Loading machine control device, loading machine control method and remote control system

Abstract

To reduce the possibility that a working tool comes into contact with the ground when a loading machine is automatically rotated while unloading a working machine.SOLUTION: A loading machine control device, during automatic control to move a working tool from above a to-be-loaded object to a target position outside the to-be-loaded object, determines a moving speed of the working machine according to a target rotation angle from a direction to which the working machine faces at the start of automatic control to a direction in which the working machine faces the target position. The control device outputs signals to move the working machine at the determined moving speed.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology for automatically controlling a loading machine, in which the working tool is moved to the excavation point so that the loading target and the working tool do not interfere with each other. According to the technology described in Patent Document 1, the working tool is lowered to a turning end position where the height of the working machine is slightly higher than the excavation position during turning, and the working tool is lowered after the turning is completed, thereby preventing the working tool from scraping the ground while turning. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7144252 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, since the ground is not always flat, if the working implement is turned while maintaining its height slightly above the digging position, there is a possibility that the working implement may come into contact with a protruding part of the ground. An object of the present disclosure is to provide a control device for a loading machine, a control method for a loading machine, and a remote operation system that can reduce the possibility of a working implement contacting the ground when the loading machine is automatically rotated while unloading the working implement. [Means for solving the problem]

[0005] According to a first aspect of the present disclosure, a control device for a loading machine is a control device for a loading machine including a rotating body that rotates around a rotation center and a working machine attached to the rotating body having a working tool, and during automatic control to move the working tool from above the loading target to a target position outside the loading target, the control device determines a movement speed of the working machine according to a target rotation angle from the direction in which the working machine faces at the start of the automatic control to the direction in which the working machine faces the target position, and outputs a signal to move the working machine at the determined movement speed. Effect of the Invention

[0006] According to the above aspect, it is possible to reduce the possibility that the working implement will come into contact with the ground when the loading machine is automatically turned while the working implement is being unloaded. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a configuration of a loading machine according to a first embodiment. FIG. [Diagram 2] FIG. 2 is a diagram showing the internal configuration of a driver's cab according to the first embodiment. [Diagram 3] FIG. 2 is a schematic block diagram showing the configuration of a control device according to the first embodiment. [Figure 4] 5A to 5C are diagrams illustrating an example of a movement of the loading machine in a first turning according to the first embodiment. [Diagram 5] 8A to 8C are diagrams illustrating an example of a movement of the loading machine in a second turning according to the first embodiment. [Figure 6] 5 is a flowchart showing a first turning control by the control device according to the first embodiment. [Figure 7] 5 is a flowchart showing a second turning control by the control device according to the first embodiment. [Figure 8] FIG. 4 is a diagram illustrating an example of a control amount function according to the first embodiment. [Figure 9] FIG. 4 is a diagram illustrating an example of an upper limit value of a controlled variable according to the first embodiment. [Figure 10] 13A and 13B are diagrams illustrating an example of a target swing angle and a target trajectory of a work machine according to a second embodiment. [Figure 11] 13A and 13B are diagrams illustrating an example of a target swing angle and a relative angle of a bucket according to a second embodiment. [Figure 12] 13A and 13B are diagrams illustrating an example of a target swing angle and a timing for lowering a work machine according to the third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] First Embodiment Hereinafter, the embodiments will be described in detail with reference to the drawings.

[0009] Configuration of the loading machine 100 FIG. 1 is a schematic diagram showing the configuration of a loading machine 100 according to the first embodiment. The loading machine 100 operates at a construction site, excavates a construction object such as soil and sand, and loads the excavated object as a load onto a loading platform such as a vessel of a loading object T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. The loading machine 100 may be either electrically driven or hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 includes a traveling body 110, a rotating body 120, a work machine 130, and a cab 140. Examples of the loading object T include a dump truck and a hopper.

[0010] The running body 110 supports the loading machine 100 so that the loading machine 100 can run. The running body 110 includes two endless tracks 111 provided on the left and right sides, and two travel motors 112 for driving each of the endless tracks 111. The running body 110 is an example of a support portion. The rotating body 120 is supported by the running body 110 so as to be capable of rotating about a rotation center. The work machine 130 is hydraulically driven and supported on the front part of the revolving body 120 so as to be drivable in the vertical direction. The operator's cab 140 is a space where an operator rides in and operates the loading machine 100. The operator's cab 140 is provided at the left front part of the rotating body 120. Here, the part of the rotating body 120 to which the work machine 130 is attached is referred to as the front part. Furthermore, with respect to the rotating body 120, the part opposite the front part is referred to as the rear part, the left part as the left part, and the right part as the right part.

[0011] Configuration of the rotating body 120 The rotating body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a rotating motor 124. The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil via a control valve 123 to each actuator (a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, the traveling motor 112, and a swing motor 124). The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122 . The swing motor 124 is driven by hydraulic oil supplied from a hydraulic pump 122 via a control valve 123 to swing the swing body 120 .

[0012] Configuration of the work machine 130 The work machine 130 includes a boom 131, an arm 132, a bucket 133 as a work tool, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the work tool include end attachments such as a clam bucket, a tilt bucket, a tilt rotate bucket, a grapple, and a lifting magnet.

[0013] The base end of the boom 131 is rotatably attached to the revolving body 120 via a boom pin. In the loading machine 100 shown in FIG. 1, the boom 131 is provided at the center of the front of the revolving body 120, but the present invention is not limited to this. The boom 131 may be attached offset in the left-right direction. In this case, the center of rotation of the revolving body 120 is not located on the operating plane of the work machine 130. The arm 132 connects the boom 131 and the bucket 133. A base end of the arm 132 is rotatably attached to a tip end of the boom 131 via an arm pin. The bucket 133 is rotatably attached to the tip of the arm 132 via a pin. Members that support the bucket 133 include the boom 131 and the arm 132. The bucket 133 functions as a container for storing excavated soil and sand. The bucket 133 is attached so that its opening faces the rotating body 120 (rear). In other words, the loading machine 100, which is a backhoe excavator, performs excavation by pulling the bucket 133 to the front side of the rotating body 120.

[0014] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the rotating body 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link mechanism that rotates the bucket 133.

[0015] Configuration of the cab 140 FIG. 2 is a diagram showing the internal configuration of the operator's cab 140 according to the first embodiment. A driver's seat 141, an operation terminal 142, and an operation device 143 are provided in the driver's cab 140. The operation terminal 142 is provided near the driver's seat 141, and is a user interface with a control device 160 described later. The operation terminal 142 is a display device constituted by, for example, a touch panel, and may have an operation unit operated by an operator and an input receiving unit that receives operations. The display device also displays measurement data of an engine water temperature gauge, a fuel gauge, and the like. The operation terminal 142 may also be equipped with a display unit such as an LCD. The touch panel is an example of a display unit.

[0016] The operation device 143 is a device for driving the traveling body 110, the rotating body 120, and the work machine 130 by manual operation by an operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, a start switch 143SW, and a teaching switch 143TC.

[0017] The left operating lever 143LO is provided on the left side of the driver's seat 141. The right operating lever 143RO is provided on the right side of the driver's seat 141.

