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

Abstract

To prevent operator confusion in automatic control.SOLUTION: A position identifying unit identifies the position of a work tool. An earth removal point determination unit determines an earth removal point for loading the cargo onto a loading target based on the position of the loading target. An automatic control determination unit determines whether to start automatic control to move the work tool to the earth removal point based on the position of the work tool and the position of the earth removal point.SELECTED DRAWING: Figure 7

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology for automatically controlling a loading machine, in which the working implement is moved to an interference avoidance point and then moved to a dumping point by only rotating the rotating body so as not to come into contact with the transport vehicle that is the loading target. The interference avoidance point in Patent Document 1 is a position that has the same height as the dumping point, is the same distance from the rotation center of the rotating body as the distance from the rotation center to the dumping point, and has no loading target below. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-079773 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the location where the transport vehicle stops and the direction in which the loading machine faces for excavation are not the same every time and change. Therefore, the behavior of the automatic control that moves the load onto the transport vehicle may change depending on the positional relationship between the transport vehicle and the loading machine. In this case, if the behavior of the loading machine under automatic control differs from what the operator expects, the operator may become confused. An object of the present disclosure is to provide a control system for a loading machine, a control method for a loading machine, and a remote operation system for a loading machine that can prevent an operator from becoming confused during automatic control. [Means for solving the problem]

[0005] According to one aspect of the present invention, a control system for a loading machine is a control system for a loading machine that controls a loading machine having a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a working machine that is attached to the rotating body and includes a working tool, and the control system includes an attitude identification part that identifies a position of the working tool, a discharge point determination part that determines a discharge point for loading a load onto the loading target based on the position of the loading target, and an automatic control determination part that determines whether to start automatic control to move the working tool to the discharge point based on the position of the working tool and the position of the discharge point. Effect of the Invention

[0006] According to the above aspect, the control system for the loading machine can prevent the operator from becoming confused during automatic control. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a configuration of a remote control system according to a first embodiment. [Diagram 2] 1 is a schematic diagram showing a configuration of a loading machine according to a first embodiment. FIG. [Diagram 3] FIG. 2 is a schematic block diagram showing the configuration of a control device according to the first embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a travel route according to the first embodiment. [Diagram 5] 1 is a schematic block diagram showing a configuration of a control device for a loading machine according to a first embodiment. FIG. [Figure 6] 5A to 5C are diagrams illustrating an example of the movement of the loading machine in automatic control according to the first embodiment. [Figure 7] FIG. 11 is a diagram illustrating a first example in which automatic control is not started in the first embodiment. [Figure 8] FIG. 11 is a diagram illustrating a second example in which automatic control is not started in the first embodiment. [Figure 9] 4 is a flowchart (part 1) showing an automatic control method for a work system according to the first embodiment. [Figure 10]4 is a flowchart (part 2) showing the automatic control method for the work system according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] First Embodiment <Work System> FIG. 1 is a schematic diagram showing the configuration of a remote control system according to the first embodiment. The work system 1 includes a loading machine 100, one or more transport vehicles 300 to be loaded, a control device 500, and a remote operator's cab 700. The loading machine 100 and the transport vehicles 300 operate at a work site (e.g., a mine, a quarry). The remote operator's cab 700 is provided at a location away from the work site (e.g., in a city, within the work site).

[0009] The loading machine 100 operates at a construction site, excavates construction objects such as soil and sand, and loads them as cargo onto the bed of a transport vehicle 300. 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 is remotely operated based on an operation signal transmitted from the remote operator's cab 700. The loading machine 100 and the remote operator's cab 700 are connected by communication via an access point AP1. The operation device 730 of the remote operator's cab 700 accepts an operation of the loading machine 100 by an operator, and the remote control device 800 transmits an operation signal to the control device 500. The loading machine 100 operates based on the operation signal received from the remote operator's cab 700. In other words, the work system 1 includes a remote operation system composed of the loading machine 100 and the remote operator's cab 700. The access point AP1 is used for communication of the remote operation system.

