Control device for loading machine, control method for loading machine, and remote operation system

Abstract

During automatic control for moving a work tool from above a loading object to a target position outside the loading object, a control device for a loading machine determines the movement speed of a work machine on the basis of a target rotation angle from the direction in which the work machine faces at the start of the automatic control to the direction in which the work machine faces the target position. The control device outputs a signal for moving the work machine at the determined movement speed.

Description

Technical Field

[0001] This disclosure relates to control devices for loading machinery, control methods for loading machinery, and remote operating systems.

[0002] This application claims priority to Japan Patent Application No. 2023-119377, filed on July 21, 2023, the contents of which are incorporated herein by reference. Background Technology

[0003] Patent Document 1 discloses the following technology: in the automatic control of loading machinery, the working tool is moved towards the digging point in a manner that does not interfere with the loading object. According to the technology described in Patent Document 1, during rotation, the working tool is lowered to a rotation end position where the height of the working device is slightly above the digging position, and the working tool is lowered after rotation, thereby preventing the working tool from rotating while rubbing against the ground.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 7144252 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] On the other hand, since the ground may not be flat, if the working tool is rotated while maintaining a height slightly above the digging position, the working tool may come into contact with a protruding part of the ground.

[0009] The purpose of this disclosure is to provide a control device, a control method, and a remote operating system for a loading machine that can reduce the possibility of the working tool contacting the ground when the loading machine is automatically rotated while the working device is being lowered.

[0010] Methods for solving problems

[0011] According to the first aspect of this disclosure, the control device for the loading machinery is a control device for the loading machinery having a rotating body that rotates around a rotation center and a working device having a working tool and mounted on the rotating body. In the automatic control of moving the working tool from above the loading object to a target position outside the loading object, the moving speed of the working device is determined based on a target rotation angle from the direction in which the working device is facing at the start of the automatic control to the direction in which the working device is facing the target position, and a signal is output to move the working device at the determined moving speed.

[0012] Invention Effects

[0013] According to the above method, the possibility of the working tool coming into contact with the ground can be reduced when the working device is lowered while the loading machinery is automatically rotated. Attached Figure Description

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

[0015] Figure 2 This is a diagram showing the internal structure of the driver's cab in 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 operation of the loading machinery during the first rotation of the first embodiment.

[0018] Figure 5 This is a diagram illustrating an example of the operation of the loading machinery during the second rotation in the first embodiment.

[0019] Figure 6 This is a flowchart illustrating the first rotation control performed by the control device of the first embodiment.

[0020] Figure 7 This is a flowchart illustrating the second rotation control performed by the control device of the first embodiment.

[0021] Figure 8 This is a diagram illustrating an example of the control function in the first embodiment.

[0022] Figure 9 This is a diagram illustrating an example of the upper limit value of the control quantity in the first embodiment.

[0023] Figure 10 This is a diagram illustrating an example of the target rotation angle and the target trajectory of the working device in the second embodiment.

[0024] Figure 11 This is a diagram illustrating an example of the target rotation angle and the relative angle of the bucket in the second embodiment.

[0025] Figure 12 This is a diagram illustrating an example of the target rotation angle and the timing for lowering the working device in the third 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 Machinery 100

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

[0030] Loading machinery 100 operates at a construction site, excavating construction materials such as sand and soil, and loading them as goods onto a loading platform such as the bed of a dump truck or similar loading object T. Examples of loading machinery 100 include front shovel excavators, backhoe excavators, and rope excavators. Furthermore, loading machinery 100 can be electrically driven or hydraulically driven. The loading machinery 100 in the first embodiment is a backhoe excavator. Loading machinery 100 includes a traveling body 110, a slewing body 120, a working device 130, and a cab 140. Examples of loading objects T include dump trucks and hoppers.

[0031] The traveling body 110 supports the loading machinery 100 so that it can move. The traveling body 110 has two tracks 111 disposed on the left and right sides and two travel motors 112 for driving each track 111. The traveling body 110 is an example of a support unit.

[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 on the front of the rotating body 120 in a manner that allows it to be driven in the vertical direction.

[0034] The cab 140 is a space for the operator to ride in and operate the loading machinery 100. The cab 140 is located at the front left of the slewing body 120.

[0035] 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.

[0036] The Structure of Rotary Body 120

[0037] The rotating body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a rotary motor 124.

[0038] Engine 121 is the prime mover that drives hydraulic pump 122. Engine 121 is an example of a power source.

[0039] 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, travel motor 112, and swing motor 124) via control valve 123.

[0040] Control valve 123 controls the flow rate of working oil supplied from hydraulic pump 122.

[0041] 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.

[0042] Structure of Working Device 130

[0043] The working device 130 includes a boom 131, a stick 132, a bucket 133 as a working tool, a boom cylinder 131C, a stick cylinder 132C, and a bucket cylinder 133C. Other examples of working tools include clamshell buckets, tilting buckets, tilt-rotating buckets, grab buckets, lifting magnets, and other front-end accessories.

[0044] The base end of the boom 131 is rotatably mounted to the slewing body 120 via a boom pin. It should be noted that... Figure 1 In the loading machine 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.

[0045] The stick 132 connects the boom 131 to the bucket 133. The base end of the stick 132 is rotatably mounted to the front end of the boom 131 via a stick pin.

[0046] The bucket 133 is rotatably mounted to the front end of the stick 132 via a pin. The boom 131 and stick 132 are components supporting the bucket 133. The bucket 133 functions as a container for holding excavated sand and soil. The bucket 133 is mounted with its opening facing the rear of the rotating body 120. That is, the loading mechanism 100, as a backhoe excavator, excavates by pulling the bucket 133 towards the near front of the rotating body 120.

[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 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 linkage mechanism that rotates bucket 133.

[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] A driver's seat 141, an operating terminal 142, and an operating device 143 are provided inside the driver's cab 140. The operating terminal 142 is located near the driver's seat 141 and serves as the user interface to the control device 160, which will be described later. The operating terminal 142 may be a display device consisting of a touch panel, or it may have an operating section for operator input and an input receiving section for receiving operations. Furthermore, the display device shows measurement data from an engine coolant temperature gauge and a fuel gauge. Alternatively, the operating terminal 142 may also include a display section such as an LCD. The touch panel is an example of a display section.

[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 start switch 143SW, and a teach switch 143TC.

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

[0055] The left operating lever 143LO is an operating mechanism for rotating the slewing body 120 and digging / unloading the boom 132. Specifically, when the operator of the loader 100 reverses the left operating lever 143LO forward, the boom 132 performs an unloading action. Conversely, when the operator of the loader 100 reverses the left operating lever 143LO backward, the boom 132 performs a digging action. Furthermore, when the operator of the loader 100 reverses the left operating lever 143LO to the right, the slewing body 120 rotates to the right. Conversely, when the operator of the loader 100 reverses the left operating lever 143LO to the left, the slewing 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 slewing body 120 may rotate to the right or left; when the left operating lever 143LO is reversed to the left or 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 actions of the bucket 133 and raising / lowering actions of the boom 131. Specifically, when the operator of the loader 100 tilts the right operating lever 143RO forward, the boom 131 is lowered. Conversely, when the operator tilts the right operating lever 143RO backward, the boom 131 is raised. Conversely, when the operator tilts the right operating lever 143RO to the right, the bucket 133 unloads material. Conversely, when the operator tilts the right operating lever 143RO to the left, the bucket 133 digs. It should be noted that in other embodiments, when the right operating lever 143RO is tilted forward / backward, the bucket 133 performs unloading or digging actions; when the right operating lever 143RO is tilted left / right, the boom 131 performs raising or lowering actions.

