CONTROL DEVICE FOR WORK MACHINE, REMOTE CONTROL SYSTEM AND CONTROL METHOD

Abstract

A control device (160) for a working machine (100), comprising a rotating body (120) configured to rotate about a center of rotation, a support part (110) configured to support the rotating body, and a working device (130) attached to the rotating body and including a working tool (133), includes a residual estimation unit (616) configured to estimate whether there is still a load in the working tool, and an output unit (618) configured to provide an output based on a result of the estimation of whether the load is still in the working tool.

Description

TECHNICAL AREA

[0001] The disclosure relates to a control device for a loading machine, a remote control device and a control method.

[0002] The present disclosure claims priority based on Japanese patent application No. 2023-042036, filed on March 16, 2023, the contents of which are incorporated herein by reference. STATE OF THE ART

[0003] Patent disclosure 1 discloses a technique related to the semi-automatic control of a working machine. The semi-automatic control according to patent disclosure 1 is a control system for automatically moving a shovel into an excavation position when an excavation instruction is received from an operator after completion of loading a load destination, such as a dump truck, and for causing a control device to control a rotation of the working machine and the drive of a working attachment. LITERATURE LIST PATENT LITERATURE

[0004] Patent document 1: JP 2020-041352 A BRIEF DESCRIPTION OF THE INVENTIONAL PROBLEM

[0005] However, the operator can start the automatic rotation control while the load is still on the working tool, such as the shovel.

[0006] One objective of the present disclosure is to provide a control device and a control method for a working machine with which it can be determined whether a load has been completely unloaded from a working tool during a loading operation. SOLUTION TO THE PROBLEM

[0007] According to one aspect of the present disclosure, a control device for a working machine comprising a rotating body configured to rotate about a center of rotation, a support part configured to carry the rotating body, and a working device attached to the rotating body and including a working tool, includes a residual estimation unit configured to estimate whether there is still a load in the working tool, and an output unit configured to provide an output based on a result of the estimation of whether the load is still in the working tool. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0008] According to the above aspect, the control device for a working machine makes it possible to determine whether the load has been completely unloaded from the working tool during a loading operation. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic view illustrating a configuration of a loading machine according to a first embodiment. Fig. Figure 2 is a view illustrating an internal configuration of a cabin according to the first embodiment. Fig. Figure 3 is a schematic block diagram illustrating a configuration of a control device according to the first embodiment. Fig. Figure 4 is a view illustrating an example of the movement of the loading machine in a first rotation according to the first embodiment. Fig. Figure 5 is a view illustrating an example of the movement of the loading machine in a second rotation according to the first embodiment. Fig. Figure 6 is a flowchart illustrating the first rotary control by the control device according to the first embodiment. Fig. Figure 7 is a flowchart illustrating the second rotary control by the control device according to the first embodiment. DESCRIPTION OF EXECUTION FORMS First embodiment

[0009] The following sections describe the embodiments in detail with reference to the drawings. Configuration of the loading machine 100

[0010] Fig. Figure 1 is a schematic view illustrating a configuration of a loading machine 100 according to a first embodiment.

[0011] The loading machine 100 is operated on a construction site, excavating a building material such as earth and sand and loading the excavated earth and sand as a single load onto a loading target T ( Fig. 4 and Fig. 5), such as a dump truck. The loading machine 100 is an example of a working machine. Examples of the loading machine 100 are a backhoe, a rear-mounted backhoe, a cable excavator, and the like. Furthermore, the loading machine 100 can be electrically or hydraulically driven. The loading machine 100 according to the first embodiment is a rear-mounted backhoe. The loading machine 100 includes a chassis 110, a rotary body 120, a working device 130, and a cab 140. Examples of the loading target T include a dump truck, a hopper, and the like.

[0012] The drive unit 110 provides mobile support for the loading machine 100. The drive unit 110 includes two endless tracks 111, provided on the left and right sides, and two drive motors 112 for powering the endless tracks 111. The drive unit 110 is an example of a support component.

[0013] The rotating body 120 is supported by the moving body 110, so that it can rotate around a center of rotation.

[0014] The working device 130 is driven by hydraulic pressure. The working device 130 is mounted on a front section of the rotating body 120, so that it can be driven in a vertical direction.

[0015] Cabin 140 is a space in which an operator drives and operates the loading machine 100. Cabin 140 is located in the left front section of the rotary body 120.

[0016] Here, a section of the rotating body 120, to which the working device 130 is attached, is referred to as a front section. Furthermore, with respect to the front section of the rotating body 120, a section on the opposite side is referred to as a rear section, a section on the left side is referred to as a left section, and a section on the right side is referred to as a right section. Configuration of the rotating body 120

[0017] The rotary body 120 includes a motor 121, a hydraulic pump 122, a control valve 123 and a rotary motor 124.

[0018] Motor 121 is a drive unit that powers hydraulic pump 122. Motor 121 is an example of a power source.

[0019] The hydraulic pump 122 is a variable displacement pump driven by the motor 121. The hydraulic pump 122 supplies actuators (a boom cylinder 131C, a arm cylinder 132C, a bucket cylinder 133C, the travel motors 112 and the rotary motor 124) with hydraulic oil via the control valve 123.

[0020] The control valve 123 controls the flow rate of the hydraulic oil supplied by the hydraulic pump 122.

[0021] The rotary motor 124 is driven by the hydraulic oil supplied by the hydraulic pump 122 via the control valve 123 and rotates the rotary body 120. Configuration of the work device 130

[0022] The working tool 130 includes a boom 131, an arm 132, a bucket 133 as a working tool, the boom cylinder 131C, the arm cylinder 132C and the bucket cylinder 133C. Further examples of the working tool include attachments at the distal end, such as a clamshell bucket, a tilting bucket, a tiltrotator bucket, a grab and a lifting magnet.

[0023] A base end section of the boom 131 is rotatably attached to the rotating body 120 via a boom pin. In the Fig. In the illustrated loading machine 100, the boom 131 is provided on a front central section of the rotary body 120; however, its position is not limited to this, and the boom 131 can be offset in a left-right direction. In this case, the center of rotation of the rotary body 120 is not positioned on an operating plane of the working device 130.

[0024] The arm 132 connects the boom 131 and the bucket 133. A base end section of the arm 132 is rotatably attached to a distal end section of the boom 131 via an arm pin.

[0025] The bucket 133 is rotatably attached to a distal end section of the arm 132 via a pin. The bucket 133 serves as a container for excavated earth and sand. The bucket 133 is positioned so that one opening of it faces the rotating body 120 (to the rear). This means that the loading machine 100, which is a backhoe, performs excavation work by pulling the bucket 133 in front of the rotating body 120.

[0026] The boom cylinder 131C is a hydraulic cylinder for actuating the boom 131. A base end section of the boom cylinder 131C is attached to the rotating body 120. A distal end section of the boom cylinder 131C is attached to the boom 131.

