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

Abstract

In an automatic control system for a loading machine, a control device determines the movement speed of a working tool from above a loading target to a target position outside the loading target. This speed is determined based on a target rotation angle, moving the working tool from the direction it was facing at the start of the automatic control process to the direction it was facing towards the target position. The control device then issues a signal to move the working tool at the determined speed.

Description

TECHNICAL AREA

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

[0002] Priority is claimed for JP 2023-119377, filed on July 21, 2023, the contents of which are hereby incorporated by reference. STATE OF THE ART

[0003] Patent document 1 discloses a technique for moving a working tool to an excavation point such that a loading target and the working tool do not interfere with each other during the automatic control of a loading machine. According to the technique described in patent document 1, the working tool is lowered to a rotation end position in which the height of the working tool during rotation is slightly higher than an excavation position, and the working tool is lowered after the end of the rotation, thus preventing the working tool from rotating while rubbing against the ground. LITERATURE LIST Patent literature

[0004] Patent document 1: JP 7144252 B BRIEF DESCRIPTION OF THE INVENTION Technical Problem

[0005] On the other hand, since the ground is not necessarily level, the working tool, when it rotates while its height is held slightly above the excavation position, may come into contact with a protruding section of the ground.

[0006] One objective of the present disclosure is to provide a control device for a loading machine, a control method for a loading machine and a remote control system that can reduce the risk of a working tool coming into contact with the ground when the loading machine rotates automatically while lowering a working implement. SOLUTION TO THE PROBLEM

[0007] According to a first aspect of the present disclosure, a control device for a loading machine is a control device for a loading machine comprising a rotating body configured to rotate about a center of rotation and a working device attached to the rotating body, comprising a working tool, wherein, in an automatic control to move the working tool from above a loading target to a target position outside the loading target, the control device determines a speed of movement of the working tool based on a target rotation angle from a direction in which the working tool is directed at the start of the automatic control to a direction in which the working tool is directed to the target position and outputs a signal to move the working tool at the determined speed of movement. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0008] In accordance with the aforementioned aspect, it is possible to reduce the risk of a work tool coming into contact with the ground if a loading machine rotates automatically while lowering a work implement. 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. Fig. Figure 8 is a diagram illustrating an example of a control variable function according to the first embodiment. Fig. Figure 9 is a diagram illustrating an example of an upper limit for a control variable according to the first embodiment. Fig. Figure 10 is a diagram illustrating an example of a target rotation angle and target trajectory of the working tool according to a second embodiment. Fig. Figure 11 is a diagram illustrating an example of the target rotation angle and a relative angle of a blade according to the second embodiment. Fig. Figure 12 is a diagram illustrating an example of a target rotation angle and a time of lowering the working tool according to a third 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 operates on a construction site, excavating a construction target such as earth and sand and loading it as cargo onto a loading platform, such as a container or a load target T, such as a dump truck. Examples of the loading machine 100 include a backhoe, a rear-mounted excavator, 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 excavator. The loading machine 100 includes a chassis 110, a rotating body 120, a working device 130, and a cab 140. Examples of the load target T include a dump truck, a hopper, and the like.

[0012] The chassis 110 carries the loading machine 100 in a mobile manner. The chassis 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 chassis 110 is an example of a carrier 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 supported on a front section of the rotating body 120 in such a way that it can be driven in an up-down 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 reference 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 device 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. Other examples of the working tool include attachments at the distal end, such as a clamshell bucket, a swivel bucket, a tiltrotator bucket, a gripper 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 couples 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 boom 131 and the arm 132 are elements that support the bucket 133. The bucket 133 serves as a container for collecting excavated earth and sand. The bucket 133 is positioned so that one opening of it faces the rotating body 120 (to the rear). That is, the loader 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 configuration 140

[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). An example of a display unit is the touch panel.

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

[0032] The left control lever 143LO is provided on the left side of the operator's seat 141. The right control lever 143RO is provided on the right side of the operator'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 rotating body 120 can rotate clockwise or counterclockwise 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 a 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 operator's seat 141. The right foot pedal 143RF is located on the right side of the floor surface in front of the operator's seat 141. The left drive lever 143LT is pivotally supported by the left foot pedal 143LF and is configured so that tilting the left drive lever 143LT and pressing the left foot pedal 143LF are linked. The right drive lever 143RT is pivotally supported by the right foot pedal 143RF and is configured so that tilting the right drive lever 143RT and pressing the right foot pedal 143RF are linked.

[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 actuated, 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 teach-in switch 143TC is provided, for example, on a handle section of the right-hand operating lever 143RO. The teach-in switch 143TC is a switch for teaching in a control point of the bucket 133. When the teach-in switch 143TC is actuated, a teach-in signal is sent to the control device 160. When the teach-in signal is received, the control device 160 identifies a point where the bucket 133 is currently located as the control point.

[0040] 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 operation. In the first embodiment, the automatic control is a control in which the loading machine 100 autonomously performs a first rotation, which is a series of rotational movements from a state in which the bucket 133 is positioned laterally to the loading target T by excavating the excavation target, to an orientation directed towards the loading target T while the boom 131 is raised; and a second rotation, which is a series of rotational movements from a state in which the bucket 133 is positioned above the loading target T by loading, to a predetermined orientation while the boom 131 is lowered. The side of the loading target T refers to the outside of the loading platform onto which a load, for example, a container, is to be loaded.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 predetermined orientations and positions during the first and second rotations, respectively. Typically, the excavation target is located below a certain height of the loading target T. Therefore, the loader 100 controls the drive of the working tool 130 so that the loading target T and the working tool 130 do not come into contact with each other during the first and second rotations. Details of the automatic control are described below.