[0057] The left foot pedal 143LF is located on the left side of the floor surface in front of the driver's seat 141. The right foot pedal 143RF is located on the right side of the floor surface in front of the driver's seat 141. The left travel lever 143LT is pivotally supported on the left foot pedal 143LF, configured such that the tilting of the left travel lever 143LT is linked to the pressing down of the left foot pedal 143LF. The right travel lever 143RT is pivotally supported on the right foot pedal 143RF, configured such that the tilting of the right travel lever 143RT is linked to the pressing down 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 loader 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 loader 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 loader 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 loader 100 reverses the right foot pedal 143RF or the right travel lever 143RT backward, the right track rotates in the reverse direction.

[0060] 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 operated, an automatic control instruction signal is output to the control device 160. If the control device 160 accepts the input of the automatic control instruction signal, it begins automatic control.

[0061] The teach pendant switch 143TC is, for example, located on the handle portion of the right operating lever 143RO. The teach pendant switch 143TC is used to teach the control point of the bucket 133. When the teach pendant switch 143TC is operated, a teach signal is output to the control device 160. If the control device 160 accepts the input teach signal, it determines the point where the bucket 133 is currently located as the control point.

[0062] Automatic control is the autonomous control of the working device 130 and the rotating body 120 by the loading machinery 100 to achieve predetermined actions. In the first embodiment, automatic control involves the loading machinery 100 autonomously controlling a first rotation and a second rotation. The first rotation is a series of actions performed by raising the boom 131 and rotating it towards the loading object T, starting from a state where the bucket 133 is positioned to the side of the loading object T after digging through it. The second rotation is a series of actions performed by lowering the boom 131 and rotating it to a predetermined position, starting from a state where the bucket 133 is positioned above the loading object T after loading through it. The side of the loading object T refers to the outer side of the loading platform, such as a truck bed, used for loading goods. It should be noted that in other embodiments, automatic control may only involve the second rotation. In the first embodiment, the target orientation of the rotating body 120 and the target posture of the bucket 133 in the first and second rotations are respectively set to a pre-specified orientation and posture. It should be noted that, typically, the digging object is positioned lower than the height of the loading object T. Therefore, during the first and second rotations, the loading machinery 100 controls the drive of the working device 130 in a manner that the loaded object T does not contact the working device 130. Details of the automatic control will be described later.

[0063] The automatic control that is executed each time the start switch 143SW is operated switches between the first and second rotations. Alternatively, in other embodiments, the operating device 143 may also have two start switches 143SW, one for the first rotation and the other for the second rotation.

[0064] Structure of Measurement Systems

[0065] like Figure 1 As shown, the loading machinery 100 includes a position and orientation calculator 151, an inclinometer 152, a boom stroke sensor 153, a stick stroke sensor 154, and a bucket stroke sensor 155.

[0066] 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 located at different positions 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 coordinate system) in the field coordinate system.

[0067] The position and orientation calculator 151 uses the positioning signals received from the two receivers to calculate the orientation of the rotating body 120 based on the relationship between the setting positions of one receiver and the other. The orientation of the rotating body 120 refers to the direction orthogonal to the front of the rotating body 120. The orientation of the rotating body 120 is equal to the horizontal component of the extension direction of the straight line extending from the boom 131 of the working device 130 to the bucket 133.

[0068] The tiltmeter 152 measures the acceleration and angular velocity of the rotating body 120, and detects the attitude (e.g., roll angle, pitch angle, yaw angle) and rotational speed of the rotating body 120 based on the measurement results. The tiltmeter 152 is, for example, disposed on the lower surface of the rotating body 120. The tiltmeter 152 can, for example, be an inertial measurement unit (IMU).

[0069] A boom stroke sensor 153 is installed on the boom cylinder 131C to detect the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into the relative angle of the boom 131C with respect to the slewing body 120.

[0070] The stick stroke sensor 154 is installed on the stick cylinder 132C to detect the cylinder length of the stick cylinder 132C. The cylinder length of the stick cylinder 132C can be converted into the relative angle between the stick 132 and the boom 131.

[0071] The bucket stroke sensor 155 is installed on the bucket cylinder 133C to detect the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into the relative angle between the bucket 133 and the stick 132.

[0072] The loading machine 100 of the first embodiment uses a boom stroke sensor 153, a stick stroke sensor 154, and a bucket stroke sensor 155 to determine the angles of each linkage component of the working device 130, but other embodiments are not limited to this. For example, in other embodiments, a potentiometer that detects the relative rotation angle of the linkage components may be provided instead of the stroke sensors, or a tilt sensor that detects the angle of each linkage component relative to the ground may be provided.

[0073] Structure of Control Device 160

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

[0075] The loading machinery 100 includes a control device 160. The control device 160 can be installed on or separately from the operating terminal 142, receiving inputs and outputs from the operating terminal 142. The control device 160 receives operating signals from the operating device 143. The control device 160 drives the working device 130, the rotating body 120, and the traveling body 110 by outputting the received operating signals or operating signals generated for automatic control to the control valve 123. Hereinafter, the operating signals received from the operating device 143 will be referred to as manual operating signals, and the operating signals generated for automatic control will be referred to as automatic operating signals. It should be noted that the automatic operating signals consist of the operating signals driving the rotating body 120 and the working device 130, but do not include the operating signals driving the traveling body 110. The control device 160 can also stop automatic control if a manual operating signal from the operator is received during automatic control.

[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 memories, magnetic disks, magneto-optical disks, and optical disks. Storage device 650 can be an internal medium directly connected to a common communication line of control device 160, or an external medium connected to control device 160 via interface 670. Both main memory 630 and storage device 650 are non-transitory tangible storage media.

[0078] The processor 610, by executing a program, includes a measurement data acquisition unit 611, an operation signal input unit 612, a working device position determination unit 613, a reference determination unit 614, an angle determination unit 615, a movement control unit 616, and an operation signal output unit 617.

[0079] The measurement data acquisition unit 611 acquires measurement data from the measurement system of the loading 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 stroke sensor 153, the stick stroke sensor 154, and the bucket stroke sensor 155. 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 operation signal input unit 612 receives operation signals from the operation device 143 for manual operation by the operator. The operation signals include drive signals for raising and lowering the boom 131, raising and lowering the stick 132, unloading and digging the bucket 133, right and left slewing of the slewing body 120, driving of the traveling body 110, and automatic control indication signals for the loading machinery 100.

[0081] The working device position determination unit 613 determines the position of the front end P 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 4 ) and the position of the lowest point Q of bucket 133 ( Figure 4 The lowest point Q of bucket 133 refers to the point in the shape of bucket 133 that is closest to the ground surface.