[0010] The transport vehicle 300 travels unmanned based on control information received from the control device 500. The transport vehicle 300 and the control device 500 are connected by communication via an access point AP2. The control device 500 acquires the position and direction of the transport vehicle 300 from the transport vehicle 300, and generates course information used for the travel of the transport vehicle 300 based on these. The control device 500 transmits the course information to the transport vehicle 300. The transport vehicle 300 travels unmanned based on the received course information. In other words, the work system 1 includes an unmanned transport system including the transport vehicle 300 and the control device 500. The access point AP2 is used for communication of the unmanned transport system.

[0011] The control device 500 receives instruction signals for the transport vehicle 300 from the loading machine 100 and the remote cab 700, and transmits the signals to the transport vehicle 300. The loading machine 100 and the control device 500 are connected by communication via an access point AP2. The remote cab 700 and the control device 500 are also connected via a network. Examples of instruction signals for the transport vehicle 300 received from the loading machine 100 and the remote cab 700 include an entry instruction signal and a departure instruction signal. The entry instruction signal is a signal that instructs the transport vehicle 300 to enter from the waiting point P1 to the loading point P3. The departure instruction signal is a signal that instructs the transport vehicle 300 to leave the loading point P3 and exit the loading site A1 upon completion of loading.

[0012] Transport Vehicle The transport vehicle 300 according to the first embodiment is an unmanned dump truck that travels unmanned along a set travel route. Note that the transport vehicle 300 according to other embodiments may be a transport vehicle other than a dump truck. The transportation vehicle 300 is equipped with a position and orientation detector 310 and a transportation control device 400 .

[0013] The position and orientation detector 310 detects the position and orientation of the transport vehicle 300. The position and orientation detector 310 includes two receivers that receive positioning signals from artificial satellites that constitute the Global Navigation Satellite System (GNSS). The two receivers are installed at different positions on the transport vehicle 300. The position and orientation detector 310 detects the position of a representative point of the transport vehicle 300 in the site coordinate system based on the positioning signals received by the receivers. The position and direction detector 310 uses the positioning signals received by the two receivers to calculate the direction in which the transport vehicle 300 faces as the relationship between the installation position of one receiver and the installation position of the other receiver. Note that in other embodiments, the present invention is not limited to this, and for example, the transport vehicle 300 may be equipped with an inertial measurement unit (IMU) and the direction may be calculated based on the measurement results of the inertial measurement unit. In this case, drift of the inertial measurement unit may be corrected based on the travel trajectory of the transport vehicle 300. When the direction is calculated using the inertial measurement unit, the transport vehicle 300 only needs to be equipped with one receiver.

[0014] The transportation control device 400 transmits the position and direction detected by the position and direction detector 310 to the control device 500. The transportation control device 400 receives course information and instruction signals from the control device 500. The transportation control device 400 drives the transportation vehicle 300 or raises and lowers the vessel of the transportation vehicle 300 based on the received course information and instruction signals.

[0015] "Loading Machine 100" FIG. 2 is a schematic diagram showing the configuration of the loading machine 100 according to the first embodiment. The loading machine 100 includes a running body 110, a rotating body 120, and a work machine 130.

[0016] 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. 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.

[0017] 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 .

[0018] 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 tip attachments such as a tilt bucket and a tilt rotate bucket.

[0019] 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. 2, 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 for supporting the bucket 133 include a boom 131 and an 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.

[0020] 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.

[0021] As shown in FIG. 2, 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, a bucket stroke sensor 155, an imaging device 156, and a loading control device 200.

[0022] The position and orientation calculator 151 calculates the position of the revolving unit 120 and the orientation in which the revolving unit 120 faces. The position and orientation calculator 151 is equipped with two receivers that receive positioning signals from artificial satellites that make up the GNSS. The two receivers are installed at different positions on the revolving unit 120. The position and orientation calculator 151 detects the position of a representative point of the revolving unit 120 in the site coordinate system (the origin of the vehicle body 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.

[0023] 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).

[0024] 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.

[0025] The imaging device 156 is installed in a portion corresponding to the driver's cab of the loading machine 100. The imaging device 156 captures an image in front of the loading machine 100. Examples of the imaging device 156 include imaging devices using a CCD (Charge Coupled Device) sensor and a CMOS (Complementary Metal Oxide Semiconductor) sensor. Note that in other embodiments, the imaging device 156 does not necessarily have to be installed in a portion corresponding to the driver's cab, and it is sufficient that the imaging device 156 is installed in a position where it is possible to capture an image of at least the work target and the work machine 130.

