, but in order to obtain the intended effect, it is not necessarily limited to this configuration. It is also possible to configure, for example, the control device 200 ( Figure 2 ) etc., a computer located at a location far away from the hydraulic excavator 1 and the transport vehicle 101 calculates the timing of the departure preparation instruction and the departure instruction, and outputs these instructions to the transport vehicle 101.

[0136] Fig. 9 This is a block diagram showing the main functions of the control device of the third embodiment of the present invention, which is similar to the first embodiment. Figure 3 The corresponding figure. Fig. 9 In the drawings, the same elements as or corresponding elements to those in the first embodiment or the second embodiment are denoted by the same reference numerals as those in the drawings already described, and description thereof is omitted.

[0137] Fig. 9 The control device 200 shown can communicate with the controllers 40 and 110 of the hydraulic excavator 1 and the transport vehicle 101 via the communication devices 35 and 135. The control device 200 receives various data such as the model data, operating state data, and position data of the transport vehicle 101 transmitted successively from the transport vehicle 101. In addition, the control device 200 also receives various data such as the model data, operating state data, and position data of the hydraulic excavator 1 transmitted successively from the hydraulic excavator 1. In addition, the control device 200 has the functions of the departure preparation instruction timing calculation 40a, the departure preparation instruction output 40b, the loading completion judgment 40c, and the departure instruction output 40e that the controller 40 of the hydraulic excavator 1 has in the first embodiment and the second embodiment. These functions are the same as those in the first embodiment and the second embodiment.

[0138] Therefore, in the present embodiment, the control device 200 estimates the remaining loading time T0 required from the current moment to the completion of loading the transport object onto the transport vehicle 101 based on the operating status data of the hydraulic excavator 1 received from the hydraulic excavator. In addition, the control device 200 estimates the time T1 required for departure preparation from the start of departure preparation of the transport vehicle 101 to the state where the transport vehicle 101 becomes capable of departure based on the model data of the transport vehicle 101. And, similarly to the first and second embodiments, while counting down the time difference Td, the departure preparation instruction and the timing of the departure instruction relative to the transport vehicle 101 are calculated and output. The timing of the display of the departure preparation instruction ( Figure 6 The function of ) can also be provided by the control device 200. Interference prevention control 40d ( Figure 3 ) can also be provided by the control device 200, but in this example, the controller 40 of the hydraulic excavator 1 has it and the controller 40 receives the loading completion judgment from the control device 200 and executes it. In addition, the control device 200 can also have the function of updating the departure preparation required time T1 of the second embodiment.

[0139] The other points of this embodiment are the same as those of the first embodiment or the second embodiment, and the same effects as those of the first embodiment or the second embodiment can be obtained.

[0140] Description of Reference Numerals

[0141] 1…hydraulic excavator (loading machine), 10…vehicle body, 20…front working machine (working device), 32…posture sensor, 33…load amount sensor, 34…positioning sensor, 35…communication device, 40…controller, 40a1…departure preparation time estimation function, 40a2…remaining loading time estimation function, 40a3…time difference calculation function, 40b…departure preparation instruction output function, 40d…interference prevention control function, 101, 102…transport vehicle, 135…communication device, 200…control device, 105…display device, ds…reference value, t1…current time, T0…remaining loading time, T1…time required for departure preparation, T1r…actual departure preparation time, Td…time difference, Ts1…set value, Ts2…threshold value.

Claims

1. A loading machine, comprising: a vehicle body; an operating device mounted on the vehicle body and configured to load a transport vehicle with a transport object; a communication device configured to communicate with the transport vehicle directly or via a control device; and a controller configured to determine that loading of the transport object onto the transport vehicle is complete and to output a departure instruction to the transport vehicle via the communication device, The loading machine is characterized in that The controller is configured as follows: storing or receiving model data including information indicating characteristics related to the transporting operation of the transporting vehicle, and estimating the time required for the transporting vehicle to prepare for departure from the start of the departure preparation until the transporting vehicle becomes ready for departure based on the model data, estimating a remaining loading time required from a current time to completion of loading of the transported object onto the transport vehicle based on the operating state data of the loading machine as the operating state data of the loading machine, Calculate the time difference between the estimated remaining loading time and the time required for the departure preparation, When the calculated time difference is lower than a preset value, a departure preparation instruction is output to the transport vehicle via the communication device.

2. The loading machine according to claim 1, characterized in that: The controller is configured as follows: receiving, via the communication device, transport vehicle-side operating state data that is operating state data including information on the operating state of the transport vehicle, The time required for the departure preparation is estimated based on the model data and the transport vehicle-side operating state data.

3. The loading machine according to claim 1, characterized in that: The controller is configured as follows: A table is stored that defines the relationship between the model data, the transport vehicle side operating state data as operating state data including information on the operating state of the transport vehicle, and the time required for the departure preparation, inputting the model data and the transport vehicle side operating status data received via the communication device, The table is referred to and the time required for the departure preparation is estimated based on the model data and the transport vehicle-side operating state data.

4. The loading machine according to claim 3, characterized in that: The controller is configured as follows: receiving the transport vehicle side operating status data via the communication device, Based on the received operation status data of the transport vehicle, an actual time for the transport vehicle to prepare for the departure is calculated after the departure preparation instruction is output. When the difference between the required departure preparation time and the actual departure preparation time is equal to or larger than a preset reference value, the table is updated based on the actual departure preparation time.

5. The loading machine according to claim 1, characterized in that: have: a posture sensor for detecting a posture of the working device; a load sensor for detecting a weight of a transport object carried by the working device and loaded onto the transport vehicle, that is, a load weight; and a positioning sensor for detecting the position of the vehicle body, The controller is configured as follows: The posture data of the working device detected by the posture sensor and the load weight detected by the load sensor are input as the operation state data of the loading machine side. Based on the position data of the transport vehicle received via the communication device, the relative position of the transport vehicle and the vehicle body is calculated, The remaining loading time is estimated based on the relative position of the transport vehicle, the posture data, and the load weight.

6. The loading machine according to claim 5, characterized in that: The controller is configured as follows: Based on the relative position of the transport vehicle and the posture data, the position of the working device relative to the transport vehicle is calculated, When the working device is located at a position interfering with the transport vehicle when the departure command is output, the working device is moved to a position not interfering with the transport vehicle.

7. The loading machine according to claim 1, characterized in that: The controller outputs the departure instruction when the remaining loading time is lower than a preset threshold.

8. The loading machine according to claim 1, characterized in that: The controller generates display screen data indicating the timing of outputting the departure preparation instruction based on the time difference in conjunction with the calculation of the time difference, and outputs the display screen data to the transport vehicle via the communication device.

9. A control device capable of communicating with a loading machine and a transport vehicle, wherein the loading machine has a body and a working device connected to the body, and the transport vehicle is loaded with a transport object by the loading machine. The control device is characterized in that receiving, from the loading machine, loading machine side operating state data as operating state data of the loading machine, estimating a remaining loading time required from a current time until completion of loading of the transport object onto the transport vehicle based on the loading machine side operating state data, storing or receiving model data including information indicating characteristics related to the transporting operation of the transporting vehicle, and estimating the time required for the transporting vehicle to prepare for departure from the start of the departure preparation until the transporting vehicle becomes ready for departure based on the model data, Calculate the time difference between the estimated remaining loading time and the time required for the departure preparation, When the calculated time difference is lower than a preset value, a departure preparation instruction is output to the transport vehicle.

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