[0041] The automatic control, which is executed each time the start switch 143SW is actuated, 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

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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

[0050] Fig. Figure 3 is a schematic block diagram illustrating a configuration of the control device 160 according to the first embodiment.

[0051] 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.

[0052] The control device 160 is a computer comprising a processor 610, a main memory 630, a data storage device 650, and an interface 670. The data storage device 650 stores a program. The processor 610 reads the program from the data storage device 650, loads the program into the main memory 630, and executes the processing according to the program.

[0053] Examples of data storage 650 include semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, and the like. Data storage 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 data storage 650 are non-transient, tangible storage media.

[0054] 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 motion control unit 616 and an operator signal output unit 617.

[0055] 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.

[0056] 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 for raising or lowering the boom 131, a drive signal for raising or lowering the arm 132, a drive signal for initiating tilting or lifting by the bucket 133, a drive signal for rotating the rotary body 120 to the right or left, a drive signal for initiating the movement of the travel body 110, and an automatic control instruction signal for the loading machine 100.

[0057] 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.

[0058] 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. The implement position identification unit 613 can also, 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 from the bucket pin by a measure of the maximum bucket movement range in the vertical direction. Additionally, to account for control and measurement errors, the implement position identification unit 613 can define as the lowest point Q a point offset vertically from the height identified above by a certain margin.

[0059] Before the automatic control is executed, the operator teaches a digging preparation position, a collision avoidance position, and a loading position of the bucket 133 to the reference identification unit 614 as reference points for the automatic control. The teaching process 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. The operator operates the control device 143 to move the bucket 133 into the excavation preparation position and operates the teach-in switch 143TC to output the teach-in signal to the control device 160. The reference identification unit 614 records in the data memory 650 the position of the working tool 130, identified by the working tool position identification unit 613, as the target position for the second rotation, the position of the distal end P of the arm 132 as the target position for the second rotation, and the orientation in which the rotating body 120 is directed as the target orientation for the second rotation.

[0061] Next, the reference identification unit 614 causes the operating terminal 142 to display an instruction to move the bucket 133 into the collision avoidance position, which corresponds to a position at the height of the top end of a wall of the container of the loading target T, and where the working tool 130 and the loading target T do not overlap in a top-down view. It should be noted that the wall of the container used for teaching in can be a side wall, a front wall, or a rear wall of the container. The operator operates the control device 143 to move the bucket 133 into the collision avoidance position and operates the teach-in switch 143TC to output the teach-in signal to the control device 160. The collision avoidance positions are entered with respect to both a right and a 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 the upward direction, taking into account control errors and measurement errors.

[0062] The reference identification unit 614 records in memory 650 the height of the lowest point Q of the bucket 133, which was identified by the implement position identification unit 613 as the wall height Ht of the loading target T, and the orientation in which the rotating body 120 is directed as the collision avoidance orientation. 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 operates the teach-in switch 143TC to output the teach-in signal to the control device 160.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. Furthermore, the height of the lowest point Q of the bucket 133, identified at the loading position, can be defined as the wall height Ht. In another embodiment, the height of the loading target T need not necessarily correspond to the wall height Ht, i.e., the height of the side wall of the loading platform, and can also be the height of the highest point of the loading target T overall.

[0063] The angle identification unit 615 identifies as a target rotation angle the angle between an initial orientation in which the rotating body 120 is oriented when the automatic control instruction signal is input to the operator signal input unit 612 and the target orientation recorded in the data memory 650. The target rotation angle varies depending on the direction of rotation. Therefore, the angle identification unit 615 receives an input of the direction of rotation from the operator terminal 142 and identifies the target rotation angle based on the input direction of rotation. Furthermore, the target rotation angle can be identified by calculating the rotation angle for both counterclockwise and clockwise rotation and defining the minimum rotation angle as the target rotation angle.The angle identification unit 615 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 operator signal input unit 612 and a collision avoidance orientation recorded in memory 650. The collision avoidance angle is a rotation angle at which the working tool 130 and the loading target T do not overlap in a top-down view. The target rotation angle includes a first target rotation angle, which is the target rotation angle for the first rotation, and a second target rotation angle, which is the target rotation angle for the second rotation.

[0064] When the control signal input unit 612 receives an input of the automatic control instruction signal, the motion control unit 616 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 second rotation is to be executed during automatic control, depending on whether the bucket 133 is located within the area 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, 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, 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 wall height Ht and 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.