[0026] The loading control device 200 transmits to the remote operator's cab 700 the images captured by the imaging device 156, the rotation speed, position and orientation of the rotating body 120, the travel speed of the traveling body 110, the attitude of the rotating body 120, and the measurement data of the tilt angles of the boom 131, the arm 132, and the bucket 133. Note that the measurement data according to other embodiments is not limited to this. For example, the measurement data according to other embodiments may not include any of the rotation speed, position, orientation, tilt angle, travel speed, and attitude, may include values ​​measured by other sensors, or may include values ​​calculated from the measured values. The loading control device 200 receives an operation signal from the remote operator's cab 700. The loading control device 200 drives the traveling body 110, the rotating body 120, or the work machine 130 based on the received operation signal.

[0027] 《Control device》 FIG. 3 is a schematic block diagram showing the configuration of the control device according to the first embodiment. The control device 500 manages the traveling of the transport vehicle 300 . The control device 500 is a computer including a processor 510, a main memory 520, a storage 530, and an interface 540. The storage 530 stores a control program. The processor 510 reads the control program from the storage 530, loads it into the main memory 520, and executes processing in accordance with the control program. The control device 500 is connected to a network via the interface 540. An access point AP2 is connected to the interface 540. The control device 500 is wirelessly connected to the loading machine 100 and the transport vehicle 300 via the access point AP2.

[0028] The storage 530 has storage areas as a travel route storage unit 531 and a position / orientation storage unit 532. Examples of the storage 530 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage 530 may be an internal medium directly connected to a common communication line of the control device 500, or an external medium connected to the control device 500 via an interface 540. The storage 530 is a non-transitory tangible storage medium.

[0029] The travel route storage unit 531 stores a travel route R for each transport vehicle 300. FIG. 4 is a diagram showing an example of a travel route. The travel route R includes a predetermined connection route R1 connecting two areas A (for example, a loading site A1 and an unloading site A2), as well as an entrance route R2, an approach route R3, and an exit route R4, which are routes within the area A. The entrance route R2 is a route that connects a waiting point P1, which is one end of the connection route R1, to a predetermined turning point P2 within the area A. The approach route R3 is a route that connects the turning point P2 to a loading point P3 or a discharge point P4 within the area A. The exit route R4 is a route that connects a loading point P3 or a discharge point P4 within the area A to an exit point P5, which is the other end of the connection route R1. The loading point P3 is a point that is set by the operation of the operator of the loading machine 100. The turning point P2 is a point set by the control device 500 according to the position of the loading point P3.

[0030] The position and orientation storage unit 532 stores the position information and orientation information of each of the transport vehicles 300 .

[0031] The processor 510 includes a position and orientation collection unit 511 and a driving course generation unit 512 by executing the control program.

[0032] The position and orientation collecting unit 511 receives the position information and orientation information of the delivery vehicle 300 from the delivery vehicle 300 via the access point AP2. The position and orientation collecting unit 511 stores the received position information and orientation information in the position and orientation storage unit 532.

[0033] The travel course generating unit 512 generates course information including information on an area in which the transport vehicle 300 is permitted to move, based on the travel route stored in the travel route storage unit 531 and the position information and orientation information stored in the position orientation storage unit 532. The generated course information is transmitted to the transport vehicle 300. The course information includes position information of points set at predetermined intervals on the travel route, target speed information at the points, and travel-permitted area information that does not overlap with the travel-permitted areas of other transport vehicles 300.

[0034] The travel course generating unit 512 does not include the approach route R2 and the approach route R3 in the area indicated by the course information until the approach instruction signal is received from the remote cab 700. As a result, the transport vehicle 300 waits at the waiting point P1 until the approach instruction signal is received. When the travel course generating unit 512 receives the approach instruction signal, it generates course information including the approach route R2 and the approach route R3 and not including the exit route R4. As a result, the transport vehicle 300 starts from the waiting point P1, travels to the loading point P3, and stops at the loading point P3. When the travel course generating unit 512 receives the departure instruction signal, it generates course information including the exit route R4. In the work system 1 according to this embodiment, the transport vehicle 300 waits at the waiting point P1 until the transport vehicle 300 receives the approach instruction signal, but this is not limited to this. For example, in another embodiment, the position where the transport vehicle 300 waits may be the turning point P2, or may be a point on the way of the approach route R2 or the approach route R3.