[0082] The working device position determination unit 613 calculates 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 613 calculates the vertical and horizontal components of the stick 132's length. The working device position determination unit 613 determines the position of the front end P of the stick 132 as the sum of the vertical and horizontal components of the lengths of the boom 131 and stick 132, located away from the position of the loader 100 in a direction determined according to the orientation and posture of the loader 100. Furthermore, the working device position determination unit 613 determines the position of the lowest point Q of the bucket 133 based on the bucket 133's tilt angle and its known shape. For example, the working device position determination unit 613 calculates the positions of multiple points on the bucket 133's outer casing based on the bucket 133's tilt angle, and determines the point with the lowest height among these points as the lowest point Q. Alternatively, for example, the working device position determination unit 613 may set the lowest point Q as the point where the distance between the point furthest from the bucket pin in the bucket 133 and the bucket pin is shifted downwards in the height direction from the bucket pin. Alternatively, for example, the working device position determination unit 613 may set the lowest point Q as the point where the maximum bucket movable range is shifted downwards in the height direction from the bucket pin. Furthermore, the working device position determination unit 613 may also consider control errors and measurement errors, and set the lowest point Q as the point where the distance shifted from the determined height by a margin.

[0083] Before executing automatic control, the reference determination unit 614 receives instruction from the operator regarding the digging preparation position, interference avoidance position, and loading position of the bucket 133 as reference points for automatic control. The instruction is performed, for example, according to the following steps.

[0084] The reference determination unit 614 displays an instruction on the operation terminal 142 to move the bucket 133 to the digging preparation position. The operator operates the operation device 143 to move the bucket 133 to the digging preparation position and operates the teach switch 143TC, thereby outputting a teach signal to the control device 160. The reference determination unit 614 records the posture of the working device 130 determined by the working device position determination unit 613 as the target posture of the second rotation, the position of the front end P of the stick 132 as the target position of the second rotation, and the orientation of the rotating body 120 as the target orientation of the second rotation in the storage 650.

[0085] Next, the reference determination unit 614 displays an instruction on the operation terminal 142 to move the bucket 133 to an interference avoidance position. This interference avoidance position is the height of the upper end of the wall of the bucket containing the load object T, and the position where the working device 130 and the load object T do not overlap when viewed from above. It should be noted that the wall of the bucket used for teaching can be any one of the side wall, front wall, or rear wall of the bucket. The operator operates the operation device 143 to move the bucket 133 to the interference avoidance position and operates the teaching switch 143TC, thereby outputting a teaching signal to the control device 160. The interference avoidance position is input for both the right and left ends of the load object T. Thus, the reference determination unit 614 can determine the range of the loading platform of the load object T. It should be noted that the height of the interference avoidance position can also be adjusted to account for control errors and measurement errors, with a margin of error offset upwards.

[0086] The reference determination unit 614 records the height of the lowest point Q of the bucket 133, determined by the working device position determination unit 613, as the wall height Ht of the load object T, and the orientation of the rotating body 120 as the interference avoidance orientation in the storage unit 650. Next, the reference determination unit 614 causes the operation terminal 142 to display an instruction to move the bucket 133 to a loading position above the load object T. The operator operates the operation device 143 to move the bucket 133 to the loading position and operates the teach switch 143TC, thereby outputting a teach signal to the control device 160. The reference determination unit 614 records the posture of the working device 130 as the target posture for the first rotation, the position of the front end P of the boom 132 as the target position for the first rotation, and the orientation of the rotating body 120, determined by the working device position determination unit 613, as the target orientation for the first rotation in the storage unit 650. Alternatively, the height of the lowest point Q of the bucket 133 at the loading position can be used as the wall height Ht. Furthermore, in other embodiments, the height of the loaded object T is not necessarily the wall height Ht, which is the height of the side wall of the loading platform; it can also be the height of the highest point of the entire loaded object T.

[0087] The angle determination unit 615 determines the target rotation angle as the angle between the initial orientation of the rotating body 120 when an automatic control instruction signal is input to the operation signal input unit 612 and the target orientation recorded in the storage 650. It should be noted that the target rotation angle varies depending on the rotation direction. Therefore, the angle determination unit 615 receives the rotation direction input from the operation terminal 142 and determines the target rotation angle based on the input rotation direction. Alternatively, the target rotation angle can be calculated separately for left and right rotations, and the smallest rotation angle can be determined as the target rotation angle. The angle determination unit 615 determines the interference avoidance angle as the angle between the initial orientation of the rotating body 120 when an automatic control instruction signal is input to the operation signal input unit 612 and the interference avoidance orientation recorded in the storage 650. The interference avoidance angle refers to the rotation angle when the working device 130 and the loaded object T do not overlap when viewed from above. The target rotation angle is the target rotation angle in the first rotation, i.e., the first target rotation angle, and the target rotation angle in the second rotation, i.e., the second target rotation angle.

[0088] When the operation signal input unit 612 receives an automatic control instruction signal, the movement control unit 616 generates an automatic operation signal to achieve automatic control. Upon input of the automatic control instruction signal, it executes either a first rotation to move the bucket 133 to the loading position or a second rotation to move the bucket 133 to the digging preparation position. The movement control unit 616 determines whether to execute the first or second rotation in automatic control based on whether the bucket 133 is within the range of the loading object T when viewed from above at the time the automatic control instruction signal is input. If the bucket 133 is not within the range of the loading platform of the loading object T, the movement control unit 616 executes the first rotation; if the bucket 133 is within the range of the loading platform of the loading object T, the movement control unit 616 executes the second rotation. At this time, the movement control unit 616 controls the rotating body 120 and the working device 130 in a manner that prevents the loading object T from contacting the working device 130, based on the wall height Ht and interference avoidance angle stored in the storage unit 650.

[0089] Specifically, during the first rotation, the motion control unit 616, upon reaching the first interference avoidance angle θ a1 ( Figure 4 Previously, the combined action of the rotating body 120 and the working device 130 was achieved. During the first rotation, the rotation angle of the rotating body 120 reached the first interference avoidance angle θ. a1 ( Figure 4 If the height of the bucket 133 has not reached the loading position, the movement control unit 616 will not output a rotation operation signal for the slewing body 120, but will only output an operation signal for the working device 130. On the other hand, when the rotation angle reaches the first interference avoidance angle θ... a1 Previously, when the bucket 133 reached the loading position, the movement control unit 616 output a rotation operation signal for the slewing body 120 and an operation signal for the working device 130, realizing the combined action of the slewing body 120 and the working device 130. At the height of the bucket 133 at the first interference avoidance angle θ... a1 ( Figure 4 After reaching the height of the loading position, the movement control unit 616 does not move the working device 130 but rotates the rotating body 120.

[0090] Furthermore, during the second rotation, which is the opposite of the first rotation, the motion control unit 616 reaches the second interference avoidance angle θ at the rotation angle of the rotating body 120. a2 ( Figure 5The control method previously employed was to prevent the lowest point of the bucket 133 from descending. This control can be achieved by rotating the slewing body 120 without moving the working device 130, thus maintaining the height of the lowest point. Alternatively, it can be achieved by setting a gap between the loaded object T and the bucket 133 by making the lowest point higher than the previous lowest point. This is done when the rotation angle reaches the second interference avoidance angle θ. a2 Then, the motion control unit 616 outputs the rotation operation signal of the rotating body 120 and the operation signal of the working device 130, realizing the combined action of the rotating body 120 and the working device 130.