[0018] The left operation lever 143LO is an operation mechanism for performing the rotation operation of the revolving body 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left operation lever 143LO forward, the arm 132 performs the dumping operation. When the operator of the loading machine 100 tilts the left operation lever 143LO backward, the arm 132 performs the excavation operation. When the operator of the loading machine 100 tilts the left operation lever 143LO to the right, the revolving body 120 rotates to the right. When the operator of the loading machine 100 tilts the left operation lever 143LO to the left, the revolving body 120 rotates to the left. Note that in other embodiments, when the left operation lever 143LO is tilted in the front-rear direction, the revolving body 120 may rotate to the right or left, and when the left operation lever 143LO is tilted in the left-right direction, the arm 132 may perform the excavation operation or the dumping operation.

[0019] The right operation lever 143RO is an operation mechanism for performing an excavation / dumping operation of the bucket 133 and a lifting / lowering operation of the boom 131. Specifically, when the operator of the loading machine 100 tilts the right operation lever 143RO forward, a lowering operation of the boom 131 is performed. When the operator of the loading machine 100 tilts the right operation lever 143RO backward, a lifting operation of the boom 131 is performed. When the operator of the loading machine 100 tilts the right operation lever 143RO to the right, a dumping operation of the bucket 133 is performed. When the operator of the loading machine 100 tilts the right operation lever 143RO to the left, an excavation operation of the bucket 133 is performed. Note that in other embodiments, when the right operation lever 143RO is tilted in the front-rear direction, the bucket 133 may perform a dumping operation or an excavation operation, and when the right operation lever 143RO is tilted in the left-right direction, the boom 131 may perform a lifting operation or a lowering operation.

[0020] The left foot pedal 143LF is disposed on the left side of the floor surface in front of the driver's seat 141. The right foot pedal 143RF is disposed on the right side of the floor surface in front of the driver's seat 141. The left travel lever 143LT is pivoted to the left foot pedal 143LF, and is configured so that the tilt of the left travel lever 143LT and the depression of the left foot pedal 143LF are linked. The right travel lever 143RT is pivoted to the right foot pedal 143RF, and is configured so that the tilt of the right travel lever 143RT and the depression of the right foot pedal 143RF are linked.

[0021] The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left crawler belt of the traveling body 110. Specifically, when the operator of the loading machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler belt rotates in the forward direction. Conversely, when the operator of the loading machine 100 pushes the left foot pedal 143LF or the left travel lever 143LT backward, the left crawler belt rotates in the reverse direction.

[0022] The right foot pedal 143RF and the right travel lever 143RT correspond to the rotational drive of the right crawler belt of the traveling body 110. Specifically, when the operator of the loading machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT forward, the right crawler belt rotates in the forward direction. Conversely, when the operator of the loading machine 100 pushes the right foot pedal 143RF or the right travel lever 143RT backward, the right crawler belt rotates in the reverse direction.

[0023] The start switch 143SW is provided, for example, on the handle portion of the left operation lever 143LO. The start switch 143SW may be disposed so as to be located in the vicinity of an operator seated in the driver's seat 141. When the start switch 143SW is operated, an automatic control instruction signal is output to the control device 160. When the control device 160 receives the input of the automatic control instruction signal, it starts automatic control. The teaching switch 143TC is provided, for example, on the handle portion of the right operating lever 143RO. The teaching switch 143TC is a switch for teaching the control point of the bucket 133. When the teaching switch 143TC is operated, a teaching signal is output to the control device 160. When the control device 160 receives the teaching signal, it identifies the point where the bucket 133 is located at that time as the control point.

[0024] The automatic control is that the loading machine 100 autonomously controls the driving of the work machine 130 and the rotating body 120 to realize a predetermined operation. The automatic control in the first embodiment is a control in which the loading machine 100 autonomously performs a first rotation, which is a series of operations in which the bucket 133 is positioned on the side of the loading target T by excavation of the excavation target, and the boom 131 is raised while rotating to a direction facing the loading target T, and a second rotation, which is a series of operations in which the bucket 133 is positioned on top of the loading target T by loading, and the boom 131 is lowered while rotating to a predetermined direction. The side of the loading target T refers to the outside of a loading platform such as a vessel on which a load is loaded. Note that the automatic control in other embodiments may perform only the second rotation. In the first embodiment, the target orientation of the rotating body 120 and the target attitude of the bucket 133 in the first rotation and the second rotation are respectively predetermined orientations and attitudes. Note that the excavation target is usually located at a position lower than the height of the loading target T. Therefore, during the first and second turns, the loading machine 100 controls the driving of the work machine 130 so that the loading target T does not come into contact with the work machine 130. Details of the automatic control will be described later. Each time the start switch 143SW is operated, the automatic control that is executed switches between the first rotation and the second rotation. In another embodiment, the operation device 143 may include two start switches 143SW, each of which may be assigned to the first rotation and the second rotation.

[0025] <<Configuration of the measurement system>> As shown in FIG. 1, the loading machine 100 includes a position / orientation calculator 151 , an inclination measuring device 152 , a boom stroke sensor 153 , an arm stroke sensor 154 , and a bucket stroke sensor 155 .

[0026] The position and orientation calculator 151 calculates the position of the revolving body 120 and the orientation in which the revolving body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites that constitute the GNSS. The two receivers are installed at different positions on the revolving body 120. The position and orientation calculator 151 detects the position of a representative point of the revolving body 120 in the site coordinate system (the origin of the excavator coordinate system) based on the positioning signals received by the receivers. The position and orientation calculator 151 uses the positioning signals received by the two receivers to calculate the orientation of the revolving body 120 as the relationship between the installation position of one receiver and the installation position of the other receiver. The orientation of the revolving body 120 is a direction perpendicular to the front of the revolving body 120. The orientation of the revolving body 120 is equal to the horizontal component of the extension direction of a straight line extending from the boom 131 to the bucket 133 of the work machine 130.

[0027] The inclination measuring device 152 measures the acceleration and angular velocity of the rotating body 120, and detects the attitude (e.g., roll angle, pitch angle, yaw angle) and rotation speed of the rotating body 120 based on the measurement results. The inclination measuring device 152 is installed, for example, on the underside of the rotating body 120. The inclination measuring device 152 can use, for example, an inertial measurement unit (IMU).

[0028] 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 revolving structure 120. 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. 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. The loading machine 100 according to the first embodiment specifies the angle of each link component of the work implement 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but other embodiments are not limited to this. For example, in other embodiments, instead of the stroke sensor, a potentiometer that detects the relative rotation angle of the link components may be provided, or an inclination sensor that detects the ground angle of each link component may be provided.

[0029] Configuration of the control device 160 FIG. 3 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The loading machine 100 includes a control device 160. The control device 160 may be implemented in the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input and output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 drives the work machine 130, the revolving body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for automatic control to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is also referred to as a manual operation signal, and the operation signal generated for automatic control is also referred to as an automatic operation signal. Note that the automatic operation signal is made up of an operation signal for driving the revolving body 120 and the work machine 130, and does not include an operation signal for driving the traveling body 110. When a manual operation signal by an operator is received during automatic control, the control device 160 may stop the automatic control.

[0030] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The processor 610 reads the program from the storage 650, loads it into the main memory 630, and executes processing according to the program.