[0065] In particular, during the first rotation, the motion control unit 616 performs the combined operation of the rotating body 120 and the working device 130 before a first collision avoidance angle θ a1 ( Fig. 4) is reached. If, during the first rotation, the height of the shovel 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 θ a1 ( Fig. 4) If the height of the bucket 133 reaches the loading position before the rotation angle exceeds the first collision avoidance angle θ, the motion control unit 616 does not output a rotary control signal for the rotary body 120 and only outputs a control signal for the working device 130. On the other hand, if the height of the bucket 133 reaches the loading position before the rotation angle exceeds the first collision avoidance angle θ, the rotation angle is also reached by the first collision avoidance angle θ. a1 Once the target height is reached, the motion control unit 616 outputs a rotary control signal for the rotary body 120 and a control signal for the working tool 130, and implements combined operation of the rotary body 120 and the working tool 130. After the height of the bucket 133 reaches the height of the loading position at the first collision avoidance angle θ a1 ( Fig. 4) has been reached, the motion control unit 616 causes the rotating body 120 to rotate without moving the working device 130.

[0066] 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, forms a second collision avoidance angle θ a2 ( Fig. 5) achieved. The control, in which the lowest point is not lowered, can be a control in which the rotating body 120 is rotated without moving the working device 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. After the rotation angle reaches the second collision avoidance angle θ a2Once the desired position has been reached, the motion control unit 616 outputs a rotary control signal for the rotary body 120 and a control signal for the working device 130 in order to realize a combined operation of the rotary body 120 and the working device 130.

[0067] The control signal output unit 617 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. Operation during automatic control

[0068] Here, the movement of the loading machine 100 during automatic control according to the first embodiment is described with reference to the drawings.

[0069] 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.

[0070] 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 exceeds the first collision avoidance angle θ. a1coincides. If the position of the working device 130 reaches the target position on the first rotation, that is, if the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, before the rotation angle of the rotating body 120 corresponds to the first collision avoidance angle θ a1 If the working tool 130 is aligned, it will not come into contact with the loading target T due to the rotation of the rotating body 120. This applies if the working tool 130 is driven simultaneously with the rotation and its position reaches the target position during the first rotation before the rotation angle exceeds the first collision avoidance angle θ. a1Once the target position is reached, the control device 160 can simultaneously start the drive and rotation of the working tool 130. The automatic control then 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.

[0071] When the automatic control starts with respect to the second rotation, the control device 160 starts the rotation of the rotating body 120. This continues until the rotation angle of the rotating body 120 reaches the second collision avoidance angle θ. a2 If the rotation angle of the rotating body 120 exceeds the second collision avoidance angle θ, the control device 160 rotates the rotating body 120 without moving the working tool 130 and maintains the height of the lowest point of the bucket 133. a2If the target angle is exceeded, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this point, the control device 160 determines the movement speeds of the boom 131, the arm 132, and the bucket 133 based on a second target rotation angle θ. t2 Here, the movement speed of the working tool 130 determined by the control device 160 is a movement speed of the working tool 130 in the drive plane. According to the present embodiment, the control device determines the movement speed according to the second target rotation angle θ. t2, which is an angle between the initial orientation and the target orientation, is, however, not limited to this in another embodiment. For example, according to another embodiment, the control device can determine the movement speed based on the target rotation angle from the collision avoidance orientation to the initial orientation. Since the target rotation angle from the collision avoidance orientation to the initial orientation is an angle (θ ), t2 - θ a2 ) the difference between the second collision avoidance angle θ a2 and the second target rotation angle θ t2 In this case, too, the control device determines the speed of movement according to the second target rotation angle θ. t2 Furthermore, the determination of the movement speed by the control device can be based on the second target rotation angle θ. t2as equivalent to determining the movement speed according to the target rotation angle from the collision avoidance orientation to the initial orientation. In particular, the control device 160 sets slower movement speeds for the boom 131, the arm 132 and the bucket 133 according to a larger second target rotation angle θ t2 fixed. If the rotation angle of the rotating body 120 equals the second target rotation angle θ t2 Once the target position is reached, the control device 160 stops the drive of the rotary body 120. Furthermore, when the position of the working tool 130 reaches the target position at the start of excavation, the control device 160 stops the drive of the working tool 130. During the second rotation, according to the first embodiment, the control device 160 rotates the rotary body 120 without moving the working tool 130 until the rotation angle of the rotary body 120 reaches the second collision avoidance angle θ. a2exceeds, but the rotation is not limited to this. For example, according to another embodiment, the control device 160 can rotate the rotating body 120 while the working tool 130 is moved, so that the height of the lowest point of the bucket 133 does not change. Furthermore, if the bucket 133 is higher than the wall height Ht, the control device 160 can, according to the embodiment, rotate the rotating body 120 while the working tool 130 is lowered to such an extent that the height of the lowest point of the bucket 133 is not lower than the wall height Ht.

[0072] 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

[0073] 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.

[0074] When the operator activates the start switch 143SW, the control signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal. When the automatic loading instruction signal is received, the control device 160 determines whether the first rotation or the second rotation should be performed, based on whether the bucket 133 is located within the area on the loading platform of the loading target T in the top view.

[0075] 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 records the measurement data of the orientation of the loading machine 100 (step S1). The motion control unit 616 reads the target orientation (orientation towards the loading target T) of the rotating body 120, the target position, the wall height Ht of the loading target T, and the collision avoidance orientation from the data memory 650 (step S2). The angle identification unit 615 identifies the first target rotation angle θ. t1 and the first collision avoidance angle θ a1 based on the orientation in which the rotating body 120 is oriented and which was identified in step S1, and the target orientation and collision avoidance orientation which were read in step S2 (step S3).