[0027] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end section of the arm cylinder 132C is attached to the boom 131. A distal end section of the arm cylinder 132C is attached to the arm 132.

[0028] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end section of the bucket cylinder 133C is attached to the arm 132. A distal end section of the bucket cylinder 133C is attached to a linkage mechanism that rotates the bucket 133. Cabin 140 configuration

[0029] Fig. Figure 2 is a view showing an internal configuration of cabin 140 according to the first embodiment.

[0030] Cabin 140 contains a driver's seat 141, an operating terminal 142, and a control device 143. The operating terminal 142 is located near the driver's seat 141 and serves as a user interface to a control device 160 described below. The operating terminal 142 is a display device, for example, a touch panel, and may include an operator control unit and an input / receiver unit for receiving commands. Furthermore, the display device shows measurement data from an engine coolant temperature gauge, a fuel gauge, and the like. The operating terminal 142 may also include a display unit such as a liquid crystal display (LCD). A touch panel is an example of a display unit. In another embodiment, the display unit and the control unit can be provided separately.

[0031] The operating device 143 is a device for driving the drive body 110, the rotary body 120, and the working tool 130 by manual operation by the operator. The 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 drive lever 143LT, a right drive lever 143RT, a rotary brake pedal 143TB, and a start switch 143SW.

[0032] 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.

[0033] The left control lever 143LO is an operating mechanism for performing a rotation of the rotary body 120 and a lifting / tilting movement of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left control lever 143LO forward, the arm 132 performs the tilting operation. When the operator of the loading machine 100 tilts the left control lever 143LO backward, the arm 132 performs the lifting operation. When the operator of the loading machine 100 tilts the left control lever 143LO to the right, the rotary body 120 rotates to the right. When the operator of the loading machine 100 tilts the left control lever 143LO to the left, the rotary body 120 also rotates to the left.It should be noted that in another embodiment the rotary body 120 can rotate to the right or left when the left operating lever 143LO is tilted in a forward-backward direction, and that the arm 132 can perform the excavation or tilting operation when the left operating lever 143LO is tilted in the left-right direction.

[0034] The right-hand control lever 143RO is an operating mechanism for performing the digging / tipping operation of the bucket 133 and a raising / lowering operation of the boom 131. Specifically, when the operator of the loading machine 100 tilts the right-hand control lever 143RO forward, the boom 131 is lowered. When the operator of the loading machine 100 tilts the right-hand control lever 143RO backward, the boom 131 is raised. When the operator of the loading machine 100 tilts the right-hand control lever 143RO to the right, the bucket 133 is tilted. Furthermore, when the operator of the loading machine 100 tilts the right-hand control lever 143RO to the left, the bucket 133 is excavated.It should be noted that in another embodiment, the shovel 133 can perform the tipping or digging operation when the right control lever 143RO is tilted in the forward-backward direction, and the boom 131 can perform the lifting or lowering operation when the right control lever 143RO is tilted in the left-right direction.

[0035] The left foot pedal 143LF is located on the left side of a 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 drive lever 143LT is pivotally supported by the left foot pedal 143LF and is configured such that tilting the left drive lever 143LT and pressing down the left foot pedal 143LF are interlocked. The right drive lever 143RT is pivotally supported by the right foot pedal 143RF and is configured such that tilting the right drive lever 143RT and pressing down the right foot pedal 143RF are interlocked.

[0036] The left foot pedal 143LF and the left drive lever 143LT correspond to the rotary drive of a left crawler track of the chassis 110. Specifically, when the operator of the loader 100 tilts the left foot pedal 143LF or the left drive lever 143LT forward, the left crawler track rotates in the forward direction. Furthermore, when the operator of the loader 100 tilts the left foot pedal 143LF or the left drive lever 143LT backward, the left crawler track rotates backward.

[0037] The right foot pedal 143RF and the right drive lever 143RT correspond to the rotary drive of a right crawler track of the chassis 110. Specifically, when the operator of the loader 100 tilts the right foot pedal 143RF or the right drive lever 143RT forward, the right crawler track rotates in a forward direction. Furthermore, when the operator of the loader 100 tilts the right foot pedal 143RF or the right drive lever 143RT backward, the right crawler track rotates backward.

[0038] The start switch 143SW is provided, for example, on a handle section of the left control lever 143LO. The start switch 143SW is positioned close to the driver seated in the driver's seat 141. When the start switch 143SW is pressed, an automatic control instruction signal is sent to the control device 160. When the control device 160 receives the input of the automatic control instruction signal, it starts the automatic control.

[0039] The automatic control refers to the loading machine 100, which autonomously controls the drive of the working device 130 and the rotary body 120 to carry out a predetermined process. The automatic control in the first embodiment is a control in which the loading machine 100 autonomously performs a first rotation ( Fig. 4) performs a series of rotation operations from a state in which the bucket 133 is positioned on the outside of the loading target T, by excavating the excavation target, to an orientation in which it is facing the loading target T while the boom 131 is raised; and a second rotation ( Fig. 5), which represents a series of rotational operations from a state in which the bucket 133 is positioned above the loading target T, by loading into a predetermined orientation while the boom 131 is lowered to move towards the outside of the loading target T. In the Fig. 4 and Fig. In the illustrated example 5, the boom 131 is raised during the first rotation and lowered during the second rotation because the height of the loading target T is higher than the excavation height; however, this is not to be understood as a limitation. For example, if the height of the loading target T is lower than the excavation height, the boom 131 will be lowered during the first rotation and raised during the second rotation. It should be noted that, according to another embodiment, the automatic control may only perform the second rotation. In the first embodiment, the target orientations of the rotating body 120 and the target positions of the bucket 133 are set to predefined orientations and positions during the first and second rotations, respectively. Typically, the excavation target is located in a position below the height of the loading target T.Therefore, the loading machine 100 controls the drive of the working device 130 in such a way that the loading target T and the working device 130 do not come into contact with each other during the first and second rotations. Details of the automatic control are described below.

[0040] The automatic control, which is executed each time the start switch 143SW is pressed, alternates between the first and second rotations. Furthermore, in another embodiment, the operating device 143 can include two start switches 143SW, and the first and second rotations can be assigned to each. Configuration of the measuring system

[0041] As in Fig. As shown in Figure 1, the loading machine 100 includes a position and alignment computer 151, an inclination measuring instrument 152, a boom lift sensor 153, an arm lift sensor 154 and a bucket lift sensor 155.

[0042] The Position and Orientation Computer 151 calculates the position of the rotating body 120 and the orientation in which the rotating body 120 is oriented. The Position and Orientation Computer 151 includes two receivers that receive positioning signals from artificial satellites that form the Global Navigation Satellite System (GNSS). The two receivers are installed at different positions on the rotating body 120. The Position and Orientation Computer 151 determines the position of a representative point (origin of the blade coordinate system) of the rotating body 120 in a location coordinate system based on the positioning signals received by the receivers.