[0091] The operation signal output unit 617 outputs the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616 to the control valve 123.

[0092] Actions during automatic control

[0093] Here, the operation of the loading machinery 100 under automatic control according to the first embodiment will be described with reference to the accompanying drawings.

[0094] Figure 4 This is a diagram illustrating an example of the operation of the loading machinery 100 during the first rotation of the first embodiment. Figure 5 This is a diagram illustrating an example of the operation of the loading machinery 100 in the second rotation of the first embodiment.

[0095] When the automatic controls involved in the first turn begin, such as Figure 4 As shown, the control device 160 first initiates the drive of the working device 130 (boom 131, stick 132, and bucket 133), causing the bucket 133 to move upwards by lifting the boom 131. The target position of the bucket 133 involved in the first rotation is the loading position above the load object T. The control device 160 delays the start of rotation of the slewing body 120. The control device 160 adjusts the rotation start timing so that the rotation angle of the slewing body 120 is within the first interference avoidance angle θ. a1 Before reaching agreement, the posture of the working device 130 becomes the target posture involved in the first rotation. It should be noted that the rotation angle of the rotating body 120 and the first interference avoidance angle θ... a1 If the orientation of the working device 130 before rotation becomes the target orientation during the first rotation, i.e., the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loaded object T, the working device 130 will not come into contact with the loaded object T due to the rotation of the rotating body 120. It should be noted that the working device 130 is driven simultaneously with the rotation, and the rotation angle is within the first interference avoidance angle θ. a1If the orientation of the working device 130 becomes the target orientation during the first rotation, the control device 160 can simultaneously start the drive and rotation of the working device 130. Then, when the bucket 133 reaches the loading position, automatic control ends. Afterwards, the operator manually rotates the bucket 133 in the unloading direction to unload the material.

[0096] If the automatic control involved in the second rotation is initiated, the control device 160 begins the rotation of the rotating body 120. The control device 160 initiates the rotation of the rotating body 120 when the rotation angle exceeds the second interference avoidance angle θ. a2 Previously, the working device 130 was not activated, but the rotating body 120 was rotated to maintain the height of the lowest point of the bucket 133. If the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ... a2 Then, the control device 160 drives the boom 131, stick 132, and bucket 133. At this time, the control device 160 is based on the second target rotation angle θ. t2 The control device 160 determines the moving speed of the boom 131, stick 132, and bucket 133. Here, the moving speed of the working device 130 determined by the control device 160 is the moving speed on the drive plane of the working device 130. It should be noted that the control device in this embodiment determines the moving speed based on the angle between the initial orientation and the target orientation, i.e., the second target rotation angle θ. t2 The movement speed is determined by the target rotation angle from the interference avoidance azimuth to the initial azimuth, but this is not the only limitation in other embodiments. For example, the control device in other embodiments may also determine the movement speed based on the target rotation angle between the interference avoidance azimuth and the initial azimuth. The target rotation angle between the interference avoidance azimuth and the initial azimuth is the second interference avoidance angle θ. a2 Rotation angle θ with the second target t2 The difference (θ) t2 -θ a2 Therefore, in this case, the control device is also equivalent to rotating according to the second target angle θ. t2 The movement speed is determined by this. Alternatively, it can be said that the control device determines the movement speed based on the rotation angle θ of the second target. t2 Determining the movement speed is equivalent to determining the movement speed based on the target rotation angle between the interference avoidance azimuth and the initial azimuth. Specifically, the second target rotation angle θ t2 The larger the value, the slower the movement speed of the boom 131, stick 132, and bucket 133 caused by the control device 160. If the rotation angle of the slewing body 120 reaches the second target rotation angle θ... t2 If the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ, then the control device 160 terminates the drive of the rotating body 120. Additionally, if the posture of the working device 130 becomes the target posture at the start of excavation, the control device 160 terminates the drive of the working device 130. In the second rotation, the control device 160 of the first embodiment terminates the drive of the working device 130 when the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ.a2 Previously, the working device 130 was not moved while the rotating body 120 was rotated, but this is not a limitation. For example, in other embodiments, the control device 160 may move the working device 130 while rotating the rotating body 120, keeping the height of the lowest point of the bucket 133 constant. In addition, in other embodiments, the control device 160 may also lower the working device 130 while rotating the rotating body 120, ensuring that the height of the lowest point of the bucket 133 is not lower than the wall height Ht, when the bucket 133 is higher than the wall height Ht.

[0097] It should be noted that, Figure 4 and Figure 5 The example shown is of the positional relationship between the excavation position and the loaded object T approximately 90 degrees from the center of the rotating body 120, but it is not limited to this in other embodiments. For example, in other embodiments, the positional relationship between the excavation position and the loaded object T may also be other rotation angle positions such as approximately 180 degrees from the center of the rotating body 120.

[0098] Operation of Control Device 160

[0099] Figure 6 This is a flowchart illustrating the first rotation control performed by the control device 160 of the first embodiment. Figure 7 This is a flowchart illustrating the second rotation control performed by the control device 160 of the first embodiment.

[0100] When the start switch 143SW is operated by the operator, the operation signal input section 612 of the control device 160 receives an automatic control instruction signal. When an automatic loading instruction signal is input, the control device 160 determines whether to perform a first rotation or a second rotation based on whether the bucket 133 is within the loading platform of the loading object T when viewed from above.

[0101] In the case of performing the first rotation, the control device 160 executes... Figure 6 The first rotation control is shown. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machinery 100 (step S1). The movement control unit 616 reads the target orientation (orientation toward the loading object T) of the rotating body 120, the target posture, the wall height Ht of the loading object T, and the interference avoidance orientation from the storage unit 650 (step S2). The angle determination unit 615 determines the first target rotation angle θ based on the orientation of the rotating body 120 determined in step S1 and the target orientation and interference avoidance orientation read in step S2. t1 and the first interference avoidance angle θ a1 (Step S3).

[0102] Next, the measurement data acquisition unit 611 acquires measurement data of the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machinery 100 (step S4). The working device position determination unit 613 determines the posture of the working device 130 based on the measurement data (step S5). That is, the working device position determination unit 613 determines the position of the front end P of the boom 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0103] The movement control unit 616 uses the target orientation, target posture, and wall height Ht read in step S2, and the first interference avoidance angle θ determined in step S3, as a basis for its operation. a1 The movement control unit 616 generates an automatic operation signal to move the bucket 133 above the loaded object T. Specifically, the movement control unit 616 generates the automatic operation signal to move the lowest point Q of the bucket 133 from its initial position at the start of the first slewing control, via a distance measured by the wall height Ht and the first interference avoidance angle θ. a1 The indicated interference avoidance position reaches the loading position indicated by the target orientation and target posture. At this time, the movement control unit 616 generates an automatic operation signal for the bucket 133 so that the ground angle of the bucket 133 does not change even when the boom 131 and stick 132 are driven.

[0104] Specifically, the motion control unit 616 generates an automatic operation signal according to the following steps.

[0105] First, the movement control unit 616 determines whether the posture of the working device 130 determined in step S5 is similar to the target posture obtained in step S1 (step S6). For example, if the difference between the position of the tip of the boom 132 in the target posture and the current position of the tip of the boom 132 is less than a predetermined value, the movement control unit 616 determines that the posture of the working device 130 is similar to the target posture. If the posture of the working device 130 is not similar to the target posture (step S6: No), the movement control unit 616 generates an automatic operation signal to bring the boom 131 and the boom 132 closer to the target posture (step S7).