[0076] Next, the measurement data acquisition unit 611 records the measurement data of the respective position, orientation, tilt angle, and rotational speed of the loading machine 100, as well as the measurement data of the cylinder length of each cylinder (step S4). The implement position identification unit 613 identifies the position of the implement 130 based on the measurement data (step S5). 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 position of the bucket 133.

[0077] The motion control unit 616 generates an automatic operating signal to move the bucket 133 over the loading target T based on the target orientation, target position and wall height Ht, which were read in step S2, and the first collision avoidance angle θ a1, which was identified in step S3. That is, a motion control unit 616 generates the automatic operating signal so that the lowest point Q of the bucket 133 is the loading position represented by the target alignment and the target position from the position of the lowest point Q at the beginning of the first rotation control via the wall height Ht and the first collision avoidance angle θ a1 The depicted collision avoidance position is reached. At this point, the motion control unit 616 generates an automatic operating 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.

[0078] In particular, the motion control unit 616 generates the automatic operating signal by the following procedure.

[0079] First, the motion control unit 616 determines whether the position of the working tool 130 identified in step S5 approaches 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 616 determines that the position of the working tool 130 is approaching the target position. If the position of the working tool 130 does not approximate the target position (step S6: NO), the motion control unit 616 generates an automatic operating signal to move the boom 131 and the arm 132 close to the target position (step S7).

[0080] At this point, the motion control unit 616 generates the automatic control signal based on the relative angles of the boom 131 and the arm 132, which were identified based on the measurement data acquired in step S4. In particular, the motion control unit 616 determines the control variable of the automatic control signal of the boom 131, i.e., the angular velocity, by inserting 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 with respect to the target into a predetermined control variable function. Fig. Figure 8 is a diagram illustrating an example of the control variable function according to the first embodiment. Fig. 8. The control variable increases as the difference in the relative angles increases. In the Fig. In the diagram 8, the right side represents the angle difference when the angle relative to the measured value is smaller than the target angle, and the left side represents the angle difference when the angle relative to the measured value is larger than the target angle. In the diagram shown Fig. In the diagram 8, the upper side represents the control amount in the upward direction, and the lower side represents the control amount in the downward direction. For example, if the angular difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 with respect to the target position is 0 or greater, the motion control unit 616 identifies the control amount for moving the boom 131 in the upward direction. For example, if the angular difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 with respect to the target position is 0 or less, the motion control unit 616 identifies the control amount for moving the boom 131 in the downward direction.The motion control unit 616 determines the control variable of the automatic operating signal for the arm 132 based on the measured value of the relative angle of the arm 132 and the control variable function, as in the case of the boom 131. In another embodiment, the motion control unit 616 can obtain the control variable by inserting the difference between a target cylinder length and an actual cylinder length into a predetermined control variable function. The control variable can be a cylinder velocity or a coil stroke command value. The format of the control variable function is not limited to that shown in [reference]. Fig. Figure 8 illustrated limitations. For example, the control variable function may include a dead zone near a point where the explanatory variable (the angle difference, the difference between the target cylinder length and the actual cylinder length) is zero.

[0081] Furthermore, the motion control unit 616 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 616 can generate a control signal to maintain the ground angle of the bucket 133.

[0082] The motion control unit 616 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 speed, the motion control unit 616 determines that the rotation is performed. If the work tool 130 does not rotate (step S9: NO), the motion control unit 616 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 616 calculates an arrival time for the rotation angle to reach the first collision avoidance angle θ. a1to achieve the target position identified in step S3, when the rotating body 120 began rotating (step S11). The motion control unit 616 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 616 determines whether the working tool 130 reaches the target position when the rotation angle exceeds the first collision avoidance angle θ. a1 reached.

[0083] If the completion time is equal to or longer than the arrival time (step S12: NO), that is, if the working tool 130 does not reach the target position before the rotation angle reaches the first collision avoidance angle θ a1Once the target position is reached, the motion control unit 616 does not generate a rotary control signal for the rotating body 120. However, if the completion time is shorter than the arrival time (step S12: YES), that is, if the working tool 130 reaches the target position before the rotation angle exceeds the first collision avoidance angle θ a1 Once this point is reached, the motion control unit 616 generates a rotary control signal for the rotating body 120 (step S13). As a result, the control device 160 can prevent the work tool from coming into contact with the loading target T due to a rotation of the work tool 130 at a low height.

[0084] The control signal output unit 617 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.

[0085] If, on the other hand, step S9 determines that the working tool 130 is rotating (step S9: YES), the motion control unit 616 determines, based on the rotational speed of the working tool 130 identified in step S4, whether the rotation angle will reach the first 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 first target rotation angle through rotation due to inertia (step S15: NO), the motion control unit 616 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.

[0086] If, on the other hand, it is determined that the rotation angle will reach the first target rotation angle by rotation due to inertia (step S15: YES), 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 S16). If the rotation angle reaches the first target rotation angle without the position of the working tool 130 being the target position (step S16: NO), the control device 160 returns to step S4 in the processing.

[0087] On the other hand, if the rotation angle reaches 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.

[0088] Fig. Figure 7 is a flowchart illustrating the second rotary control by the control device 160 according to the first embodiment.

[0089] When the start switch 143SW is activated by the operator, the control signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal.