[0031] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, etc. The storage 650 may be an internal medium directly connected to a common communication line of the control device 160, or may be an external medium connected to the control device 160 via an interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0032] By executing a program, the processor 610 is provided with a measurement data acquisition unit 611, an operation signal input unit 612, a work machine position identification unit 613, a reference identification unit 614, an angle identification unit 615, a movement control unit 616, and an operation signal output unit 617.

[0033] The measurement data acquisition unit 611 acquires measurement data by the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155. The measurement data acquisition unit 611 calculates the angle of the revolving unit 120 by integrating the angular velocity of the revolving unit 120 measured by the inclination measuring instrument 152.

[0034] The operation signal input unit 612 receives input of an operation signal manually operated by an operator from the operation device 143. The operation signals include a drive signal for performing a raising or lowering operation of the boom 131, a drive signal for performing a raising or lowering operation of the arm 132, a drive signal for performing a dumping operation or an excavation operation of the bucket 133, a drive signal for performing a right-turning operation or a left-turning operation of the rotating body 120, a drive signal for performing a traveling operation of the traveling body 110, and an automatic control instruction signal for the loading machine 100.

[0035] The work machine position identifying unit 613 identifies the position of the tip P of the arm 132 (FIG. 4) and the position of the lowest point Q of the bucket 133 (FIG. 4) in the vehicle body coordinate system based on the rotating body 120, based on the measurement data acquired by the measurement data acquiring unit 611. The lowest point Q of the bucket 133 refers to the point on the outer shape of the bucket 133 that is the shortest distance from the ground surface.

[0036] The work machine position identifying unit 613 determines the vertical and horizontal components of the length of the boom 131 based on the inclination angle of the boom 131 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip end). Similarly, the work machine position identifying unit 613 determines the vertical and horizontal components of the length of the arm 132. The work machine position identifying unit 613 identifies a position away from the position of the loading machine 100 in a direction identified from the orientation and posture of the loading machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132 as the position of the tip P of the arm 132. In addition, the work machine position identifying unit 613 identifies the position of the lowest point Q of the bucket 133 based on the inclination angle of the bucket 133 and the known shape of the bucket 133. For example, the work machine position identifying unit 613 calculates the positions of a plurality of points on the outer shell of the bucket 133 based on the inclination angle of the bucket 133, and identifies the point with the lowest height among the plurality of points as the lowest point Q. Also, for example, the work machine position identifying unit 613 may determine as the lowest point Q a point obtained by offsetting the distance between the bucket pin and a point of the bucket 133 that is farthest from the bucket pin downward in the height direction from the bucket pin. Also, for example, the work machine position identifying unit 613 may determine as the lowest point Q a point obtained by offsetting the amount of the maximum bucket movable range downward in the height direction from the bucket pin. Also, the work machine position identifying unit 613 may determine as the lowest point Q a point obtained by offsetting a height with a margin from the height identified above, taking into account control errors and measurement errors.

[0037] Before executing automatic control, the reference specifying unit 614 receives teaching of an excavation preparation position, an interference avoidance position, and a loading position of the bucket 133 from the operator as reference points for automatic control. The teaching is performed, for example, in the following procedure. The reference specifying unit 614 displays an instruction to move the bucket 133 to the excavation preparation position on the operation terminal 142. The operator operates the operation device 143 to move the bucket 133 to the excavation preparation position, and outputs a teaching signal to the control device 160 by operating the teaching switch 143TC. The reference specifying unit 614 sets the attitude of the work machine 130 specified by the work machine position specifying unit 613 as the target attitude for the second rotation, sets the position of the tip P of the arm 132 as the target position for the second rotation, and records in the storage 650 the direction in which the rotating body 120 faces as the target direction for the second rotation. Next, the reference specification unit 614 displays on the operation terminal 142 an instruction to move the bucket 133 to an interference avoidance position that has the height of the upper end of the vessel wall of the loading target T and is a position where the work machine 130 and the loading target T do not overlap in a plan view from above. The vessel wall used for teaching may be any of the side wall, the front wall, and the rear wall of the vessel. The operator operates the operation device 143 to move the bucket 133 to the interference avoidance position and outputs a teaching signal to the control device 160 by operating the teaching switch 143TC. The interference avoidance positions are input for both the right end and the left end of the loading target T. This allows the reference specification unit 614 to specify the range of the loading platform of the loading target T. The height of the interference avoidance position may be offset upward by a height with a margin, taking into account control errors and measurement errors.

[0038] The reference specification unit 614 records the height of the lowest point Q of the bucket 133 specified by the work machine position specification unit 613 as the wall height Ht of the loading target T, and the orientation of the revolving body 120 as the interference avoidance orientation in the storage 650. Next, the reference specification unit 614 displays an instruction to move the bucket 133 to a loading position above the loading target T on the operation terminal 142. The operator operates the operation device 143 to move the bucket 133 to the loading position, and outputs a teaching signal to the control device 160 by operating the teaching switch 143TC. The reference specification unit 614 records the attitude of the work machine 130 as the target attitude for the first rotation, the position of the tip P of the arm 132 as the target position for the first rotation, and the orientation of the revolving body 120 specified by the work machine position specification unit 613 as the target orientation for the first rotation in the storage 650. Also, the height of the lowest point Q of the bucket 133 specified at the loading position may be set as the wall height Ht. Also, in other embodiments, the height of the loading target T does not necessarily have to be the wall height Ht, which is the height of the side wall of the loading platform, and may be the height of the highest point of the entire loading target T.

[0039] The angle identification unit 615 identifies, as a target turning angle, an angle between an initial orientation to which the revolving body 120 faces when an automatic control instruction signal is input to the operation signal input unit 612 and a target orientation recorded in the storage 650. The target turning angle differs depending on the turning direction. Therefore, the angle identification unit 615 accepts an input of the turning direction from the operation terminal 142 and identifies a target turning angle based on the input turning direction. The target turning angle may be calculated for each of left turning and right turning, and the smallest turning angle may be identified as the target turning angle. The angle identification unit 615 identifies, as an interference avoidance angle, an angle between an initial orientation to which the revolving body 120 faces when an automatic control instruction signal is input to the operation signal input unit 612 and an interference avoidance orientation recorded in the storage 650. The interference avoidance angle is a turning angle when the work machine 130 and the loading target T do not overlap in a plan view from above. The target turning angles include a first target turning angle which is a target turning angle in a first turn, and a second target turning angle which is a target turning angle in a second turn.

[0040] When the operation signal input unit 612 receives an input of an automatic control instruction signal, the movement control unit 616 generates an automatic operation signal for realizing automatic control. When the automatic control instruction signal is input, the automatic control for realizing a first rotation for moving the bucket 133 to a loading position, or the automatic control for realizing a second rotation for moving the bucket 133 to an excavation preparation position is executed. The movement control unit 616 determines whether to execute the first rotation or the second rotation in the automatic control, depending on whether the bucket 133 is within the range of the loading target T in a plan view from above at the time of input of the automatic control instruction signal. When the bucket 133 is not within the range of the loading target T's bed, the movement control unit 616 executes the first rotation, and when the bucket 133 is within the range of the loading target T's bed, the movement control unit 616 executes the second rotation. At this time, the movement control unit 616 controls the revolving body 120 and the working machine 130 so that the loading target T and the working machine 130 do not come into contact with each other, based on the wall height Ht and the interference avoidance angle stored in the storage 650.