[0106] At this time, the motion control unit 616 generates an automatic operation signal based on the relative angle between the boom 131 and the stick 132 determined according to the measurement data obtained in step S4. Specifically, the motion control unit 616 determines the control quantity, i.e., angular velocity, of the automatic operation signal of the boom 131 by substituting the difference between the measured value of the relative angle of the boom 131 and the value of the relative angle of the boom 131 involved in the target posture into a predetermined control quantity function. Figure 8 This is a diagram illustrating an example of the control function in the first embodiment. According to... Figure 8 The greater the difference in relative angles, the greater the control quantity. Figure 8In the chart shown, the right side represents the angle difference when the measured angle is smaller than the target pose angle, and the left side represents the angle difference when the measured angle is larger than the target pose angle. Figure 8 In the diagram shown, the upper side represents the control amount in the lifting direction, and the lower side represents the control amount in the lowering direction. For example, if the angle difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle involved in the target posture is 0 or more, the movement control unit 616 determines the control amount to move the boom 131 in the lifting direction. Conversely, if the angle difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 in the target posture is 0 or less, the movement control unit 616 determines the control amount to move the boom 131 in the lowering direction. The movement control unit 616 also determines the control amount of the automatic operation signal for the stick 132 based on the measured value of the relative angle of the stick 132 and the control amount function, similar to the boom 131. It should be noted that in other embodiments, the movement control unit 616 may also calculate the control amount by substituting the difference between the target cylinder length and the actual cylinder length into a predetermined control amount function. Furthermore, the control amount can be cylinder speed or valve stroke command value. The form of the control amount function is not limited to... Figure 8 The form shown. For example, the control function can also have a dead zone near the point where the descriptive variables (angle difference, difference between target cylinder length and actual cylinder length) are zero.

[0107] Furthermore, the movement control unit 616 calculates the sum of the drive speeds of the boom 131 and stick 132 based on the generated automatic operation signals of the boom 131 and stick 132, and generates an automatic operation signal to drive the bucket 133 at the same speed as the sum of the drive speeds (step S8). Thus, the movement control unit 616 is able to generate an operation signal that maintains the angle of the bucket 133 relative to the ground.

[0108] The movement control unit 616 determines whether the working device 130 is rotating (step S9). For example, the movement control unit 616 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 S9: No), the movement control unit 616 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 S10). In addition, the movement control unit 616 calculates that when the rotating body 120 starts rotating, the rotation angle reaches the first interference avoidance angle θ determined in step S3. a1 The arrival time up to this point is calculated (step S11). The movement control unit 616 determines whether the completion time calculated in step S10 is less than the arrival time calculated in step S11 (step S12). That is, the movement control unit 616 determines that the first interference avoidance angle θ has been reached at the turning angle. a1Whether the working device 130 has reached the target posture.

[0109] If the completion time is longer than the arrival time (step S12: No), that is, when the rotation angle reaches the first interference avoidance angle θ. a1 Previously, when the working device 130 was not in the target posture, the movement control unit 616 did not generate a rotation operation signal for the rotating body 120. On the other hand, if the completion time is less than the arrival time (step S12: Yes), that is, when the rotation angle reaches the first interference avoidance angle θ... a1 When the working device 130 is in the target posture, the movement control unit 616 generates a rotation operation signal for the rotating body 120 (step S13). As a result, the control device 160 can prevent the working device 130 from rotating and contacting the loaded object T when it is in a low height state.

[0110] The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14). This drives the loading machinery 100. Then, the control device 160 returns the process to step S4 to continue control.

[0111] On the other hand, if it is determined in step S9 that the working device 130 is rotating (step S9: Yes), the movement control unit 616, based on the rotation speed of the working device 130 determined in step S4, determines whether the rotation angle has reached the first target rotation angle through inertial-based rotation (step S15) when the operation signal to stop rotation has been received. If the rotation angle has not reached the first target rotation angle during inertial-based rotation (step S15: No), the movement control unit 616 generates a rotation operation signal in step S13, and the operation signal output unit 617 outputs the rotation operation signal to the control valve 123 in step S14.

[0112] On the other hand, if it is determined that the rotation angle has reached the first target rotation angle through inertial rotation (step S15: Yes), the movement control unit 616 determines whether the rotation angle has reached the target rotation angle and whether the posture of the working device 130 has become the target posture (step S16). If the rotation angle has reached the first target rotation angle and the posture of the working device 130 has not become the target posture (step S16: No), the control device 160 returns the process to step S4.

[0113] On the other hand, when the rotation angle reaches the target rotation angle and the posture of the working device 130 becomes the target posture (step S16: yes), the control device 160 ends the first rotation process.

[0114] Figure 7This is a flowchart illustrating the second rotation control of the control device 160 according to the first embodiment. When the start switch 143SW is operated by the operator, the operation signal input unit 612 of the control device 160 receives an automatic control instruction signal.

[0115] In the case of performing the second rotation, the control device 160 executes... Figure 7 The second rotation control is shown. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machinery 100 (step S21). The movement control unit 616 reads the target orientation (orientation toward the side of the loading object T), target posture, wall height Ht of the loading object T, and interference avoidance orientation of the rotating body 120 from the storage unit 650 (step S22). The angle determination unit 615 determines the second target rotation angle θ based on the orientation of the rotating body 120 determined in step S21 and the target orientation and interference avoidance orientation read in step S22. t2 and the second interference avoidance angle θ a2 (Step S23).

[0116] The motion control unit 616 is based on the determined second target rotation angle θ t2 The upper limit of the control quantity (absolute value of the control quantity) of the working device 130 in the second rotation control is determined (step S24). Figure 9 This is a diagram illustrating an example of the upper limit value of the control quantity in the first embodiment. Specifically, the second target rotation angle θ t2 The larger the value, the smaller the upper limit of the control quantity will be determined by the motion control unit 616. Figure 9 In the example shown, for instance, at the second target rotation angle θ t2 When the upper limit of the control quantity is th1 at 90 degrees, the second target rotation angle θ t2 The upper limit of the control quantity at 180 degrees is th2, which is closer to zero than th1. The movement control unit 616, for example, rotates the second target by an angle θ. t2 A pre-defined table, associated with the upper limit value, is used to determine the upper limit value of the control quantity. This table can be used to study the rotation angle of the rotating body 120 to achieve the second target rotation angle θ by observing the operation of a skilled operator. t2 The timing of the working device 130 is approximately synchronized with the timing of the working device 130's posture to achieve the target posture. Therefore, the second target rotation angle θ is determined by the control quantity of the working device 130. t2 The larger the size, the slower the working device 130 is driven.

[0117] Next, the measurement data acquisition unit 611 acquires measurement data of the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machinery 100 (step S25). The working device position determination unit 613 determines the posture of the working device 130 based on the measurement data (step S25). That is, the working device position determination unit 613 determines the position of the front end P of the boom 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0118] The movement control unit 616 determines whether the working device 130 is rotating (step S27). For example, the movement control unit 616 determines that the device 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 S27: No), the movement control unit 616 generates an automatic operation signal to rotate the rotating body 120 (step S29). This automatic operation signal is used to rotate the rotating body 120 from the inside to the outside of the loaded object T when viewed from above.