[0090] During the execution of the second rotation, the control device 160 guides the in Fig. Figure 7 illustrates the second rotary control. First, the measurement data acquisition unit 611 records the measurement data of the orientation of the loading machine 100 (step S21). The motion control unit 616 reads the target orientation (orientation towards the side of the loading target T) of the rotating body 120, the target position, the wall height Ht of the loading target T, and the collision avoidance orientation from the data memory 650 (step S22). The angle identification unit 615 identifies the second target rotation angle θ. t2 and the second collision avoidance angle θ a2based on the orientation in which the rotating body 120 is oriented and which was identified in step S21, and the target orientation and collision avoidance orientation which were read in step S22 (step S23).

[0091] The motion control unit 616 determines the upper limit of the control variable of the working device 130 in the second speed control (the absolute value of the control variable) on the basis of the identified second target rotation angle θ. t2 (Step S24). Fig. Figure 9 is a diagram illustrating an example of an upper limit of the control variable according to the first embodiment. In particular, the motion control unit 616 determines the upper limit of the control variable as a smaller value for a larger second target rotation angle θ. t2 For example, in the Fig. 9 illustrated example in a case where the upper limit of the control variable at a second target rotation angle of θ t2 90° th1 is the upper limit of the control variable when a second target rotation angle θ is applied. t2 of 180° th2, which is closer to zero than th1. The motion control unit 616 determines the upper limit of the control variable, for example, using a predefined table in which the second target rotation angle θ t2 and the upper limit are assigned to each other. The table can be created by observing the operation by the trained operator and checking the control variable of the working device 130 such that the time at which the rotation angle of the rotating body 120 reaches the second target rotation angle θ t2The point in time at which the position of the working device 130 reaches the target position essentially coincides. Accordingly, a larger second target rotation angle 0t2 leads to a slower drive of the working device 130.

[0092] Next, the measurement data acquisition unit 611 records the measurement data of the respective 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 (step S25). The implement position identification unit 613 identifies the position of the implement 130 based on the measurement data (step S25). 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 position of the bucket 133.

[0093] The motion control unit 616 determines whether the work tool 130 rotates (step S27). For example, if the rotational speed of the rotating body 120 is equal to or higher than a predefined speed, the motion control unit 616 determines that the rotation is performed. If the work tool 130 does not rotate (step S27: NO), the motion control unit 616 generates an automatic operating signal to rotate the rotating body 120 (step S29). The automatic operating signal is an operating signal to rotate the rotating body 120 from the inside of the loading target T to the outside of the loading target T in the top-down view.

[0094] If, on the other hand, the work tool 130 is rotating (step S27: NO), the motion control unit 616 determines, based on the measurement data of the rotational speed of the work tool 130 identified in step S25, whether the rotation angle of the work tool 130 will reach the target rotation angle due to inertia when the rotation control signal is stopped (step S28). If the rotation angle of the work tool 130 does not reach the target rotation angle due to rotation due to inertia (step S28: NO), the motion control unit 616 generates an automatic control signal to rotate the rotating body 120 (step S29). If the rotation angle of the work tool 130 reaches the second target rotation angle due to rotation due to inertia (step S28: YES), the motion control unit 616 does not generate an automatic control signal to rotate the rotating body 120.

[0095] 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 smaller than the second collision avoidance angle θ. a2 is (step S30). If the rotation angle is smaller than the second collision avoidance angle θ a2 If (step S30: YES), the motion control unit 616 generates an operating signal (neutral signal) to maintain the position of the working device 130.

[0096] If in step S30 the rotation angle is equal to or greater than the second collision avoidance angle θ a2If (step S30: NO), the motion control unit 616 determines whether the position of the working tool 130 identified in step S25 is approaching the target position identified in step S22 (step S31). If the position of the working tool 130 is not approaching the target position (step S31: NO), the motion control unit 616 calculates the control amount of the automatic control signal based on the angular difference between the angle measurement and the target position and the value in Fig. The control variable function shown in step S32 is defined for the boom 131, arm 132, and bucket 133, respectively. Next, the motion control unit 616 generates the automatic operating signal based on the upper limit of the control variable determined in step S24. This signal is limited so that the control variable does not exceed the upper limit (step S33).

[0097] When the position of the working device 130 approaches the target position (step S31: YES), the motion control unit 616 generates a neutral signal to maintain the position of the working device 130.

[0098] The control signal output unit 617 then outputs the generated automatic control signal to the control valve 123 (step S34). 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 S35). If the rotation angle has not reached the target rotation angle or the position of the working tool 130 is not the target position (step S35: NO), the control device 160 returns to step S25 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 the target position (step S35: YES), the automatic control processing is terminated. Actions and effects

[0099] As described above, in the first embodiment, the control device 160 determines the movement speed of the working device 130 on the basis of the second target rotation angle θ in order to move the shovel 133 from above the loading target T to the position outside the loading target T. t2 from the direction in which the implement 130 is facing at the start of the automatic control, to the direction in which the implement 130 is facing towards the target position. The control device 160 issues a signal to move the implement 130 at the specified speed. Accordingly, with the automatic control of the loader 100, it is possible to avoid the risk of the bucket 133 coming into contact with a protruding section of the ground.