[0043] Using the positioning signals received from the two receivers, the position and orientation computer 151 calculates the orientation of the rotating body 120 as the relationship between the installation position of one receiver and the installation position of the other receiver. The orientation of the rotating body 120 is a direction orthogonal to a front surface of the rotating body 120. The orientation of the rotating body 120 corresponds to a horizontal component in the direction of a straight line extending from the boom 131 to the bucket 133 of the working tool 130.

[0044] The inclinometer 152 measures the acceleration and angular velocity of the rotating body 120 and detects its position (for example, roll angle, pitch angle, and yaw angle) and rotational speed based on the measurement. The inclinometer 152 is, for example, mounted on a lower surface of the rotating body 120. A gravity measuring unit (IMU) can be used as the inclinometer 152.

[0045] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into a relative angle of the boom 131 with respect to the rotating body 120.

[0046] The arm stroke sensor 154 is attached to the arm cylinder 132C and detects the cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into a relative angle of the arm 132 with respect to the boom 131.

[0047] The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into a relative angle of the bucket 133 with respect to the arm 132.

[0048] The loading machine 100 according to the first embodiment identifies an angle of each connecting part of the working device 130 using the boom lift sensor 153, the arm lift sensor 154, and the bucket lift sensor 155, but is not limited to this in other embodiments. For example, in another embodiment, a potentiometer may be provided that detects a relative rotation angle of a connecting part, or a tilt sensor may be provided that detects a ground angle of each connecting part, instead of the lift sensor. Configuration of the control device 160

[0049] Fig. Figure 3 is a schematic block diagram showing a configuration of the control device 160 according to the first embodiment.

[0050] The loading machine 100 includes the control device 160. The control device 160 can be mounted on the operating terminal 142 or provided separately from the operating terminal 142 and receive inputs and outputs from the operating terminal 142. The control device 160 receives control signals from the operating device 143. The control device 160 drives the working tool 130, the rotary body 120, and the travel body 110 by outputting the received control signal or a control signal generated for automatic control to the control valve 123. Hereinafter, the control signal received by the operating device 143 is referred to as the manual control signal, and the control signal generated for automatic control is referred to as the automatic control signal. The automatic control signal consists of control signals for driving the rotary body 120 and the working tool 130 and does not include a control signal for driving the travel body 110.If a manual control signal is received from the operator during automatic control, the control device 160 can stop the automatic control.

[0051] The control device 160 is a computer with a processor 610, main memory 630, storage memory 650, and an interface 670. Storage memory 650 holds a program. The processor 610 reads the program from storage memory 650, loads the program into main memory 630, and executes the processing according to the program.

[0052] Examples of memory 650 include semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, and the like. Memory 650 can be an internal medium directly connected to a common communication line of the control device 160, or an external medium connected to the control device 160 via interface 670. Main memory 630 and memory 650 are non-transient, tangible storage media.

[0053] When executing the program, the processor 610 includes a measurement data acquisition unit 611, an operator signal input unit 612, a work tool position identification unit 613, a reference identification unit 614, an angle identification unit 615, a residual estimation unit 616, a motion control unit 617 and an operator signal output unit 618.

[0054] The measurement data acquisition unit 611 acquires measurement data acquired by the measuring system of the loading machine 100. In particular, the measurement data acquisition unit 611 acquires measurement data from each of the position and alignment computer 151, the inclinometer 152, the boom lift sensor 153, the arm lift sensor 154, and the bucket lift sensor 155. The measurement data acquisition unit 611 calculates an angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclinometer 152.

[0055] The control signal input unit 612 receives control signals manually entered by the operator from the control device 143. These control signals include a drive signal to raise or lower the boom 131, a drive signal to raise or lower the arm 132, a drive signal to tilt or lift by the bucket 133, a drive signal to rotate the rotary body 120 to the right or left, a drive signal to cause the travel body 110 to move, and an automatic control instruction signal for the loading machine 100. That is, the control signal input unit 612 is an example of an input unit that receives a start instruction input for automatic control from an operator.

[0056] The work tool position identification unit 613 identifies a position of a distal end P of the arm 132 ( Fig. 4) and a position of a lowest point Q of the shovel 133 ( Fig. 4) in a vehicle coordinate system with respect to the rotating body 120 based on the measurement data acquired by the measurement data acquisition unit 611. The lowest point Q of the blade 133 is the point on the outer shape of the blade 133 where the distance to the ground surface is smallest.

[0057] The work tool position identification unit 613 determines a vertical directional component and a horizontal directional component of a length of the boom 131 based on an inclination angle of the boom 131 and a known length of the boom 131 (distance from the pin at the base end section to the pin at the distal end section). Similarly, the work tool position identification unit 613 determines a vertical directional component and a horizontal directional component of a length of the arm 132. The work tool position identification unit 613 identifies a position separated from the position of the loader 100 by the sum of the vertical directional components and the sum of the horizontal directional components of the lengths of the boom 131 and the arm 132 in a direction that is identified from the orientation and attitude of the loader 100 as the position of the distal end P of the arm 132.Furthermore, the implement position identification unit 613 identifies the position of the lowest point Q of the bucket 133 based on the bucket's inclination angle and its known shape. For example, the implement position identification unit 613 calculates the position of each of a plurality of points on an outer surface of the bucket 133 based on the bucket's inclination angle and identifies the point with the lowest elevation among the plurality of points as the lowest point Q. Furthermore, the implement position identification unit 613 can, for example, designate as the lowest point Q a point obtained by offsetting downwards a distance between a point on the bucket 133 furthest from a bucket pin and the bucket pin in a vertical direction from the bucket pin.Furthermore, the implement position identification unit 613 can, for example, define as the lowest point Q a point obtained by offsetting downwards an amount of the maximum bucket movement range in the vertical direction from the bucket pin.

[0058] Furthermore, the work equipment position identification unit 613 can designate a point offset by a margin from the height identified above, taking into account control errors and measurement errors, as the lowest point Q.

[0059] Before the automatic control is executed, the reference identification unit 614 receives instructions from the operator to program an excavation preparation position, a collision avoidance position, and a loading position of the bucket 133 as reference points for the automatic control. The programming is carried out, for example, using the following procedure.

[0060] The reference identification unit 614 causes the operating terminal 142 to display an instruction to move the bucket 133 into the excavation preparation position, which is an excavation position. The operator operates the control device 143 to move the bucket 133 into the excavation preparation position and enters the completion of the movement into the excavation preparation position into the operating terminal 142. The reference identification unit 614 records in memory 650 the position of the working tool 130, identified by the working tool position identification unit 613, as the target position of the second rotation, the position of the distal end P of the arm 132 as the target position of the second rotation, and the orientation in which the rotating body 120 is directed as the target orientation of the second rotation.Next, the reference identification unit 614 causes the operator terminal 142 to display an instruction to move the cutting edge of the bucket 133 into the collision avoidance position. This position is higher than the height of the top of a wall of the container of the loading target T, and the working tool 130 and the loading target T do not overlap in a top-down view. The operator operates the control device 143 to move the cutting edge of the bucket 133 into the collision avoidance position and enters the completion of the movement into the collision avoidance position into the operator terminal 142. Collision avoidance positions can be entered with respect to either the right or left end of the loading target T. The collision avoidance position can be located at either the right or the left end of the loading target T.Accordingly, the reference identification unit 614 can identify the area of ​​the loading platform of the loading target T. It should be noted that the height of each collision avoidance position can be a height obtained by offsetting the height with a margin in an upward direction, taking into account control errors and measurement errors.