[0119] On the other hand, when the working device 130 is rotating (step S27: Yes), the movement control unit 616, based on the measured data of the rotation speed of the working device 130 determined in step S25, determines whether the rotation angle of the working device 130 has reached the target rotation angle through inertial-based rotation (step S28) when the operation signal to stop rotation has been issued. If the rotation angle of the working device 130 has not reached the target rotation angle during inertial-based rotation (step S28: No), the movement control unit 616 generates an automatic operation signal to rotate the rotating body 120 (step S29). If the rotation angle of the working device 130 reaches the second target rotation angle through inertial-based rotation (step S28: Yes), the movement control unit 616 does not generate an automatic operation signal to rotate the rotating body 120.

[0120] Next, the motion control unit 616 determines whether the rotation angle of the rotating body 120 from the start of automatic control to the current time point is less than the second interference avoidance angle θ. a2 (Step S30). When the rotation angle is less than the second interference avoidance angle θ a2 In the case of (step S30: yes), the motion control unit 616 generates an operation signal (neutral signal) to maintain the posture of the working device 130.

[0121] In step S30, the rotation angle is the second interference avoidance angle θ. a2In the above cases (step S30: No), the movement control unit 616 determines whether the posture of the working device 130 determined in step S25 is similar to the target posture determined in step S22 (step S31). If the posture of the working device 130 is not similar to the target posture (step S31: No), the movement control unit 616, for the boom 131, stick 132, and bucket 133, calculates the angle difference between the measured angle values ​​and the target posture, and... Figure 8 The control quantity function shown is used to calculate the control quantity of the automatic operation signal (step S32). Next, the movement control unit 616 generates an automatic operation signal that limits the control quantity to no more than the upper limit value based on the upper limit value of the control quantity determined in step S24 (step S33). When the posture of the working device 130 is similar to the target posture (step S31: Yes), the movement control unit 616 generates a neutral signal to maintain the posture of the working device 130.

[0122] Then, the operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the rotation angle has reached the target rotation angle and whether the posture of the working device 130 has become the target posture (step S35). If the rotation angle has not reached the target rotation angle or the posture of the working device 130 has not become the target posture (step S35: No), the control device 160 returns the process to step S25. On the other hand, if the rotation angle has reached the target rotation angle and the posture of the working device 130 has become the target posture (step S35: Yes), the automatic control process ends.

[0123] Functions and Effects

[0124] Thus, when the control device 160 of the first embodiment automatically controls the movement of the bucket 133 from above the load object T to a target position outside the load object T, it calculates the target rotation angle θ from the direction in which the working device 130 is facing at the start of automatic control to the direction in which the working device 130 is facing the target position. t2 The control device 160 outputs a signal to move the working device 130 at the determined speed. This prevents the bucket 133 from contacting any protruding parts of the ground during the automatic control of the loading machinery 100.

[0125] It should be noted that the control device 160 in the first embodiment is based on the second target rotation angle θ t2 The upper limit of the control quantity of the working device 130 is determined, but it is not limited to this. For example, the control device 160 in other embodiments may also be based on a second target rotation angle θ. t2The gain of the control function is determined by this. That is, the control device 160 in other embodiments can also be based on the second target rotation angle θ. t2 This determines the slope of the control function. For example, the second target rotation angle θ. t2 The larger the value, the smaller the gain, meaning a smaller slope of the control function. Gain is a value greater than 0 and less than 1.

[0126] <Second Implementation Method>

[0127] The control device 160 in the first embodiment is based on the difference between the measured angle of the working device 130 and the target posture, and the second target rotation angle θ. t2 The control quantity is determined based on the second target rotation angle θ. In contrast, the control device 160 of the second embodiment is based on the second target rotation angle θ. t2 The target trajectory of the working device 130 is generated based on the target posture of the working device 130, and the working device 130 moves according to the target trajectory.

[0128] Figure 10 It represents the second target rotation angle θ in the second embodiment. t2 A diagram illustrating an example of the target trajectory of the working device 130. The movement control unit 616 of the control device 160 in the second embodiment is based on the determined second target rotation angle θ. t2 The target trajectory of the working device 130 is generated. The target trajectory is expressed as a function of the rotation angle of the rotating body 120, the height of the front end P of the boom 132, and the distance (radius of the boom 132) in the depth direction from the center of rotation to the front end P. It should be noted that the following description focuses on the relationship between the rotation angle and height in the target trajectory. In the target trajectory, from the rotation angle zero to the second interference avoidance angle θ... a2 The height of the front end P is greater than the wall height Ht by the height Ht of the bucket length L (Ht+L). In the target trajectory, from the second interference avoidance angle θ... a2 Turning angle θ to the second target t2 The height of the front end P is represented by a linear function that decreases monotonically with respect to the rotation angle. Hereinafter, the height from the second interference avoidance angle θ will be expressed as... a2 Turning angle θ to the second target t2 The height of the front end P is a function of the descent function. The descent function is obtained by rotating the angle θ to the second interference avoidance angle. a2 Furthermore, the point at the front end P with a height of Ht+L and a rotation angle equal to the rotation angle θ of the second target are also present. t2Furthermore, the height of the front end P is a function of the height of the front end P when the working device 130 adopts the target posture. It should be noted that the descent function in other embodiments is not limited to a linear function, but can also be an elliptic function, a cubic function, or other functions. The descent function is a function in which the height of the lowest point Q decreases monotonically with respect to the rotation angle. The descent function can be a concave function. When the descent function is concave, the time the bucket 133 spends near the ground during rotation can be shortened. It should be noted that when the descent function is cubic, the tracking performance in control is good. The descent function is a function representing the relationship between the rotation angle of the rotating body 120 and the height of the bucket 133, and is a function of the rotation angle and the second target rotation angle θ. t2 The height of the bucket 133 at the target position is a function of the height of the target position. It should be noted that the relationship between the slewing angle in the target trajectory and the radius of the stick 132 also has the same relationship as the aforementioned descent function. The movement control unit 616 determines the radius of the stick 132 based on the target trajectory and the slewing angle.

[0129] Figure 11 It represents the second target rotation angle θ in the second embodiment. t2 A diagram showing an example of the relative angle with respect to the bucket 133. The movement control unit 616 of the control device 160 in the second embodiment is based on the determined second target rotation angle θ. t2 The bucket function is the function that generates the target value of the relative angle between the slewing angle and the bucket 133. In the bucket function, the angle from the slewing angle zero to the second interference avoidance angle θ... a2 The relative angle of bucket 133 is the relative angle at the start of the second rotation. For example, according to the bucket function, bucket 133 moves from rotation angle 0 to the second interference avoidance angle θ. a2 Maintain the unloading posture. In the bucket function, from the second interference avoidance angle θ... a2 Turning angle θ to the second target t2 The relative angle of the bucket 133 is represented by a linear function that changes monotonically with respect to the rotation angle. The bucket function is derived by using the rotation angle as the second interference avoidance angle θ. a2 Furthermore, the relative angle of bucket 133 is the point where the relative angle at the start of the second rotation is located, and the rotation angle is the second target rotation angle θ. t2 Furthermore, the relative angle of the bucket 133 is a function of the point of relative angle of the bucket 133 when the working device 130 adopts the target posture.