[0100] In the first embodiment, the control device 160 determines the upper limit of the control variable of the working device 130 from the second target rotation angle θ. t2 However, this should not be interpreted as restrictive. For example, according to another embodiment, the control device 160 can amplify the control variable function based on the second target rotation angle θ. t2 determine. In other words, according to another embodiment, the control device 160 can determine the slope of the control variable function based on the second target rotation angle θ. t2 determine. For example, the gain decreases, meaning the slope of the control function decreases, when the second target rotation angle θ t2 increases. The gain is a value greater than 0 and equal to or less than 1. Second embodiment

[0101] The control device 160 according to the first embodiment determines the control variable on the basis of the difference between the measured value of the angle of the working tool 130 and the target position and the second target rotation angle θ. t2 In contrast, according to a second embodiment, the control device 160 generates a target trajectory of the working device 130 based on the second target rotation angle θ. t2 and the objective of the work device 130 and moves the work device 130 according to the target trajectory.

[0102] Fig. 10 is a diagram that shows an example of the second target rotation angle θ t2 and a target trajectory of the working device 130 according to the second embodiment is illustrated. The motion control unit 616 of the control device 160 according to the second embodiment generates the target trajectory of the working device 130 based on the determined second target rotation angle θ. t2The target trajectory is expressed as a function of the rotation angle of the rotating body 120, the height of the distal end P of the arm 132, and the distance in the depth direction from the center of rotation to the distal end P (the radius of the arm 132). It should be noted that the following description focuses on the relationship between the rotation angle and the height in the target trajectory. In the target trajectory, the height of the distal end P is from the zero rotation angle to the second collision avoidance angle θ. a2 A height Ht + L that is higher than the wall height Ht by a length L of the blade. In the target trajectory, the height of the distal end P is determined by the second collision avoidance angle θ. a2 to the second target rotation angle θ t2 represented by a linear function in which the height decreases monotonically with respect to the rotation angle. The following is the function that determines the height of the distal end P with respect to the second collision avoidance angle θ. a2to the second target rotation angle θ t2 This is represented as a downward function. The downward function is a function that passes through a point where the rotation angle is the second collision avoidance angle θ. a2 is and the height of the distal end P Ht + L is, and passes a point where the rotation angle is the second target rotation angle θ t2The height of the distal end P is the height of the distal end P when the working tool 130 is in the target position. According to another embodiment, the downward function is not limited to a linear function but can also be another function, for example, an elliptical or a cubic function. The downward function is a function in which the height of the lowest point Q decreases monotonically with respect to the angle of rotation. The downward function can be a concave function. If the downward function is a concave function, the time during which the bucket 133 is positioned near the ground during rotation can be reduced. If the downward function is a cubic function, excellent tracking of the control can be achieved.The downward function is a function that shows a relationship between the rotation angle of the rotating body 120 and the height of the blade 133, and is a function where the height of the blade 133 is the second target rotation angle θ. t2 The ratio between the rotation angle in the target trajectory and the radius of the arm 132 is also the same as the ratio of the downward function described above. The motion control unit 616 determines the radius of the arm 132 based on the target trajectory and the rotation angle.

[0103] Fig. Figure 11 is a diagram that shows an example of the second target rotation angle θ. t2and the relative angle of the blade 133 according to the second embodiment. The motion control unit 616 of the control device 160 according to the second embodiment generates a blade function that is a function of the rotation angle and the target value of the relative angle of the blade 133, based on the determined second target rotation angle θ. t2 In the blade function, the relative angle of the blade 133 from the zero rotation angle to the second collision avoidance angle θ is a2 The relative angle at the beginning of the second rotation. For example, according to the blade function, the blade 133 maintains the tilted position from the zero rotation angle to the second collision avoidance angle θ. a2 upright. In the blade function, the relative angle of blade 133 is determined by the second collision avoidance angle θ. a2 to the second target rotation angle θ t2represented by a linear function in which the angle changes monotonically with respect to the rotation angle. The blade function is a function that passes through a point where the rotation angle equals the second collision avoidance angle θ. a2 is and the relative angle of the blade 133 is the relative angle at the beginning of the second rotation, and passes a point where the rotation angle is the second target rotation angle θ t2 and the relative angle of the shovel 133 is the relative angle of the shovel 133 when the working tool 130 assumes the target position.

[0104] If the rotation angle equals the second collision avoidance angle θ a2 Once this is achieved, the motion control unit 616 generates the automatic operating signal as follows.

[0105] The motion control unit 616 determines a preliminary target height and a preliminary target radius of the lowest point of the distal end P of the arm 132, as well as a preliminary target velocity of the distal end P of the arm 132, based on the current rotation angle, rotation velocity, and downward function. The preliminary target height is a height corresponding to the rotation angle at the next control time in the downward function. The preliminary target velocity is the slope of a tangent at a point represented by the preliminary target height and preliminary target radius in the downward function. The motion control unit 616 determines preliminary target angles of the boom 131 and the arm 132 from the preliminary target height and preliminary target radius. The motion control unit 616 determines the preliminary target angular velocity of the boom 131 and the arm 132 from the preliminary target velocity.The motion control unit 616 determines the control parameters of the boom 131 and the arm 132 by means of PID control based on the preliminary target angle and the preliminary target angular velocity. Here, the preliminary target angle is a feedback term of the PID control and the preliminary target angular velocity is a feedforward term of the PID control.