[0041] Specifically, the movement control unit 616 determines the first interference avoidance angle θ a1 In the first rotation, the rotation angle of the rotating body 120 is set to a first interference avoidance angle θ a1 If the height of the bucket 133 does not reach the height of the loading position by the time the bucket 133 reaches the loading position (FIG. 4), the movement control unit 616 does not output a rotation operation signal for the rotating body 120, but outputs only an operation signal for the work machine 130. On the other hand, if the rotation angle due to the rotation is equal to or greater than the first interference avoidance angle θ a1 When the height of the bucket 133 reaches the height of the loading position before reaching the first interference avoidance angle θ, the movement control unit 616 outputs a rotation operation signal for the rotating body 120 and an operation signal for the work machine 130, thereby realizing a combined operation of the rotating body 120 and the work machine 130. a1 After the height of the loading position is reached in FIG. 4, the movement control unit 616 rotates the rotating body 120 without moving the work machine 130.

[0042] In addition, the movement control unit 616 determines whether the rotation angle of the rotating body 120 is equal to the second interference avoidance angle θ in the second rotation, which is the rotation opposite to the first rotation. a2 The control is performed so that the lowest point of the bucket 133 does not drop until the bucket 133 reaches the second interference avoidance angle θ. The control to prevent the lowest point from dropping may be a control to rotate the rotating body 120 without moving the work machine 130 and maintain the height of the lowest point, or a control to set the lowest point higher than the lowest point before the control to provide a gap between the loading target T and the bucket 133. The rotation angle is set to the second interference avoidance angle θ a2 After reaching this position, the movement control unit 616 outputs a rotation operation signal for the revolving body 120 and an operation signal for the work machine 130, thereby realizing a combined operation of the revolving body 120 and the work machine 130.

[0043] The operation signal output unit 617 outputs the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616 to the control valve 123 .

[0044] <<Automatic control operation>> Here, the movement of the loading machine 100 during automatic control according to the first embodiment will be described with reference to the drawings. Fig. 4 is a diagram showing an example of the movement of the loading machine 100 during a first turning according to the first embodiment. Fig. 5 is a diagram showing an example of the movement of the loading machine 100 during a second turning according to the first embodiment.

[0045] When automatic control for the first rotation is started, as shown in FIG. 4, the control device 160 first starts driving the work machine 130 (boom 131, arm 132, and bucket 133) and moves the bucket 133 upward by raising the boom 131. The target position of the bucket 133 for the first rotation is a loading position above the loading target T. With a delay, the control device 160 starts rotating the rotating body 120. The control device 160 determines whether the rotation angle of the rotating body 120 is equal to the first interference avoidance angle θ a1 The timing of starting the rotation is adjusted so that the posture of the work implement 130 becomes the target posture for the first rotation before the posture of the work implement 130 becomes equal to the first interference avoidance angle θ a1When the posture of the work implement 130 reaches the target posture for the first rotation before it coincides with the wall height Ht of the loading target T, that is, when the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, the work implement 130 will not come into contact with the loading target T due to the rotation of the rotating body 120. Note that the work implement 130 is driven at the same time as the rotation, and the rotation angle is set to the first interference avoidance angle θ a1 In the case where the attitude of the work implement 130 reaches the target attitude for the first rotation before it coincides with the target attitude for the first rotation, the control device 160 may simultaneously start driving and rotating the work implement 130. Thereafter, when the bucket 133 reaches the loading position, the automatic control ends. Thereafter, the operator manually performs a dump operation to rotate the bucket 133 in the dump direction.

[0046] When the automatic control for the second rotation is started, the control device 160 starts the rotation of the rotating body 120. The control device 160 determines whether the rotation angle of the rotating body 120 is equal to the second interference avoidance angle θ a2 The rotating body 120 is rotated without moving the work implement 130, and the height of the lowest point of the bucket 133 is maintained until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ a2 When the rotation angle exceeds the second target rotation angle θ, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 controls the movement speed of the boom 131, the arm 132, and the bucket 133 to be equal to or greater than the second target rotation angle θ t2 Here, the moving speed of the work implement 130 determined by the control device 160 is the moving speed of the work implement 130 in the driving plane. Note that the control device according to this embodiment determines the second target turning angle θ t2 However, in other embodiments, the present invention is not limited to this. For example, a control device according to another embodiment may determine the travel speed according to a target turning angle between the interference avoidance orientation and the initial orientation. The target turning angle between the interference avoidance orientation and the initial orientation is the second interference avoidance angle θ a2 and the second target turning angle θ t2 The difference between (θ t2 -θ a2 ), the control device also determines the second target turning angle θ t2In addition, the control device determines the moving speed according to the second target turning angle θ t2 Determining the travel speed in accordance with the second target turning angle θ is equivalent to determining the travel speed in accordance with the target turning angle between the interference avoidance orientation and the initial orientation. t2 The larger the second target rotation angle θ, the slower the movement speed of the boom 131, the arm 132, and the bucket 133. t2 When the attitude of the work unit 130 reaches the target attitude at the start of excavation, the control device 160 ends the drive of the work unit 130. In the second rotation, the control device 160 controls the rotation angle of the revolving unit 120 to be equal to the second interference avoidance angle θ a2 However, the present invention is not limited to this. For example, the control device 160 according to another embodiment may rotate the rotating body 120 while moving the work machine 130 so that the height of the lowest point of the bucket 133 does not change. Furthermore, when the bucket 133 is higher than the wall height Ht, the control device 160 according to the embodiment may rotate the rotating body 120 while lowering the work machine 130 to such an extent that the height of the lowest point of the bucket 133 does not fall below the wall height Ht.

[0047] 4 and 5 show an example in which the positional relationship between the excavation position and the loading target T is about 90 degrees around the rotating body 120, but this is not limited to this in other embodiments. For example, in other embodiments, the positional relationship between the excavation position and the loading target T may be another rotation angle position, such as about 180 degrees around the rotating body 120.

[0048] Operation of the control device 160 Fig. 6 is a flowchart showing the first turning control by the control device 160 according to the first embodiment. Fig. 7 is a flowchart showing the second turning control by the control device 160 according to the first embodiment. When the operator operates the start switch 143SW, the operation signal input unit 612 of the control device 160 accepts input of an automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to execute the first rotation or the second rotation based on whether the bucket 133 is within a range above the bed of the loading target T in a plan view from above.

[0049] When the first rotation is executed, the control device 160 executes the first rotation control shown in Fig. 6. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machine 100 (step S1). The movement control unit 616 reads out the target orientation (orientation toward the loading target T) of the rotating unit 120, the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S2). The angle identification unit 615 determines a first target rotation angle θ based on the orientation of the rotating unit 120 identified in step S1 and the target orientation and interference avoidance orientation read out in step S2. t1 and the first interference avoidance angle θ a1 (Step S3).