[0061] The reference identification unit 614 records in memory 650 the orientation in which the rotating body 120 is directed as a collision avoidance orientation.

[0062] Next, the reference identification unit 614 causes the operator terminal 142 to display an instruction to move the bucket 133 into the loading position above the loading target T. The operator operates the control device 143 to move the bucket 133 into the loading position and enters the completion of the movement into the loading position into the operator terminal 142. The reference identification unit 614 records in memory 650 the position of the working tool 130 as the target position of the first rotation, the position of the distal end P of the arm 132 as the target position of the first rotation, and the orientation in which the rotating body 120 is directed, as identified by the working tool position identification unit 613, as the target orientation of the first rotation.

[0063] The reference identification unit 614 receives an input from the operator via the operating terminal 142 regarding the loading position of the bucket 133. For example, the operator manually enters a bucket angle as the loading position into the operating terminal 142 once the loading process is complete. For instance, the operator operates the control device 143 to move the bucket 133 into a specific position after the loading process is complete and enters the loading position into the operating terminal 142. The loading position of the bucket 133 is a position inclined sufficiently to allow the entire load contained in the bucket 133 to fall out. The loading position is identified as a position that is relative to the vehicle coordinate system with respect to the rotating body 120. The reference identification unit 614 records the loading position in memory 650.The position and orientation identified by the reference identification unit 614 can be corrected based on information about the inclination of the vehicle body, such as the pitch angle and roll angle of the rotating body 120, which are measured by the inclinometer 152. For example, the loading position can be represented as a position relative to a horizontal plane instead of to the vehicle coordinate system.

[0064] The angle identification unit 615 identifies as a target rotation angle an angle between an initial orientation in which the rotating body 120 is oriented when the automatic control instruction signal is input to the control signal input unit 612 and the target orientation recorded in memory 650. The angle identification unit 615 also identifies as a collision avoidance angle an angle between the initial orientation in which the rotating body 120 is oriented when the automatic control instruction signal is input to the control signal input unit 612 and a collision avoidance orientation recorded in memory 650. The collision avoidance angle is such that the working tool 130 and the loading target T do not overlap in plan view when the rotating body 120 is rotated to the collision avoidance angle.

[0065] The residual estimation unit 616 estimates whether there is still a load in the bucket 133. The position of the bucket 133, identified by the implement position identification unit 613, is compared with the loading position of the bucket 133 recorded in memory 650; and it is determined whether the tilt angle of the bucket 133 in the vehicle coordinate system is equal to or greater than the tilt angle with respect to the loading position. The residual estimation unit 616 estimates that the load is still in the bucket 133 if the tilt angle of the bucket 133 is less than the tilt angle with respect to the loading position, i.e., if the loading position has a greater tilt towards the tipping side than the position of the bucket 133.On the other hand, the residual estimation unit 616 estimates that there is no longer any load in the bucket 133 if the tilt angle of the bucket 133 is equal to or greater than the tilt angle with respect to the loading position, that is, if the position of the bucket 133 has a greater tilt towards the tipping side than the loading position. The tilt angle of the bucket 133, which is used by the residual estimation unit 616 for comparison, can be corrected taking into account information on the tilt of the vehicle body, such as the pitch angle and roll angle of the rotating body 120, which are measured based on the inclinometer 152.

[0066] When the control signal input unit 612 receives an input of the automatic control instruction signal, the motion control unit 617 generates an automatic control signal to implement the automatic control. When the automatic control instruction signal is input, automatic control is executed either to perform the first rotation to move the bucket 133 into the loading position or to perform the second rotation to move the bucket 133 into the excavation preparation position. The motion control unit 616 determines whether the first or the second rotation is to be executed during automatic control, depending on whether the bucket 133 is located within the area of ​​the loading platform of the loading target T in the top view when the automatic control instruction signal is input.If the bucket 133 is not within the area of ​​the loading platform of the loading target T in plan view, the motion control unit 616 performs the first rotation, and if the bucket 133 is within the area of ​​the loading platform of the loading target T in plan view, the motion control unit 616 performs the second rotation. At this point, the motion control unit 616 controls the rotating body 120 and the working tool 130 based on the collision avoidance angle stored in memory 650 so that the loading target T and the working tool 130 do not come into contact with each other.

[0067] In particular, during the first rotation, the motion control unit 617 causes the rotating body 120 and the working device 130 to perform a combined operation before a first collision avoidance angle θ1 ( Fig. 4) is reached. The working device 130 and the loading target T do not overlap in the top view while the rotating body 120 rotates to the first collision avoidance angle θ1. If, during the first rotation, the height of the bucket 133 does not reach the height of the loading position before the rotation angle of the rotating body 120 reaches the first collision avoidance angle θ1 ( Fig. 4) If the first rotation is not reached, no rotary control signal is generated for the rotary body 120, and only a control signal is generated for the working tool 130. For example, in the combined operation, only the lifting operation of the boom is performed in the first rotation. On the other hand, if the height of the bucket 133 reaches the height of the loading position before the rotation angle reaches the first collision avoidance angle θ1, the motion control unit 617 generates a rotary control signal for the rotary body 120 and a control signal for the working tool 130, thus performing a combined operation of the rotary body 120 and the working tool 130. This means that in the combined operation, the lifting operation of the boom 131 and the rotation operation of the rotary body 120 are performed simultaneously in the first rotation. After the height of the bucket 133 reaches the height of the loading position at the first collision avoidance angle θ1 ( Fig. 4) has been reached, the motion control unit 617 causes the rotating body 120 to rotate without moving the working device 130.