[0106] The preliminary target angle and angular velocity of the blade 133 are determined based on the current rotation angle, the current rotational velocity, and the blade function. The preliminary target angle is an angle corresponding to the rotation angle at the next control point in the blade function. The preliminary angular velocity is the slope of a tangent at a point represented by the preliminary target angle in the blade function. The motion control unit 616 determines the control values ​​of the blade 133 by PID control based on the preliminary target angle and the preliminary angular velocity. Here, the preliminary target angle is a feedback term of the PID control, and the preliminary angular velocity is a feedforward term of the PID control.

[0107] As described above, in the second embodiment, the control device 160 determines the movement speed of the working device 130 on the basis of the second target rotation angle θ in order to move the shovel 133 from above the loading target T to the target position outside the loading target T. t2 from the direction in which the working tool 130 is oriented at the start of the automatic control, in the direction in which the working tool 130 is oriented towards the target position, the position of the working tool 130 and the downward function, as in the first embodiment. The control device 160 issues a signal to move the working tool 130 at the specified speed. Accordingly, with the automatic control of the loader 100, it is possible to avoid the risk of the bucket 133 coming into contact with a protruding section of the ground. Third embodiment

[0108] The control device 160 according to the first embodiment determines the control variable on the basis of the difference between the measured value of the angle of the working tool 130 and the target position and the second target rotation angle θ. t2 In contrast, according to a third embodiment, the control device 160 determines the time of lowering the working device 130 on the basis of the second target rotation angle θt2 and moves the working device 130 according to the time control.

[0109] Fig. 12 is a diagram showing the second target rotation angle θ t2and illustrates the timing of the lowering of the working tool 130 according to the third embodiment. The motion control unit 616 of the control device 160 according to the third embodiment calculates a time t1 required for the working tool 130 to reach the target position when the boom 131, arm 132, and bucket 133 are driven at a predetermined angular velocity, based on a difference between the position of the working tool 130 at the beginning of the second rotation and the target position. For example, the motion control unit 616 calculates the time t1 required for the working tool 130 to reach the target position when the boom 131, arm 132, and bucket 133 are driven at the predetermined angular velocity according to the Fig. The control function illustrated in Figure 8 is used. The motion control unit 616 calculates a rotation time t2 required for the rotating body 120 to reach the second target rotation angle θ. t2 The motion control unit 616 determines a time (t2 - t1) for lowering the working tool 130 by subtracting the time t1 required for the working tool 130 to reach its target position from the calculated rotation time t2 required for the rotation. The motion control unit 616 determines a lowering start angle θ3 at which the working tool 130 begins to move by converting the determined time (t2 - t1) into a rotation angle.

[0110] If the rotation angle equals the second collision avoidance angle θ a2 Once this is achieved, the motion control unit 616 generates the automatic operating signal as follows.

[0111] The motion control unit 616 determines whether the current rotation angle corresponds to a lowering start angle θ b has been reached. If the current rotation angle is smaller than the lowering start angle θ. b , the motion control unit 616 generates an operating signal (neutral signal) to maintain the position of the working device 130. If, on the other hand, the current rotation angle is the lowering start angle θ b Once this has been achieved, the motion control unit 616 generates the automatic operating signal for the boom 131, the arm 132 and the bucket 133 with the control parameter based on the in Fig. 8 illustrated control function.

[0112] As described above, in the third embodiment, the control device 160 determines the lowering start time of the working device 130 based on the second target rotation angle θ in order to move the shovel 133 from above the loading target T to the position outside the loading target T. t2 from the direction in which the implement 130 is oriented at the start of the automatic control, to the direction in which the implement 130 is oriented towards the target position, as in the first embodiment. The control device 160 issues a signal to move the implement 130 at the specified lowering start time. Accordingly, with the automatic control of the loader 100, it is possible to avoid the risk of the bucket 133 coming into contact with a protruding section of the ground. It should be noted that the lowering time of the implement 130 is based on the second target rotation angle θ. t2by the control device 160 according to the third embodiment is equivalent to determining whether the movement speed of the working device 130 is based on the second target rotation angle θ t2 whether the movement speed should be set to zero or whether it should be adjusted according to the setting in Fig. The control function shown in section 8 should be set.

[0113] As in Fig. Figure 12 illustrates the determination of the lowering time of the working device 130 based on the second target rotation angle θ. t2 by the control device 160 according to the third embodiment equivalent to the determination of a function that indicates the relationship between the rotation angle of the rotating body 120 and the height of the blade 133, wherein the function is a function in which the height of the blade 133, when the rotation angle is with the second target rotation angle θ t2 which matches, equals the height of the target position. The in Fig.The illustrated function 12 includes a first section (from 0 to θ3) in which the height of the blade 133 is constant, and a second section (from θ b up to θ t2 ) in which the height of the shovel 133 moves constantly in a downward direction. Other embodiments

[0114] 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.

[0115] 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 across 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 located outside the loading machine 100.