[0050] Next, the measurement data acquisition unit 611 acquires measurement data of the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machine 100 (step S4). The work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S5). That is, the work machine position identification unit 613 identifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0051] The movement control unit 616 receives the target direction, the target posture, and the wall height Ht read in step S2, and the first interference avoidance angle θ a1 Based on this, an automatic operation signal is generated for moving the bucket 133 to above the loading target T. That is, the movement control unit 616 determines whether the lowest point Q of the bucket 133 is moved from the position of the lowest point Q at the start of the first swing control to the wall height Ht and the first interference avoidance angle θ a1At this time, the movement control unit 616 generates an automatic operation signal for the bucket 133 so that the ground angle of the bucket 133 does not change even if the boom 131 and the arm 132 are driven.

[0052] Specifically, the movement control unit 616 generates an automatic operation signal in the following procedure. First, the movement control unit 616 determines whether the posture of the work machine 130 identified in step S5 is similar to the target posture acquired in step S1 (step S6). For example, the movement control unit 616 determines that the posture of the work machine 130 is similar to the target posture when the difference between the position of the tip of the arm 132 in the target posture and the current position of the tip of the arm 132 is equal to or smaller than a predetermined value. If the posture of the work machine 130 is not similar to the target posture (step S6: NO), the movement control unit 616 generates an automatic operation signal to move the boom 131 and the arm 132 closer to the target posture (step S7).

[0053] At this time, the movement control unit 616 generates an automatic operation signal based on the relative angle of the boom 131 and the arm 132 specified from the measurement data acquired in step S4. Specifically, the movement control unit 616 determines the control amount, i.e., the angular velocity, of the automatic operation signal of the boom 131 by substituting the difference between the measurement value of the relative angle of the boom 131 and the value of the relative angle of the boom 131 related to the target posture into a predetermined control amount function. FIG. 8 is a diagram showing an example of the control amount function according to the first embodiment. According to FIG. 8, the larger the difference in the relative angle, the larger the control amount. In the graph shown in FIG. 8, the right side shows the angle difference when the angle related to the measurement value is smaller than the angle of the target posture, and the left side shows the angle difference when the angle related to the measurement value is larger than the angle of the target posture. In the graph shown in FIG. 8, the upper side shows the control amount in the upward direction, and the lower side shows the control amount in the downward direction. For example, when the angle difference obtained by subtracting the measurement value of the relative angle of the boom 131 from the relative angle of the boom 131 related to the target posture is 0 or more, the movement control unit 616 specifies the control amount for moving the boom 131 in the upward direction. Also, when the angle difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 related to the target posture is 0 or less, the movement control unit 616 specifies the control amount for moving the boom 131 in the lowering direction. The movement control unit 616 also determines the control amount of the automatic operation signal for the arm 132 based on the measured value of the relative angle of the arm 132 and the control amount function, similar to the boom 131. Note that in another embodiment, the movement control unit 616 may obtain the control amount by substituting the difference between the target cylinder length and the actual cylinder length into a predetermined control amount function. The control amount may be a cylinder speed or a spool stroke command value. The form of the control amount function is not limited to that shown in FIG. 8. For example, the control amount function may have a dead zone in the vicinity of a point where the explanatory variable (angle difference, difference between the target cylinder length and the actual cylinder length) is zero.

[0054] The movement control unit 616 also calculates the sum of the drive speeds of the boom 131 and the arm 132 based on the generated automatic operation signals of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at a speed equal to the sum of the drive speeds (step S8). This allows the movement control unit 616 to generate an operation signal that maintains the ground angle of the bucket 133.

[0055] The movement control unit 616 determines whether the work machine 130 is rotating (step S9). For example, the movement control unit 616 determines that the work machine 130 is rotating when the rotation speed of the revolving body 120 is equal to or higher than a predetermined speed. If the work machine 130 is not rotating (step S9: NO), the movement control unit 616 calculates the completion time until the work machine 130 reaches the target posture based on the speeds of the boom 131 and arm 132 identified in step S7 (step S10). In addition, the movement control unit 616 calculates the completion time until the work machine 130 reaches the target posture based on the speeds of the boom 131 and arm 132 identified in step S7 when the revolving body 120 starts rotating, and determines whether the rotation angle is equal to the first interference avoidance angle θ identified in step S3. a1 The movement control unit 616 calculates the time required for the rotation angle to reach the first interference avoidance angle θ (step S11). The movement control unit 616 determines whether the completion time calculated in step S10 is less than the arrival time calculated in step S11 (step S12). That is, the movement control unit 616 determines whether the rotation angle is equal to or less than the first interference avoidance angle θ a1 It is determined whether the work implement 130 will be in the target posture when the work implement 130 reaches the target posture.

[0056] If the completion time is equal to or longer than the arrival time (step S12: NO), that is, if the turning angle is equal to the first interference avoidance angle θ a1 If the work implement 130 does not reach the target posture by the time the work implement 130 reaches the target posture, the movement control unit 616 does not generate a rotation operation signal for the rotating body 120. On the other hand, if the completion time is less than the arrival time (step S12: YES), that is, if the rotation angle is equal to or less than the first interference avoidance angle θ a1 When the working machine 130 reaches the target posture before reaching the target posture, the movement control unit 616 generates a rotation operation signal for the rotating body 120 (step S13). This allows the control device 160 to prevent the working machine 130 from contacting the loading target T due to the working machine 130 rotating while the height of the working machine 130 is low.

[0057] The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14). This drives the loading machine 100. Then, the control device 160 returns the process to step S4 and continues the control.

[0058] On the other hand, if it is determined in step S9 that the work implement 130 is turning (step S9: YES), the movement control unit 616 determines whether or not the turning angle will reach the first target turning angle by inertia when the turning operation signal is stopped, based on the turning speed of the work implement 130 identified in step S4 (step S15). If the turning angle does not reach the first target turning angle by inertia (step S15: NO), the movement control unit 616 generates a turning operation signal in step S13, and the operation signal output unit 617 outputs the turning operation signal to the control valve 123 in step S14.

[0059] On the other hand, if it is determined that the rotation angle reaches the first target rotation angle due to the rotation by inertia (step S15: YES), the movement control unit 616 determines whether the rotation angle reaches the target rotation angle and the attitude of the work machine 130 is the target attitude (step S16). If the rotation angle reaches the first target rotation angle and the attitude of the work machine 130 is not the target attitude (step S16: NO), the control device 160 returns the process to step S4.

[0060] On the other hand, when the swing angle reaches the target swing angle and the attitude of the work machine 130 becomes the target attitude (step S16: YES), the control device 160 ends the first swing process.

[0061] FIG. 7 is a flowchart showing the second turning control of the control device 160 according to the first embodiment. When the operator operates the start switch 143SW, the operation signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal.

[0062] When the second rotation is executed, the control device 160 executes the second rotation control shown in Fig. 7. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machine 100 (step S21). The movement control unit 616 reads out the target orientation of the rotating unit 120 (orientation facing the side of the loading target T), the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S22). The angle identification unit 615 determines a second target rotation angle θ based on the orientation of the rotating unit 120 identified in step S21 and the target orientation and interference avoidance orientation read in step S22. t2 and the second interference avoidance angle θ a2 (Step S23).