[0068] Furthermore, the motion control unit 616 performs a control so that the lowest point of the bucket 133 is not lowered before the rotation angle of the rotating body 120, during the second rotation of a rotation opposite to the first rotation, reaches a second collision avoidance angle θ2 ( Fig. 5) achieved. The control in which the lowest point is not lowered can be a control in which the rotary body 120 is rotated without moving the working tool 130 while maintaining the height of the lowest point, or it can be a control in which a gap is provided between the loading target T and the bucket 133 by making the lowest point higher than the lowest point before the control. When the rotary body 120 rotates to the second collision avoidance angle θ2, the state in which the working tool 130 and the loading target T overlap in the top view changes to a non-overlap state. After the rotation angle reaches the second collision avoidance angle θ2, the motion control unit 616 generates a rotation control signal for the rotary body 120 and a control signal for the working tool 130 to perform a combined operation of the rotary body 120 and the working tool 130.However, if the residual estimation unit 616 estimates that the load is still in the bucket 133 when the input of the automatic control instruction signal is received in the second rotation, the motion control unit 616 rotates the bucket 133 in a tilting direction before rotating the rotating body 120. For example, the motion control unit 616 can rotate the bucket 133 in the tilting direction while rotating the rotating body 120. The motion control unit 616 preferably rotates the rotating body 120 at a lower rotational speed while rotating the bucket 133 in the tilting direction than in the case where the bucket 133 is not rotated in the tilting direction. Rotating the bucket 133 in the tilting direction is one mode for outputting the result of the estimation as to whether the load is still in the bucket 133.If the bucket 133 is not rotated in the tipping direction, this is a mode for outputting the result of the estimation as to whether the load is still in the bucket 133. Rotating the bucket 133 in the tipping direction is a process for tipping the load in the bucket 133. That is, rotating the bucket 133 in the tipping direction is an example of unloading the load.

[0069] The control signal output unit 618 outputs the manual control signal entered into the control signal input unit 612 or the automatic control signal generated by the motion control unit 616 to the control valve 123. Thus, the control signal output unit 618 is an example of an output unit configured to provide an output based on the result of an estimate as to whether the load is still in the bucket 133. Operation during automatic control

[0070] Here, the movement of the loading machine 100 during automatic control according to the first embodiment is described with reference to the drawings.

[0071] Fig. Figure 4 is a view illustrating an example of the movement of the loading machine 100 in the first rotation according to the first embodiment. Fig. Figure 5 is a view illustrating an example of the movement of the loading machine 100 in the second rotation according to the first embodiment.

[0072] When the automatic control starts according to the first rotation, the control device 160 begins, as shown in Fig. As shown in Figure 4, the working device 130 (the boom 131, the arm 132, and the bucket 133) is first driven by the boom 131, and the bucket 133 is moved upwards by the lifting action of the boom 131. The target position of the bucket 133 after the first rotation is the loading position above the loading target T. After a delay, the control device 160 starts the rotation of the rotating body 120. The control device 160 adjusts the timing of the start of the rotation so that the position of the working device 130 reaches the target position after the first rotation before the rotation angle of the rotating body 120 corresponds to the first collision avoidance angle θ1.It should be noted that before the rotation angle of the rotating body 120 coincides with the first collision avoidance angle θ1, the working tool 130, when its position reaches the target position during the first rotation (i.e., when the height of the lowest point Q of the bucket 133 is higher than the upper edge of the wall of the container at the loading target T), will not come into contact with the loading target T due to the rotation of the rotating body 120. Subsequently, the automatic control ends when the bucket 133 reaches the loading position. The operator then manually performs the tipping operation, rotating the bucket 133 in a tipping direction.

[0073] The operator can initiate the automatic control for the second rotation while the load is still in the bucket 133. When the automatic control for the second rotation is initiated, the control device 160 determines whether the load is still in the bucket 133. Specifically, the position of the bucket 133, as identified by the implement position identification unit 613, is compared with the loading position of the bucket 133 recorded in the memory 650; and it is determined whether the tilt angle of the bucket 133 in the vehicle coordinate system is equal to or greater than the tilt angle with respect to the loading position. If it is determined that the load is still in the bucket 133, the bucket 133 is rotated in the tilting direction. When the loading position is reached, the rotation of the rotating body 120 begins.Until the rotation angle of the rotating body 120 exceeds the second collision avoidance angle θ2, the control device 160 rotates the rotating body 120 without moving the working device 130 and maintains the height of the lowest point of the bucket 133. When the rotation angle of the rotating body 120 exceeds the second collision avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this point, the control device 160 can drive the entire assembly of boom 131, arm 132, and bucket 133, or some of them, based on the relationship between the position at the start of the rotation and the target position. When the rotation angle of the rotating body 120 reaches the target rotation angle θ0, the control device 160 terminates the drive of the rotating body 120.Furthermore, if the position of the working device 130 reaches the target position at the time of the start of excavation, the control device 160 terminates the drive of the working device 130.

[0074] Fig. 4 and Fig. Figure 5 illustrates an example where the positional relationship between the excavation position and the loading target T is approximately 90 degrees around the rotating body 120; however, in other embodiments, the positional relationship is not limited to this. For example, in another embodiment, the positional relationship between the excavation position and the loading target T can be a different rotational angle, such as 180 degrees around the rotating body 120. Operation of the control device 160

[0075] Fig. Figure 6 is a flowchart illustrating the first rotary control by the control device 160 according to the first embodiment. Fig. Figure 7 is a flowchart illustrating the second rotary control by the control device 160 according to the first embodiment.

[0076] When the operator presses the start switch 143SW, the control signal input unit 612 of the control device 160 receives an automatic control instruction signal. Upon receiving this automatic loading instruction signal, the control device 160 determines whether to perform the first or second rotation based on whether the bucket 133, viewed from above, is within the area on the loading platform of the loading target T. If the bucket 133 is within the area on the loading platform of the loading target T, the second rotation is performed. If the bucket 133 is outside the area on the loading platform of the loading target T, the first rotation is performed.

[0077] During the execution of the first rotation, the control device 160 guides the in Fig. Figure 6 illustrates the first rotation control. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S1). The motion control unit 616 reads the target orientation (orientation of the loading target T) of the rotating body 120, the target position, and the collision avoidance orientation from the memory 650 (step S2). The angle identification unit 615 identifies the target rotation angle θ0 and the first collision avoidance angle θ1 based on the orientation in which the rotating body 120 is aligned, which was identified in step S1, and the target orientation and collision avoidance orientation read in step S2 (step S3).

[0078] Next, the measurement data acquisition unit 611 records the respective measurement data for the position, orientation, tilt angle, and rotational speed of the loading machine 100, as well as the measurement data for the cylinder length of each cylinder. The implement position identification unit 613 then identifies the position of the implement 130 based on this measurement data (step S4). The measurement data acquisition unit 611 can record the respective measurement data for the orientation, tilt angle, and rotational speed of the loading machine 100, as well as the measurement data for the cylinder length of each cylinder. Therefore, the implement position identification unit 613 can identify the position of the implement 130 without reference to the position of the loading machine 100.The work tool position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133 and the attitude of the bucket 133 (step S5).

[0079] The motion control unit 617 generates an automatic control signal to move the bucket 133 beyond the loading target T based on the target orientation and target position read in step S2 and the first collision avoidance angle θ1 identified in step S3. That is, the motion control unit 617 generates the automatic control signal so that the bucket 133 reaches the loading position represented by the target orientation and target position beyond the collision avoidance position represented by the first collision avoidance angle θ1. At this point, the motion control unit 617 generates an automatic control signal for the bucket 133 so that the ground angle of the bucket 133 does not change even when the boom 131 and the arm 132 are driven.