[0130] The motion control unit 616 reaches the second interference avoidance angle θ when the rotation angle is reached. a2 At that time, automatic operation signals are generated in the following order.

[0131] The movement control unit 616 determines the provisional target height and radius of the lowest point of the boom tip P of the stick 132, and the provisional target speed of the boom tip P, based on the current slewing angle, slewing speed, and descent function. The provisional target height is the height corresponding to the slewing angle at the next control timing in the descent function. The provisional target speed is the slope of the tangent line at the point represented by the provisional target height and provisional target radius in the descent function. The movement control unit 616 determines the provisional target angles of the boom 131 and the stick 132 based on the provisional target height and provisional target radius. Furthermore, the movement control unit 616 determines the provisional target angular velocities of the boom 131 and the stick 132 based on the provisional target speed. The movement control unit 616 determines the control quantities of the boom 131 and the stick 132 through PID control based on the provisional target angle and provisional target angular velocity. Here, the provisional target angle is the feedback term of the PID control, and the provisional target angular velocity is the feedforward term of the PID control.

[0132] Based on the current slewing angle, slewing speed, and bucket function, a provisional target angle and a provisional target angular velocity of the bucket 133 are determined. The provisional target angle is the angle in the bucket function corresponding to the slewing angle at the next control timing. The provisional target angular velocity is the slope of the tangent line at the point represented by the provisional target angle in the bucket function. The movement control unit 616 determines the control input of the bucket 133 through PID control based on the provisional target angle and the provisional target angular velocity. Here, the provisional target angle is the feedback term of the PID control, and the provisional target angular velocity is the feedforward term of the PID control.

[0133] Thus, the control device 160 of the second embodiment, like that of the first embodiment, automatically controls the movement of the bucket 133 from above the load object T to a target position outside the load object T, based on a second target rotation angle θ from the direction in which the working device 130 is facing at the start of automatic control to the direction in which the working device 130 is facing the target position. t2 The position of the working device 130 and the descent function determine the moving speed of the working device 130. The control device 160 outputs a signal that causes the working device 130 to move at the determined moving speed. Thus, in the automatic control of the loading machinery 100, the possibility of the bucket 133 contacting the protruding parts of the ground can be prevented.

[0134] <Third Implementation Method>

[0135] The control device 160 in the first embodiment is based on the difference between the measured angle of the working device 130 and the target posture, and the second target rotation angle θ. t2 The control quantity is determined based on the second target rotation angle θ. In contrast, the control device 160 of the third embodiment is based on the second target rotation angle θ. t2The timing for lowering the working device 130 is determined, and the working device 130 is moved according to the timing.

[0136] Figure 12 The second target rotation angle θ in the third embodiment is represented by... t2 A diagram showing the timing of lowering the working device 130. The movement control unit 616 of the control device 160 in the third embodiment calculates the time t1 until the working device 130 reaches the target posture when the boom 131, stick 132, and bucket 133 are driven at a predetermined angular velocity, based on the difference between the posture of the working device 130 at the start of the second rotation and the target posture. For example, the movement control unit 616, according to... Figure 8 The control function shown calculates the time t1 until the working device 130 reaches the target posture when the boom 131, stick 132, and bucket 133 are driven at a specified angular velocity. t2 The required rotation time t2. The movement control unit 616 determines the timing (t2-t1) for lowering the working device 130 by subtracting the time t1 required to bring the working device 130 to the target posture from the calculated required rotation time t2. The movement control unit 616 determines the starting angle θ for lowering the working device 130 by converting the determined timing (t2-t1) into a rotation angle. b .

[0137] The motion control unit 616 reaches the second interference avoidance angle θ when the rotation angle is reached. a2 At that time, automatic operation signals are generated in the following order.

[0138] The motion control unit 616 determines whether the current rotation angle has reached the descent start angle θ. b The current rotation angle has not yet reached the descent start angle θ. b In this case, the movement control unit 616 generates an operation signal (neutral signal) to maintain the posture of the working device 130. On the other hand, when the current rotation angle reaches the descent start angle θ... b In this case, the motion control unit 616 shall comply with Figure 8 The control quantity function shown generates automatic operation signals for the boom 131, stick 132, and bucket 133.

[0139] Thus, the control device 160 of the third embodiment, like that of the first embodiment, automatically controls the movement of the bucket 133 from above the load object T to a target position outside the load object T, based on a second target rotation angle θ from the direction in which the working device 130 is facing at the start of automatic control to the direction in which the working device 130 is facing the target position. t2The timing for starting the descent movement of the working device 130 is determined by the control device 160. At the determined timing for starting the descent movement, the control device 160 outputs a signal to move the working device 130. Therefore, in the automatic control of the loading machinery 100, the possibility of the bucket 133 contacting a protruding part of the ground can be prevented. It should be noted that the control device 160 in the third embodiment is based on the second target rotation angle θ. t2 The timing for lowering the working device 130 is determined based on the second target rotation angle θ. t2 To determine whether to set the moving speed of the working device 130 to zero or to set it according to Figure 8 The moving speed of the control variable function shown is equivalent.

[0140] It should be noted that, as Figure 12 As shown, the second target rotation angle θ of the control device 160 based on the third embodiment t2 The timing for lowering the working device 130 is determined by the relationship between the rotation angle of the rotating body 120 and the height of the bucket 133, and the rotation angle is related to the second target rotation angle θ. t2 The function is equivalent to the height of bucket 133 being equal to the height of the target position when they are consistent. Figure 12 The function shown has a first interval (from 0 to θ) where the height of bucket 133 is constant. b The second interval (from θ) and the height of bucket 133 always move in the downward direction. b to θ t2 ).

[0141] <Other Implementation Methods>

[0142] The above description of one embodiment, with reference to the accompanying drawings, is detailed. However, the specific structure is not limited to the structure described above, and various design changes are possible. That is, in other embodiments, the order of the above processes can be appropriately changed. In addition, some processes can be performed in parallel.

[0143] The control device 160 described in the above embodiments can be a single computer, or the structure of the control device 160 can be distributed among multiple computers, with the multiple computers cooperating with each other to function as the control device 160. Alternatively, some of the computers constituting the control device 160 can be installed inside the loading machinery 100, while other computers can be located outside the loading machinery 100.