[0063] The movement control unit 616 determines the specified second target turning angle θ t2 Based on this, the upper limit of the control amount (absolute value of the control amount) of the work implement 130 in the second swing control is determined (step S24). FIG. 9 is a diagram showing an example of the upper limit of the control amount according to the first embodiment. Specifically, the movement control unit 616 determines the upper limit of the control amount based on the second target swing angle θ t2 In the example shown in FIG. 9, for example, the second target turning angle θ t2 When the upper limit value of the control amount when the second target turning angle θ is 90 degrees, t2 When the second target turning angle θ is 180 degrees, the upper limit of the control amount is th2, which is closer to zero than th1. t2 The upper limit value of the control amount is determined according to a predetermined table that associates the upper limit value with the second target rotation angle θ. t2 The second target rotation angle θ t2 The larger the torque, the slower the work implement 130 will operate.

[0064] Next, the measurement data acquisition unit 611 acquires measurement data of the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machine 100 (step S25). The work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S25). That is, the work machine position identification unit 613 identifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0065] The movement control unit 616 determines whether the work machine 130 is rotating (step S27). The movement control unit 616 determines that the work machine 130 is rotating, for example, when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed. If the work machine 130 is not rotating (step S27: NO), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S29). The automatic operation signal is an operation signal for rotating the rotating body 120 from the inside to the outside of the loading target T in a plan view from above.

[0066] On the other hand, when the work implement 130 is rotating (step S27: YES), the movement control unit 616 determines whether or not the rotation angle of the work implement 130 reaches the target rotation angle by inertia when the operation signal for the rotation is stopped based on the measurement data of the rotation speed of the work implement 130 identified in step S25 (step S28). When the rotation angle of the work implement 130 does not reach the target rotation angle by inertia (step S28: NO), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S29). When the rotation angle of the work implement 130 reaches the second target rotation angle by inertia (step S28: YES), the movement control unit 616 does not generate an automatic operation signal for rotating the rotating body 120.

[0067] Next, the movement control unit 616 calculates the second interference avoidance angle θ as the rotation angle of the rotating body 120 from the start of the automatic control to the current time. a2 It is determined whether the turning angle is less than the second interference avoidance angle θ (step S30). a2If it is less than the predetermined position (step S30: YES), the movement control unit 616 generates an operation signal (neutral signal) that maintains the attitude of the work machine 130.

[0068] In step S30, the turning angle is the second interference avoidance angle θ a2 If it is equal to or greater than the target posture (step S30: NO), the movement control unit 616 determines whether or not the posture of the work machine 130 identified in step S25 is approximate to the target posture identified in step S22 (step S31). If the posture of the work machine 130 is not approximate to the target posture (step S31: NO), the movement control unit 616 calculates the control amount of the automatic operation signal based on the angle difference between the measured angle value and the target posture and the control amount function shown in Fig. 8 for each of the boom 131, the arm 132, and the bucket 133 (step S32). Next, the movement control unit 616 generates an automatic operation signal in which the control amount is limited so as not to exceed the upper limit value based on the upper limit value of the control amount determined in step S24 (step S33). If the attitude of the work machine 130 is close to the target attitude (step S31: YES), the movement control unit 616 generates a neutral signal that maintains the attitude of the work machine 130.

[0069] Then, the operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the swing angle reaches the target swing angle and the attitude of the work machine 130 becomes the target attitude (step S35). If the swing angle does not reach the target swing angle or the attitude of the work machine 130 does not become the target attitude (step S35: NO), the control device 160 returns the process to step S25. On the other hand, if the swing angle reaches the target swing angle and the attitude of the work machine 130 becomes the target attitude (step S35: YES), the automatic control process ends.

[0070] Actions and Effects In this way, the control device 160 according to the first embodiment, during automatic control to move the bucket 133 from above the loading target T to a target position outside the loading target T, calculates the second target rotation angle θ from the direction in which the work machine 130 faces at the start of automatic control to the direction in which the work machine 130 faces the target position. t2 The control device 160 determines the moving speed of the work machine 130 according to the determined moving speed. The control device 160 outputs a signal to move the work machine 130 at the determined moving speed. This makes it possible to prevent the bucket 133 from contacting a protruding portion on the ground in the automatic control of the loading machine 100.

[0071] In the first embodiment, the control device 160 determines the second target turning angle θ t2 However, the upper limit value of the control amount of the work implement 130 is determined based on the second target rotation angle θ t2 That is, the control device 160 according to another embodiment may determine the gain of the control amount function based on the second target turning angle θ t2 For example, the slope of the control amount function may be determined based on the second target turning angle θ t2 The larger the gain, the smaller the slope of the control amount function. The gain is a value greater than 0 and less than or equal to 1.

[0072] Second Embodiment The control device 160 according to the first embodiment calculates a difference between the measured angle of the work machine 130 and the target posture, and a second target rotation angle θ t2 In contrast, the control device 160 according to the second embodiment determines the control amount based on the second target turning angle θ t2 and the target attitude of the work implement 130, a target trajectory of the work implement 130 is generated, and the work implement 130 is moved according to the target trajectory.

[0073] FIG. 10 shows a second target turning angle θ t2 11 is a diagram showing an example of a target trajectory of the work machine 130. The movement control unit 616 of the control device 160 according to the second embodiment is t2A target trajectory of the work implement 130 is generated based on the above. The target trajectory is expressed as a function of the rotation angle of the rotating body 120, the height of the tip P of the arm 132, and the distance in the depth direction from the center of rotation to the tip P (the radius of the arm 132). Note that the following description focuses on the relationship between the rotation angle and the height of the target trajectory. In the target trajectory, the relationship between the rotation angle of zero and the second interference avoidance angle θ a2 The height of the tip P up to the target trajectory is Ht+L, which is higher than the wall height Ht by the bucket length L. a2 to the second target turning angle θ t2 The height of the tip P to the second interference avoidance angle θ is expressed by a linear function in which the height decreases monotonically with respect to the turning angle. a2 to the second target turning angle θ t2 The function that expresses the height of the tip P up to the point is called the down function. The down function is the function that expresses the height of the tip P up to the point when the turning angle is the second interference avoidance angle θ a2 And the height of the tip P is Ht+L, and the turning angle is the second target turning angle θ t2 and the height of the tip P is the height of the tip P when the work machine 130 assumes the target posture. The down function according to other embodiments is not limited to a linear function, and may be other functions such as an elliptic function or a cubic function. The down function is a function in which the height of the lowest point Q monotonically decreases with respect to the swing angle. The down function may be a concave function. When the down function is a concave function, the time during which the bucket 133 is located near the ground during swing can be shortened. When the down function is a cubic function, the tracking ability in control is improved. The down function is a function that indicates the relationship between the swing angle of the swing body 120 and the height of the bucket 133, and is a function that indicates the relationship between the swing angle of the swing body 120 and the height of the bucket 133 when the swing angle is equal to or smaller than the second target swing angle θ t2 is a function that makes the height of bucket 133 equal to the height of the target position when it matches the target trajectory. The relationship between the swing angle on the target trajectory and the radius of arm 132 is similar to that of the down function described above. Movement control unit 616 determines the radius of arm 132 based on the target trajectory and the swing angle.