[0080] In particular, the motion control unit 617 generates the automatic operating signal by the following procedure.

[0081] First, the motion control unit 617 determines whether the position of the working device 130 identified in step S5 approximates the target position recorded in step S1 (step S6). For example, if the difference between the position of the distal end of the arm 132 in the target position and the current position of the distal end of the arm 132 is equal to or less than a predefined value, the motion control unit 617 determines that the position of the working device 130 is close to the target position.

[0082] If the position of the work tool 130 does not closely match the target position (step S6: NO), the motion control unit 617 generates an automatic operating signal to move the boom 131 and the arm 132 close to the target position (step S7). At this point, the motion control unit 616 generates the automatic operating signal based on the positions and speeds of the boom 131 and the arm 132, which were identified based on the measurement data acquired in step S4.

[0083] Furthermore, the motion control unit 617 calculates the sum of the drive speeds of the boom 131 and the arm 132 based on the generated automatic control signal of the boom 131 and the arm 132 and generates an automatic control signal to drive the bucket 133 at the same speed as the sum of the drive speeds (step S8). Thus, the motion control unit 617 can generate a control signal to maintain the ground angle of the bucket 133.

[0084] The motion control unit 617 determines whether the work tool 130 rotates (step S9). For example, if the rotational speed of the rotating body 120 is equal to or greater than a predefined rotational speed, the motion control unit 617 determines that the rotation is performed. If the work tool 130 does not rotate (step S9: NO), the motion control unit 617 calculates a completion time for the work tool 130 to reach the target position based on the speeds of the boom 131 and the arm 132 identified in step S7 (step S10). Furthermore, the motion control unit 617 calculates an arrival time for the rotation angle to reach the first collision avoidance angle θ1, which was identified in step S3 when the rotating body 120 began rotating (step S11).The motion control unit 617 determines whether the completion time calculated in step S10 is shorter than the arrival time calculated in step S11 (step S12). That is, the motion control unit 617 determines whether the working tool 130 is in the target position when the rotation angle reaches the first collision avoidance angle θ1.

[0085] If the completion time is equal to or longer than the arrival time (step S12: NO), that is, if the work tool 130 does not reach the target position before the rotation angle reaches the first collision avoidance angle θ1, the motion control unit 617 does not generate a rotation control signal for the rotating body 120. Conversely, if the completion time is shorter than the arrival time (step S12: YES), that is, if the work tool 130 reaches the target position before the rotation angle reaches the first collision avoidance angle θ1, the motion control unit 617 generates a rotation control signal for the rotating body 120 (step S13). This allows the control device 160 to prevent rotation-induced contact with the loading target T while keeping the height of the work tool 130 low.

[0086] The control signal output unit 618 outputs the generated automatic control signal to the control valve 123 (step S14). This drives the loading machine 100. Subsequently, the control device 160 returns the processing to step S4 and continues the control.

[0087] If, on the other hand, step S9 determines that the working tool 130 is rotating (step S9: YES), the motion control unit 617 determines, based on the rotational speed of the working tool 130 identified in step S4, whether the rotation angle will reach the target rotation angle through rotation due to inertia when the rotation control signal is stopped (step S15). If the rotation angle will not reach the target rotation angle through rotation due to inertia (step S15: NO), the motion control unit 617 generates a rotation control signal in step S13, and the control signal output unit 617 outputs the rotation control signal to the control valve 123 in step S14.

[0088] If, on the other hand, it is determined that the rotation angle will reach the target rotation angle through rotation due to inertia (step S15: YES), it is determined whether the rotation angle has reached the target rotation angle and whether the position of the working tool 130 is the target position (step S16). If the rotation angle has reached the target rotation angle, but the position of the working tool 130 is not the target position (step S16: NO), the control device 160 returns to step S4 in the processing.

[0089] On the other hand, if the rotation angle has reached the target rotation angle and the position of the working tool 130 is the target position (step S16: YES), the control device 160 ends the first turning operation.

[0090] Fig. Figure 7 is a flowchart illustrating the second rotary control by the control device 160 according to the first embodiment.

[0091] When the start switch 143SW is pressed by the operator, the control signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal.

[0092] During the execution of the second rotation, the control device 160 guides the in Fig.Figure 7 illustrates the second rotation control. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S21). The motion control unit 617 reads the target orientation (orientation towards the outside of the loading target T) of the rotating body 120, the target position, and the collision avoidance orientation from the memory 650 (step S22). The angle identification unit 615 identifies the target rotation angle θ0 and the second collision avoidance angle θ2 based on the orientation in which the rotating body 120 is aligned, which was identified in step S21, and the target orientation and collision avoidance orientation read in step S22 (step S23).

[0093] Next, the measurement data acquisition unit 611 records the respective measurement data for the position, orientation, tilt angle, and rotational speed of the loader 100 and the measurement data for the cylinder length of each cylinder, and the implement position identification unit 613 identifies the position of the implement 130 based on the measurement data (step S24). The implement position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133, and the attitude of the bucket 133 (step S25).

[0094] The residual estimation unit 616 compares the position of the bucket 133 identified in step S25 with the load position recorded in memory 650 and estimates whether the load might still be in the bucket 133 (step S26). If it is estimated that the load is still in the bucket 133 (step S26: YES), the motion control unit 617 generates an automatic operating signal to rotate the bucket 133 in the tilting direction (step S27). The automatic operating signal to rotate the bucket 133 is a signal to operate the bucket 133 based on any target speed value of the bucket axis, which is retrieved from memory 650. The target speed value is a constant speed. For example, the automatic operating signal to move the bucket 133 in the tilting direction could be a signal to rotate the arm 132 in the tilting direction to move the bucket 133 relative to the horizon in the tilting direction.The automatic control signal for rotating the bucket 133 can be a signal to simultaneously move the arm 132 and the bucket 133 to perform the tilting operation. The motion control unit 617 generates an automatic control signal for the boom 131 to abort any change in the height of the lowest point Q due to the rotation of the bucket 133 (step S28). If the height of the lowest point Q increases with the rotation of the bucket 133, the motion control unit 617 rotates only the bucket 133. At this point, the motion control unit 616 does not generate an automatic control signal to rotate the rotating body 120. Subsequently, the control device 160 issues the automatic control signal to rotate the bucket 133 (step S29). The control device 160 then returns the processing to step S24.

[0095] If, on the other hand, it is estimated that the load is no longer in the bucket 133 (step S26: NO), the motion control unit 617 determines, based on the measurement data of the rotational speed of the working tool 130 identified in step S24, whether the rotational angle of the working tool 130 will reach the target rotational angle by rotation due to inertia when the rotation control signal is stopped (step S30). If the rotational angle of the working tool 130 does not reach the target rotational angle by rotation due to inertia (step S30: NO), the motion control unit 616 generates an automatic control signal to rotate the rotating body 120 (step S31). The automatic control signal is a control signal to rotate the bucket 133 from the inside of the load target T to the outside of the load target T in the top view.