[0144] The target posture, target orientation, interference avoidance orientation, and wall height Ht involved in the above-described embodiments are recorded in the storage 650 through teaching, but are not limited thereto. For example, the loading machine 100 in other embodiments may also identify the position and shape of the loading object T by using a three-dimensional measuring device such as a stereo camera or LiDAR, and determine the target posture, target orientation, interference avoidance orientation, and wall height Ht based on this. That is, the reference determination unit 614 may also determine the target posture, target orientation, interference avoidance orientation, and wall height Ht based on the shape data of the loading object T. In addition, in other embodiments, the position, posture, and orientation of the loading object T may be received through communication with the loading object T, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be determined based on these and the known shape of the loading object T. In addition, in other embodiments, when the loading object T moves automatically through communication with the control device, the position and orientation of the loading object T may be received from the control device, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be determined based on these and the known shape of the loading object T. In other embodiments, the reference determination unit 614 may also determine the target posture, target orientation, interference avoidance orientation, and wall height Ht based on the operator's input to the operation terminal 142. Furthermore, in other embodiments, the loading machinery 100 may also separately determine the target posture, target orientation, interference avoidance orientation, and wall height Ht. That is, in other embodiments, the control device 160 may also include a first reference determination unit for determining the target posture, target orientation, and interference avoidance orientation, and a second reference determination unit for determining the wall height Ht. For example, the loading machinery 100 may also determine the target posture, target orientation, and interference avoidance orientation through teaching, and determine the wall height Ht through operator input. Alternatively, the operator may determine the height of the loaded object, i.e., the wall height, by inputting the vehicle model of the loading machinery. That is, the control device 160 determines the wall height Ht by reading the height associated with the input vehicle model from a table that pre-associates vehicle models with wall heights.

[0145] Furthermore, the control device 160 in the above-described embodiment determines the posture of the working device 130 based on measurement data from sensors that measure the posture of the working device 130, but is not limited thereto. For example, in other embodiments, if the loading machinery 100 is equipped with a three-dimensional measuring device such as a stereo camera or LiDAR, the posture of the working device 130, particularly the height of the lowest point Q of the bucket 133, can also be identified based on the measurement data from such a three-dimensional measuring device, and automatic control can be performed accordingly.

[0146] The control device 160 described in the above embodiments 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.

[0147] The control device 160 of the above-described embodiment performs automatic 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 perform automatic control based on a comparison of the position of the bucket 133 with the point furthest in the rotation direction of the rotating body 120 in the outline of the loaded object T. For example, the control device 160 of other embodiments may adjust the rotation start timing so that the bucket 133 is located in the region near the furthest point in the rotation direction of the rotating body 120.

[0148] Alternatively, in other embodiments, the control device 160 may generate automatic control signals for each linkage component and the slewing body 120 by means of the bucket 133 following a pre-specified trajectory. The trajectory can be determined, for example, by fitting a predetermined curve function or by teaching based on manual operation. The trajectory can be represented by arranging the posture of the bucket 133, the posture of each linkage component and the slewing body 120, or the operation signals in a time sequence.

[0149] The loading machine 100 described in the above embodiment is a loading machine directly operated by an operator sitting in the cab 140, but it is not limited to this. For example, the loading machine 100 in other embodiments can also be operated remotely. The remote operating system of other embodiments includes, for example, an operating device 143 remotely set from the loading machine 100, a display device displaying an image of the environment of the loading machine 100, and a remote control device communicating with the loading machine 100. When the operator operates the operating device 143 of the remote operating system, the remote control device transmits an operating signal to the control device 160 via communication. In this case, the functions of the control device 160 can be installed in the remote control device, or they can be installed separately in the loading machine 100 and the remote control device.

[0150] The automatic control described above executes a first rotation that moves the bucket 133 from its excavation completion position to the loading point and a second rotation that moves it to its position for starting the next excavation, but is not limited thereto. For example, in other embodiments, the control device 160 may also perform fully automatic control of a series of actions, including automatically executing the first rotation, dumping, and the second rotation. Additionally, in other embodiments, the control device 160 may execute only the second rotation without executing the first rotation.

[0151] Furthermore, the automatic control in the above-described embodiment is triggered by the operator's operation of the start switch 143SW, but is not limited thereto. For example, in other embodiments, the control device 160 may also autonomously determine the start timing of automatic control and start automatic control without relying on the operation of the start switch 143SW.

[0152] Industrial availability

[0153] According to the above implementation method, the possibility of the working tool coming into contact with the ground when the loading machinery is automatically rotated while the working device is being unloaded can be reduced.

[0154] Explanation of reference numerals in the attached figures:

[0155] 100…Loading machinery; 110…Traveling body; 111…Crawler; 112…Traveling motor; 120…Swing body; 121…Engine; 122…Hydraulic pump; 123…Control valve; 124…Swing motor; 130…Working device; 131…Boom; 131C…Boom cylinder; 132…Stick; 132C…Stick cylinder; 133…Bucket; 133C…Bucket cylinder; 140…Cab; 141…Operator's seat; 142…Control terminal; 143…Control device; 151…Positioning device 152… Inclinometer; 153… Boom stroke sensor; 154… Stick stroke sensor; 155… Bucket stroke sensor; 160… Control device; 610… Processor; 611… Measurement data acquisition unit; 612… Operation signal input unit; 613… Working device position determination unit; 614… Reference determination unit; 615… Angle determination unit; 616… Movement control unit; 617… Operation signal output unit; 630… Main memory; 650… Storage; 670… Interface.

Claims

1. A control device for loading machinery, the loading machinery comprising: a rotating body that rotates about a center of rotation; and a working device having a working tool and mounted on the rotating body, wherein, In the automatic control of moving the working tool from above the loaded object to a target position outside the loaded object, the moving speed of the working device is determined based on the target rotation angle up to the direction in which the working device faces the target position. The output signal causes the working device to move at the determined moving speed.

2. The control device for the loading machinery according to claim 1, wherein, The target rotation angle is the rotation angle from the direction in which the working device is facing when the automatic control starts to the direction in which the working device is facing the target position.

3. The control device for the loading machinery according to claim 1, wherein, The larger the target rotation angle, the slower the moving speed of the working device.

4. The control device for the loading machinery according to claim 3, wherein, The larger the target rotation angle, the smaller the upper limit of the moving speed of the working device. The moving speed of the working device is calculated based on the target posture of the working device determined according to the target position and the posture of the working device. The moving speed of the working device is limited based on the upper limit value.

5. The control device for the loading machinery according to claim 1, wherein, A function is defined to represent the relationship between the rotation angle of the rotating body and the height of the working tool, wherein the height of the working tool is equal to the height of the target position when the rotation angle coincides with the target rotation angle. The moving speed of the working tool is determined based on the rotation angle of the rotating body, the height of the working tool, and the function.

6. The control device for the loading machinery according to claim 5, wherein, The moving speed of the working tool is determined based on the rotational speed of the rotating body, the rotational angle of the rotating body, the height of the working tool, and the function.

7. The control device for the loading machinery according to claim 5, wherein, The function has a first interval where the height of the working tool is constant and a second interval where the height of the working tool moves downward. The timing for switching between the first interval and the second interval is determined based on the target rotation angle.

8. A control method for loading machinery, the loading machinery comprising: a rotating body that rotates about a rotation center; and a working device having a working tool and mounted on the rotating body, wherein, The control method for the loading machinery includes the following steps: In the automatic control of moving the working tool from above the loaded object to a target position outside the loaded object, the moving speed of the working device is determined based on the target rotation angle up to the direction of the working device toward the target position; and The output signal causes the working device to move at the determined moving speed.

9. A remote operating system for loading machinery, the loading machinery comprising: a rotating body that rotates about a center of rotation; a working device having working tools and mounted on the rotating body; and a display device and an operating device for a remote location, wherein... In the automatic control of moving the working tool from above the loaded object to a target position outside the loaded object, the moving speed of the working device is determined based on the target rotation angle up to the direction in which the working device faces the target position. The loading machinery outputs a signal to cause the working device to move at the determined moving speed.

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