[0074] FIG. 11 shows a second target turning angle θ t2and the bucket 133. The movement control unit 616 of the control device 160 according to the second embodiment is configured to control the determined second target turning angle θ t2 Based on the above, a bucket function is generated, which is a function of the turning angle and the target value of the relative angle of the bucket 133. In the bucket function, the turning angle from zero to the second interference avoidance angle θ a2 The relative angle of the bucket 133 from the turning angle of zero to the second interference avoidance angle θ a2 The bucket 133 maintains the dump attitude until the second interference avoidance angle θ a2 to the second target turning angle θ t2 The relative angle of the bucket 133 from the turning angle to the second interference avoidance angle θ is expressed by a linear function in which the angle changes monotonically with respect to the turning angle. a2 The relative angle of the bucket 133 is the relative angle at the start of the second rotation, and the rotation angle is the second target rotation angle θ t2 and the point where the relative angle of the bucket 133 is the relative angle of the bucket 133 when the work machine 130 assumes the target attitude.

[0075] The movement control unit 616 determines whether the turning angle is a second interference avoidance angle θ a2 When this is reached, an automatic operation signal is generated in the following manner.

[0076] The movement control unit 616 determines a provisional target height and provisional target radius of the lowest point of the tip P of the arm 132 and a provisional target speed of the tip P of the arm 132 based on the current rotation angle, rotation speed, and down function. The provisional target height is a height corresponding to the rotation angle at the next control timing in the down function. The provisional target speed is the slope of the tangent at the point represented by the provisional target height and the provisional target radius in the down function. The movement control unit 616 determines a provisional target angle of the boom 131 and the arm 132 from the provisional target height and the provisional target radius. The movement control unit 616 also determines a provisional target angular velocity of the boom 131 and the arm 132 from the provisional target speed. The movement control unit 616 determines the control amount of the boom 131 and the arm 132 by PID control based on the provisional target angle and the provisional target angular velocity. Here, the provisional target angle is a feedback term of the PID control, and the provisional target angular velocity is a feedforward term of the PID control.

[0077] A provisional target angle of the bucket 133 and a provisional target angular velocity of the bucket 133 are determined based on the current swing angle, swing speed, and bucket function. The provisional target angle is an angle in the bucket function that corresponds to the swing angle at the next control timing. The provisional target angular velocity is the gradient of a tangent at a point represented by the provisional target angle in the bucket function. The movement control unit 616 determines the control amount of the bucket 133 by PID control based on the provisional target angle and the provisional target angular velocity. Here, the provisional target angle is a feedback term of the PID control, and the provisional target angular velocity is a feedforward term of the PID control.

[0078] In this way, similarly to the first embodiment, the control device 160 according to the second embodiment controls the bucket 133 to move from above the loading target T to a target position outside the loading target T, and calculates a second target rotation angle θ from the direction in which the work machine 130 faces at the start of the automatic control to the direction in which the work machine 130 faces the target position. t2The control device 160 determines the moving speed of the work machine 130 according to the position of the work machine 130 and the down function. The control device 160 outputs a signal to move the work machine 130 at the determined moving speed. This makes it possible to prevent the bucket 133 from contacting a protruding portion of the ground in the automatic control of the loading machine 100.

[0079] Third Embodiment The control device 160 according to the first embodiment calculates a difference between the measured angle of the work machine 130 and the target posture, and a second target rotation angle θ t2 In contrast, the control device 160 according to the third embodiment determines the control amount based on the second target turning angle θ t2 The timing for lowering the work implement 130 is determined based on this, and the work implement 130 is moved in accordance with this timing.

[0080] FIG. 12 shows a second target turning angle θ t2 8 is a diagram showing the timing for lowering the work implement 130. The movement control unit 616 of the control device 160 according to the third embodiment calculates the time t1 until the work implement 130 reaches the target posture when the boom 131, arm 132 and bucket 133 are driven at a predetermined angular velocity, based on the difference between the posture of the work implement 130 at the start of the second rotation and the target posture. For example, the movement control unit 616 calculates the time t1 until the work implement 130 reaches the target posture when the boom 131, arm 132 and bucket 133 are driven at a predetermined angular velocity, according to the control amount function shown in FIG. The movement control unit 616 moves the revolving body 120 at the second target revolving angle θ t2 The movement control unit 616 calculates the swing time t2 required to swing the work implement 130 to the target posture. The movement control unit 616 determines the timing (t2-t1) to lower the work implement 130 by subtracting the time t1 required to bring the work implement 130 to the target posture from the swing time t2 required for the calculated swing. The movement control unit 616 converts the determined timing (t2-t1) into a swing angle to determine the lowering start angle θ at which the movement of the work implement 130 begins. b Determine.

[0081] The movement control unit 616 determines whether the turning angle is a second interference avoidance angle θ a2When this is reached, an automatic operation signal is generated in the following manner.

[0082] The movement control unit 616 determines whether the current turning angle is the lowering start angle θ b It is judged whether the current turning angle reaches the lowering start angle θ b If the current turning angle does not reach the lowering start angle θ b When the control amount reaches the control amount function shown in FIG. 8, the movement control unit 616 generates automatic operation signals for the boom 131, the arm 132, and the bucket 133 with the control amount according to the control amount function shown in FIG.

[0083] In this way, in the same manner as in the first embodiment, the control device 160 according to the third embodiment controls the bucket 133 to move from above the loading target T to a target position outside the loading target T, and calculates a second target rotation angle θ from the direction in which the work machine 130 faces at the start of the automatic control to the direction in which the work machine 130 faces the target position. t2 The control device 160 then outputs a signal to move the work device 130 at the determined timing to start the lowering movement. This makes it possible to prevent the bucket 133 from coming into contact with a protruding portion on the ground in automatic control of the loading machine 100. Note that the second target swing angle θ t2 Determining the timing to lower the work implement 130 based on the second target rotation angle θ t2 This is equivalent to determining whether to set the movement speed of the work implement 130 to zero based on the control amount function shown in FIG.

[0084] As shown in FIG. 12, the second target turning angle θ t2 The timing for lowering the work implement 130 based on the second target swing angle θ is determined based on a function indicating the relationship between the swing angle of the swing body 120 and the height of the bucket 133. t212 is equivalent to determining a function that makes the height of the bucket 133 equal to the height of the target position when the height of the bucket 133 coincides with the target position. b ) and a second section (θ b From θ t2 (up to).

[0085] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes are possible. That is, in other embodiments, the order of the above-mentioned processes may be changed as appropriate. Also, some of the processes may be executed in parallel.

[0086] The control device 160 according to the embodiment described above may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged among a plurality of computers, and the plurality of computers may function as the control device 160 by working together. In this case, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and other computers may be provided outside the loading machine 100.