[0096] Next, the motion control unit 616 determines whether the rotation angle of the rotating body 120 from the time the automatic control was started until the current time is less than the second collision avoidance angle θ2 (step S32). If the rotation angle is less than the second collision avoidance angle θ2 (step S32: YES), the motion control unit 616 generates an operating signal (neutral signal) to maintain the position of the working tool 130.

[0097] If, in step S32, the rotation angle is equal to or greater than the second collision avoidance angle θ2 (step S32: NO), the motion control unit 616 determines whether the position of the work tool 130 identified in step S24 is approaching the target position identified in step S22 (step S33). If the position of the work tool 130 is not approaching the target position (step S33: NO), the motion control unit 616 generates an automatic operating signal to move the boom 131, arm 132, and bucket 133 close to the target position (step S34). If the position of the work tool 130 is close to the target position (step S33: YES), the motion control unit 616 generates a neutral signal to maintain the position of the work tool 130.

[0098] The control signal output unit 617 then outputs the generated automatic control signal to the control valve 123 (step S35). The motion control unit 616 determines whether the rotation angle has reached the target rotation angle and whether the position of the working tool 130 is the target position (step S36). If the rotation angle has not reached the target rotation angle or the position of the working tool 130 is not in the target position (step S36: NO), the control device 160 returns to step S24 in the processing. If, on the other hand, the rotation angle has reached the target rotation angle and the position of the working tool 130 is in the target position (step S36: YES), the automatic control processing is terminated. Actions and effects

[0099] As described above, according to the first embodiment, the control device 160 assesses whether, at the time of initiating the automatic control for the second rotation to move the bucket 133 from above the loading target T to the outside of the loading target T, there is still load in the bucket 133. If it assesses that there is still load in the bucket 133, it issues the automatic control signal to move the bucket 133 in the tilting direction. If it subsequently assesses that the load is no longer in the bucket 133, an automatic control signal for the second rotation is issued. Accordingly, it is possible to prevent the load in the bucket 133 from spilling onto the outside of the loading target T, even if the start instruction for the automatic control is entered in a state where the load is still in the bucket 133.

[0100] It should be noted that, according to another embodiment, the control device 160 may not issue an automatic operating signal to move the bucket 133 in the tipping direction if it is estimated that the load is still in the bucket 133, and may not simply issue the automatic operating signal regarding the second rotation. In this case, the control device 160 can cause the operating terminal 142 to issue a warning. After visual confirmation of the warning, the operator then presses the start switch 143SW again after the load has been completely unloaded from the bucket 133. The second rotation is then performed. Such a configuration can also prevent the load in the bucket 133 from spilling onto the outside of the loading target T.

[0101] Furthermore, according to another embodiment, the control device 160 may not be able to perform automatic control under certain circumstances. That is, according to another embodiment, the control device 160 can estimate, during manual operation, whether the load is still in the bucket 133 and can output the estimation result to the operating terminal 142. In this case, the control device 160 can estimate whether the load is still in the bucket 133 at the time of loading and can display the estimation result on the operating terminal 142. This allows the operator to determine whether the load was completely unloaded from the bucket 133 during the loading operations. In this case, the operating terminal 142 is an example of the output unit configured to provide an output based on the result of the estimation of whether the load is still in the bucket 133. Other embodiments

[0102] One embodiment has been described in detail above with reference to the drawings; however, a specific configuration is not limited to the one described above, and various design modifications and the like are possible. That is to say, in other embodiments, the sequence of the processing described above can be changed as needed. Furthermore, some processing operations can be carried out in parallel.

[0103] The control device 160 according to the embodiment described above can be formed from a single computer. The configuration of the control device 160 can be distributed among a plurality of computers, and the plurality of computers can interact with one another and serve as the control device 160. At this point, some of the computers forming the control device 160 can be mounted inside the loading machine 100, and the other computers can be provided outside the loading machine 100.

[0104] The control device 160 according to the embodiment described above estimates that the load is still in the bucket 133 if the position of the bucket 133 has not yet reached the loading position; however, this should not be interpreted in a restrictive sense. For example, if, in another embodiment, the working device 130 includes a payload sensor, the control device 160 can estimate whether the load is still in the bucket 133 based on the measurement data from the payload sensor. The payload sensor can, for example, be a sensor that estimates the weight of the load based on measurement information from pressure sensors mounted on the underside and top of a working device cylinder (boom cylinder, arm cylinder, or bucket cylinder) and a working device position angle.In another embodiment, if the loading machine 100 includes a camera, the control device 160 can estimate whether the load is still in the bucket 133 by analyzing a portion of the bucket 133 in an image captured by the camera. For example, based on the captured image that includes the bucket 133, the control device 160 can estimate whether the position of the bucket 133 is a predetermined tilt position; determine that no load remains if the position of the bucket 133 is the tilt position; and determine that the load is still present if the position of the bucket 133 has not reached the tilt position. Furthermore, if the captured image that includes the bucket 133 also includes an image of the interior of the bucket 133, the control device 160 can estimate whether any load remains based on the image of the interior of the bucket.In another embodiment, the control device 160 can receive measurement data from a payload sensor provided to the loading target T and, based on the extent of the change in the measurement data, estimate whether the load is still in the bucket 133.

[0105] The target position, target orientation, and collision avoidance orientation according to the embodiment described above are recorded by learning in memory 650; however, this should not be interpreted in a restrictive sense. For example, according to another embodiment, the loading machine 100 can detect the position and shape of the loading target T by being equipped with a three-dimensional measuring device such as a stereo camera or a light detection and distance measuring device (LiDAR), and can identify the target position, target orientation, and collision avoidance orientation based on the position and shape.Furthermore, in another embodiment, the position and orientation of the charging target T can be received by communication with the charging target T, and the target position, target orientation, and collision avoidance orientation can be identified based on the position, orientation, and orientation of the charging target T and its known shape. In another embodiment, if the charging target T moves automatically by communication with the control unit, the position and orientation of the charging target T can be received from the control unit, and the target position, target orientation, and collision avoidance orientation can be identified based on the position and orientation of the charging target T and its known shape.

[0106] Furthermore, the charging position according to the embodiment described above is identified by an input into the operating terminal 142, but is not limited to this and can be identified by teaching.

[0107] Furthermore, according to the embodiment described above, the control device 160 detects the position of the working tool 130 based on the measurement data of the sensor that measures the position of the working tool 130, but is not limited to this. For example, if, in another embodiment, the loading machine 100 includes a three-dimensional measuring device such as a stereo camera or a LiDAR, the position of the working tool 130, in particular the height of the lowest point Q of the bucket 133, can be detected based on the measurement data of the three-dimensional measuring device, and the automatic control can be carried out based on the detected position.