[0116] The target position, target orientation, collision avoidance orientation, and wall height Ht according to the embodiment described above are recorded in the data memory 650 by learning, but are not limited to this. 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, collision avoidance orientation, and wall height Ht based on the position and shape. That is, the reference identification unit 614 can identify the target position, target orientation, collision avoidance orientation, and wall height Ht based on shape data of the loading target T.Furthermore, in another embodiment, the position, orientation, and orientation of the loading target T can be received through communication with the loading target T, and the target orientation, orientation, collision avoidance orientation, and wall height Ht can be identified based on the position, orientation, and orientation of the loading target T and its known shape. In another embodiment, when the loading target T moves automatically through communication with the control device, the position and orientation of the loading target T can be received from the control device, and the target orientation, orientation, collision avoidance orientation, and wall height Ht can be identified based on the position and orientation of the loading target T and its known shape.Furthermore, in another embodiment, the reference identification unit 614 can identify the target position, target orientation, collision avoidance orientation, and wall height Ht based on operator input into the operating terminal 142. Furthermore, according to another embodiment, the loading machine 100 can identify the target position, target orientation, and collision avoidance orientation separately from the identification of the wall height Ht. That is, in another embodiment, the control device 160 can separately include a first reference identification unit that identifies the target position, target orientation, and collision avoidance orientation, and a second reference identification unit that identifies the wall height Ht.For example, the loading machine 100 can identify the target position, target orientation, and collision avoidance orientation through a learning process, and identify the wall height Ht through operator input. Furthermore, the operator can identify the wall height, which is the height of the loading target, by entering the vehicle type of the loading machine. That is, the control device 160 identifies the wall height Ht by reading the height assigned to the entered vehicle type from a table in which the vehicle types and wall heights are pre-assigned.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] The loading machine 100 according to the embodiment described above is operated directly by the operator seated in the cabin 140, but is not limited to this. For example, according to another embodiment, the loading machine 100 can be operated remotely. A remote control system according to another embodiment includes, for example, the operating device 143, which is provided remotely from the loading machine 100, a display device that shows an image of the loading machine 100's surroundings, and a remote control device that communicates with the loading machine 100. When the operator operates the operating device 143 of the remote control system, the remote control device transmits an operating signal to the control device 160 via communication.In this case, the function of the control device 160 can be implemented in the remote control device or can be implemented in the loading machine 100 and the remote control device in a distributed manner.

[0122] 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.

[0123] Furthermore, the automatic control system, 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 system and start the automatic control system independently of the pressing of the start switch 143SW. COMMERCIAL APPLICABILITY

[0124] According to the foregoing embodiments, it is possible to reduce the risk of a working tool coming into contact with the ground when a loading machine rotates automatically while lowering a working implement. REFERENCE MARK LIST

[0125] 100 Loader, 110 Undercarriage, 111 Crawler Track, 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 Seat, 142 Operating 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 Motion control unit, 617 Operating signal output unit, 630 Main memory, 650 Data storage, 670 Interface 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 2023-119377

[0002] JP 7144252 B

[0004]

Claims

[1] Control device for a loading machine, comprising: a body of revolution configured to rotate about a center of rotation; and a working device attached to the rotating body and including a working tool, wherein, in the case of automatic control, the control device determines a movement speed of the working device based on a target rotation angle in a direction in which the working device is oriented towards the target position in order to move the working tool from above a loading target to a position outside the loading target, and outputs a signal to move the work device at the specified speed. [2] Control device for a loading machine according to claim 1, wherein the target rotation angle is a rotation angle from a direction in which the working device is directed at the beginning of the automatic control to the direction in which the working device is directed to the target position. [3] Control device for a loading machine according to claim 1, wherein the speed of movement of the working device decreases as the target rotation angle increases. [4] Control device for a loading machine according to claim 3, wherein an upper limit of the movement speed of the working device decreases as the target rotation angle increases, The movement speed of the working device is calculated based on a target position of the working device, which is determined based on the target position and a position of the working device, and the movement speed of the working device is limited based on the upper limit. [5] Control device for a loading machine according to claim 1, wherein a function is determined that indicates a relationship between a rotation angle of the rotating body and a height of the working tool, wherein the function is a function where the height of the working tool is equal to a height of the target position when the rotation angle matches the target rotation angle, and The speed of movement of the working tool is determined based on the angle of rotation of the rotating body, the height of the working tool, and the function. [6] Control device for a loading machine according to claim 5, wherein the speed of movement of the working tool is determined on the basis of a rotational speed of the rotating body, the angle of rotation of the rotating body, the height of the working tool and the function. [7] Control device for a loading machine according to claim 5, wherein The function includes a first section in which the height of the working tool is constant, and a second section in which the height of the working tool moves downwards, and A time for switching between the first section and the second section is determined based on the target rotation angle. [8] Control method for a loading machine comprising a rotating body configured to rotate about a center of rotation and a working device attached to the rotating body, which includes a working tool, wherein the control method comprises: Determine, in an automatic control system, to move the working tool from above a loading target to a position outside the loading target, a movement speed of the working tool based on a target rotation angle in a direction in which the working tool is oriented towards the target position; and Outputting a signal to move the work tool at a specified speed. [9] Remote control system for a loading machine, comprising a rotating body configured to rotate about a center of rotation and a working device attached to the rotating body, comprising a working tool, wherein the remote control system comprises: a display device; and an operating device, both at a remote location, wherein, in the case of automatic control to move the working tool from above a loading target to a position outside the loading target, the remote control system determines a movement speed of the working tool based on a target rotation angle to a direction in which the working tool is oriented towards the target position, and The remote control system sends a signal to the loading machine to move the work equipment at the specified speed.

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