[0087] The target posture, target orientation, interference avoidance orientation, and wall height Ht according to the above-described embodiment are recorded in the storage 650 by teaching, but are not limited thereto. For example, the loading machine 100 according to another embodiment may be equipped with a three-dimensional measuring device such as a stereo camera or LiDAR to recognize the position and shape of the loading target T, and may specify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on the position and shape. In other words, the reference specification unit 614 may specify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on the shape data of the loading target T. Also, in another embodiment, the position, posture, and orientation of the loading target T may be received by communication with the loading target T, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be specified based on the position, posture, and orientation of the loading target T and the known shape of the loading target T. In another embodiment, when the loading target T travels automatically by communication with a control device, the position and direction of the loading target T may be received from the control device, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be specified based on the position and direction of the loading target T and the known shape of the loading target T. In another embodiment, the reference specification unit 614 may specify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on an input by an operator to the operation terminal 142. In another embodiment, the loading machine 100 may specify the target posture, target orientation, and interference avoidance orientation, and specify the wall height Ht separately. That is, in another embodiment, the control device 160 may separately include a first reference specification unit that specifies the target posture, target orientation, and interference avoidance orientation, and a second reference specification unit that specifies the wall height Ht. For example, the loading machine 100 may specify the target posture, target orientation, and interference avoidance orientation by teaching, and specify the wall height Ht by an input by an operator. In addition, the operator may specify the wall height, which is the height of the loading target, by inputting the model of the loading machine. That is, the control device 160 specifies the wall height Ht by reading the height associated with the input model from a table in which the model and the wall height are previously associated with each other.

[0088] Furthermore, the control device 160 according to the embodiment described above specifies the posture of the work machine 130 based on measurement data from a sensor that measures the posture of the work machine 130, but is not limited to this. For example, in another embodiment, if the loading machine 100 is equipped with a three-dimensional measuring device such as a stereo camera or LiDAR, the posture of the work machine 130, in particular the height of the lowest point Q of the bucket 133, may be recognized based on measurement data from the three-dimensional measuring device, and automatic control may be performed based on this.

[0089] The control device 160 according to the embodiment described above calculates the angle of the revolving body 120 by integrating the angular velocity of the revolving body 120 measured by the inclinometer 152, but is not limited to this. For example, the control device 160 according to another embodiment may calculate the angle of the revolving body 120 based on the difference in the orientation measured by the position and orientation calculator 151. In another embodiment, the angle of the revolving body 120 may be specified using the detection value of a rotation angle sensor provided in the revolving motor 124.

[0090] The control device 160 according to the embodiment described above performs automatic control based on a comparison between the rotation angle and the interference avoidance angle, but is not limited to this. For example, the control device 160 according to another embodiment may perform automatic control based on a comparison between the position of the bucket 133 and the rearmost point in the rotation direction of the rotating body 120 among the outline of the loading target T. For example, the control device 160 according to another embodiment may adjust the rotation start timing so that the bucket 133 is located in an area near the rearmost point in the rotation direction of the rotating body 120. In another embodiment, the control device 160 may generate automatic control signals for each link component and the rotating body 120 so that the bucket 133 follows a predesignated trajectory. The trajectory may be determined, for example, by fitting to a predetermined curve function, or by teaching through manual operation. The trajectory may be represented by a time series of the attitude of the bucket 133, the attitude of each link component and the rotating body 120, or an operation signal.

[0091] The loading machine 100 according to the above-described embodiment is operated directly by an operator by boarding the cab 140, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by remote control. A remote control system according to another embodiment includes, for example, an operation device 143 provided remotely from the loading machine 100, a display device that displays an image of the environment of the loading machine 100, and a remote control device that communicates with the loading machine 100. When an operator operates the operation device 143 of the remote control system, the remote control device transmits an operation signal to the control device 160 by communication. In this case, the function of the control device 160 may be implemented in the remote control device, or may be implemented separately in the loading machine 100 and the remote control device.

[0092] The automatic control according to the embodiment described above executes a first rotation to move the bucket 133 from the position at the completion of excavation to a loading point, and a second rotation to move the bucket 133 to a position for starting the next excavation, but is not limited to this. For example, in another embodiment, the control device 160 may execute a fully automatic control to automatically execute a series of operations of the first rotation, earth removal, and second rotation. Also, for example, in another embodiment, the control device 160 may execute only the second rotation without executing the first rotation. In addition, the automatic control according to the embodiment described above is triggered by the operation of the start switch 143SW by the operator, but is not limited to this. For example, in another embodiment, the control device 160 may autonomously determine the start timing of the automatic control and start the automatic control regardless of the operation of the start switch 143SW. [Explanation of symbols]

[0093] 100...loading machine 110...traveling body 111...crawler track 112...traveling motor 120...rotating body 121...engine 122...hydraulic pump 123...control valve 124...rotating motor 130...working machine 131...boom 131C...boom cylinder 132...arm 132C...arm cylinder 133...bucket 133C...bucket cylinder 140...operator's cab 141...operator's seat 142...operation terminal 143...operation device 151...position and direction calculator 152...inclination measuring device 153...boom stroke sensor 154...arm stroke sensor 155...bucket stroke sensor 160...control device 610...processor 611...measurement data acquisition unit 612...operation signal input unit 613...working machine position identification unit 614...reference identification unit 615...angle identification unit 616: Movement control unit 617: Operation signal output unit 630: Main memory 650: Storage 670: Interface

Claims

1. A control device for a loading machine including a rotating body that rotates around a rotation center and a working machine attached to the rotating body having a working tool, During automatic control of moving the working implement from above the loading target to a target position outside the loading target, a moving speed of the working implement is determined according to a target rotation angle in a direction in which the working implement faces the target position; A signal for moving the working machine at the determined moving speed is output. Loading machine control device.

2. The target turning angle is a turning angle from a direction in which the working machine faces at the start of the automatic control to a direction in which the working machine faces the target position. The control device for a loading machine according to claim 1.

3. The larger the target turning angle, the slower the moving speed of the work machine is. The control device for a loading machine according to claim 1.

4. The larger the target turning angle, the smaller the upper limit value of the moving speed of the work machine is set. calculating a moving speed of the work machine based on a target attitude of the work machine determined based on the target position and an attitude of the work machine; The moving speed of the work machine is limited based on the upper limit value. The control device for a loading machine according to claim 3.

5. determining a function indicating a relationship between a rotation angle of the rotating body and a height of the work implement, the function being such that when the rotation angle coincides with the target rotation angle, the height of the work implement is equal to the height of the target position; A moving speed of the work implement is determined based on the rotation angle of the rotating body, the height of the work implement, and the function. The control device for a loading machine according to claim 1.

6. A moving speed of the work tool is determined based on the rotation speed of the rotating body, the rotation angle of the rotating body, the height of the work tool, and the function. The control device for a loading machine according to claim 5.

7. the function has a first section where the height of the implement is constant and a second section where the height of the implement moves downward; A timing for switching between the first section and the second section is determined based on the target turning angle. The control device for a loading machine according to claim 5.

8. A control method for a loading machine including a rotating body that rotates around a rotation center and a working machine attached to the rotating body having a working tool, comprising: A step of determining a moving speed of the working implement in accordance with a target rotation angle in a direction in which the working implement faces the target position during automatic control for moving the working implement from above the loading target to a target position outside the loading target; outputting a signal to move the work machine at the determined moving speed; A method for controlling a loading machine having the above structure.

9. A remote operation system for a loading machine comprising: a rotating body that rotates about a rotation center; a working machine that is attached to the rotating body and has a working tool; and a display device and an operation device in a remote location, During automatic control of moving the working implement from above the loading target to a target position outside the loading target, a moving speed of the working implement is determined according to a target rotation angle in a direction in which the working implement faces the target position; A signal for moving the work machine at the determined moving speed is output to the loading machine. Remote control system.

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