[0108] The control device 160 according to the embodiment described above calculates the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclinometer 152, but is not limited to this. For example, according to another embodiment, the control device 160 can calculate the angle of the rotating body 120 based on an alignment difference measured by the position and alignment computer 151. In another embodiment, the angle of the rotating body 120 can be identified using a detection value from a rotary angle sensor provided in the rotary motor 124.

[0109] The control device 160 according to the embodiment described above performs automatic control based on a comparison between the rotation angle and the collision avoidance angle, but is not limited to this. For example, according to another embodiment, the control device 160 can perform automatic control based on a comparison between the position of the bucket 133 and a rearmost point of the outer shape of the loading target T in the direction of rotation of the rotating body 120. For example, according to another embodiment, the control device 160 can adjust the rotation start time so that the bucket 133 is positioned in an area near the rearmost point in the direction of rotation of the rotating body 120.

[0110] Furthermore, in another embodiment, the control device 160 can generate an automatic control signal for each connecting part and the rotating body 120, so that the blade 133 follows a predefined trajectory curve. For example, the trajectory curve can be determined by adapting it to a predefined curve function or by manual programming. The trajectory curve can be represented by a time series of the positions of the blade 133, the positions of the connecting parts and the rotating body 120, or the operating signals.

[0111] The loading machine 100 according to the embodiment described above is operated directly by the operator seated in the cabin 140, but this is not the only option. For example, according to another embodiment, the loading machine 100 can be operated remotely. That is, in another embodiment, an operating signal can be transmitted via communication from the remotely provided operating device 143 to the control device 160. The control device 160 can consist of a computer located at a remote location or of a control system in which functions are distributed between computers located in the loading machine 100 and computers located at the remote location.

[0112] In the automatic control according to the embodiment described above, the first rotation, in which the bucket 133 is moved from the position at the end of the excavation to the loading point, and the second rotation, in which it is moved to the position for starting the next excavation, are each executed, but the automatic control is not limited to this. For example, in another embodiment, the control device 160 can perform fully automatic control to automatically execute a series of operations: a first rotation, an earth unloading, and a second rotation. Furthermore, in another embodiment, the control device 160 can, for example, execute only the second rotation without executing the first.

[0113] Furthermore, the automatic control according to the embodiment described above is started by the operator pressing the start switch 143SW, but is not limited to this. For example, in another embodiment, the control device 160 can autonomously determine the start time of the automatic control and start the automatic control independently of pressing the start switch 143SW. Reference symbol list

[0114] 100 Loading machine, 110 Driving body, 111 Endless chain, 112 Travel motor, 120 Rotary body, 121 Motor, 122 Hydraulic pump, 123 Control valve, 124 Rotary motor, 130 Working tool, 131 Boom, 131C Boom cylinder, 132 Arm, 132C Arm cylinder, 133 Bucket, 133C Bucket cylinder, 140 Cab, 141 Operator's seat, 142 Control terminal, 143 Control device, 151 Position and alignment computer, 152 Inclinometer, 153 Boom lift sensor, 154 Arm lift sensor, 155 Bucket lift sensor, 160 Control device, 610 Processor, 611 Data acquisition unit, 612 Control signal input unit, 613 Working tool position identification unit, 614 Reference identification unit 615 Angle identification unit, 616 Residual estimation unit, 617 Motion control unit, 618 Operator signal output unit, 630 Working memory, 650 Storage, 670 Interface, T Loading target QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-042036

[0002] JP 2020-041352 A

[0004]

Claims

[1] Control device for a working machine comprising a rotating body configured to rotate about a center of rotation, a support element configured to support the rotating body, and a working device attached to the rotating body and including a working tool, wherein the control device comprises: a residual estimation unit configured to estimate whether there is still a load in the working tool; and an output unit configured to provide an output based on the result of an estimate of whether the load is still in the working tool. [2] Control device for a working machine according to claim 1, wherein the output unit outputs an automatic control signal that causes the rotary body to rotate from an inside to an outside of the loading target when, at the time of starting the automatic control, it is estimated that there is no longer a load in the working tool, in order to move the working tool from above the loading target to the outside of the loading target, and does not output an automatic control signal that causes the rotary body to rotate from the inside to the outside of the loading target when, at the time of starting the automatic control, it is estimated that there is no longer a load in the working tool. [3] Control device for a working machine according to claim 2, wherein the automatic control signal that causes the rotating body to rotate from the inside to the outside of the loading target is an automatic control signal that causes the rotating body to rotate from the inside to the outside of the loading target in the top view. [4] Control device for a working machine according to claim 2, wherein the output unit outputs an automatic control signal that causes the working tool to unload the charge when, at the time of starting the automatic control, it is estimated that the charge is still in the working tool, and outputs the automatic control signal that causes the rotating body to rotate from the inside to the outside of the loading target after it has been estimated that there is no longer a charge in the working tool. [5] Control device for a working machine according to claim 4, wherein the automatic control signal that causes the unloading of the charge from the working device is an automatic control signal that causes the unloading of the charge from the working device while it rotates the rotating body. [6] Control device for a working machine according to claim 5, wherein a rotational speed associated with the automatic control signal that causes the unloading of the charge from the rotating working device is lower than a rotational speed of the rotating working device without unloading the charge. [7] Control device for a working machine according to one of claims 1 to 6, wherein the residual estimating unit estimates the load still in the working tool when the position of the working tool has not reached the loading position. [8] Control device for a working machine according to one of claims 1 to 6, wherein the residual estimation unit estimates whether the load is still in the working tool when the working tool is located on the inside of the loading target in the top view from above the loading target. [9] Control device for a working machine according to any one of claims 1 to 6, wherein the residual estimation unit estimates, on the basis of the position of the working tool, whether the load is still in the working tool. [10] Control device for a working machine according to one of claims 1 to 6, wherein the residual estimation unit estimates, on the basis of the position of the working tool, whether the load is still in the working tool. [11] Control device for a working machine according to one of claims 1 to 6, wherein the residual estimation unit uses at least information from the cylinder pressure sensor of the working tool to estimate whether the load is still in the working tool. [12] Control device for a working machine according to any one of claims 2 to 6, further comprising an input unit configured to receive the input of a start instruction for automatic control from an operator. [13] Control method for a working machine comprising a rotating body configured to rotate about a center of rotation, a support element configured to support the rotating body, and a working device attached to the rotating body and including a working tool, wherein the control method comprises: Estimate whether there is still a charge in the work tool; and Providing an output based on the result of an estimate of whether the load is still in the working tool. [14] Remote control system for a working machine comprising a rotating body configured to rotate about a center of rotation, a support element configured to support the rotating body, and a working device attached to the rotating body and including a working tool, wherein the remote control system comprises: a residual estimation unit configured to estimate whether there is still a load in the working tool; and an output unit configured to provide an output based on the result of an estimate of whether the load is still in the working tool.

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