[0035] Remote Control Cabin The remote operator's cab 700 includes an operator's seat 710 , a display device 720 , an operation device 730 , an operation terminal 740 , and a remote control device 800 . Display device 720 is disposed in front of driver's seat 710. Display device 720 is located in front of the operator when the operator sits in driver's seat 710. Display device 720 may be configured with multiple displays arranged side by side as shown in Fig. 1, or may be configured with one large display. Display device 720 may also be configured to project an image onto a curved or spherical surface by a projector or the like.

[0036] The operation device 730 is an operation device for the remote operation system. In response to the operation of the operator, the operation device 730 generates operation signals for the boom cylinder 131C, the arm cylinder 132C, the bucket cylinder 133C, a left / right swing operation signal for the revolving body 120, and a travel operation signal for forward / backward movement of the traveling body 110, and outputs them to the remote control device 800. The operation device 730 is composed of, for example, a lever, a knob switch, and a pedal. An automatic control instruction signal for instructing the start of automatic control is generated by operating the knob switch.

[0037] The automatic control is that the loading machine 100 autonomously controls the driving of the working 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 series of operations from a state in which the bucket 133 is located outside the transport vehicle 300 due to excavation of the excavation target, to a direction facing the transport vehicle 300 while raising the boom 131. In the example shown in FIG. 6, the height of the transport vehicle 300 is higher than the excavation height, so the boom 131 is raised while rotating, but this is not limited to this. For example, when the height of the transport vehicle 300 is lower than the excavation height, the boom 131 is lowered while rotating. In addition, the automatic control according to other embodiments may not only move the bucket 133 from the outside of the transport vehicle 300 to above the transport vehicle 300, but may also perform an earth discharge operation and move the bucket 133 from above the transport vehicle 300 to the outside of the transport vehicle 300. In addition, the excavation target is usually located at a position lower than the height of the transport vehicle 300. Therefore, in the automatic control, the loading machine 100 controls the driving of the work machine 130 so that the transport vehicle 300 does not come into contact with the work machine 130. Details of the automatic control will be described later.

[0038] The operation terminal 740, when operated by an operator, transmits a departure instruction signal to the control device 500. The operation terminal 740 is configured, for example, by a touch panel or the like. The operating device 730 and the operating terminal 740 are disposed near the driver's seat 710 . The operation device 730 and the operation terminal 740 are located within an operable range of the operator when the operator sits in the driver's seat 710 .

[0039] The remote control device 800 displays the image received from the loading machine 100 on the display device 720 , and transmits an operation signal representing an operation of the operation device 730 to the loading machine 100 .

[0040] "Control device for loading machine 100" FIG. 5 is a schematic block diagram showing the configuration of the control device of the loading machine according to the first embodiment. The loading control device 200 is a computer including a processor 210, a main memory 220, a storage 230, and an interface 240. The storage 230 stores a loading control program. The processor 210 reads the loading control program from the storage 230, loads it in the main memory 220, and executes processing in accordance with the loading control program. The loading control device 200 is connected to a network via the interface 240.

[0041] Examples of the storage 230 include an HDD, an SSD, a magnetic disk, an optical magnetic disk, a CD-ROM, a DVD-ROM, a semiconductor memory, etc. The storage 230 may be an internal medium directly connected to a common communication line of the loading control device 200, or an external medium connected to the loading control device 200 via an interface 240. The storage 230 is a non-transitory tangible storage medium.

[0042] By executing the loading control program, the processor 210 is equipped with an acquisition unit 211, a display control unit 212, an operation signal input unit 213, an attitude identification unit 214, a dumping point determination unit 215, a turning direction determination unit 216, an interference avoidance point determination unit 217, an automatic control judgment unit 218, and a control unit 219.

[0043] The acquisition unit 211 acquires measurement data of the loading machine 100 and each transport vehicle 300. The measurement data of each transport vehicle 300 is acquired from the control device 500 or the remote control device 800.

[0044] The display control unit 212 generates a display signal for displaying the image acquired by the acquisition unit 211 from the imaging device 156 , and outputs the display signal to the remote control device 800 .

[0045] The operation signal input unit 213 receives an input of an operation signal for the operation device 730 from the remote control device 800. The operation signals include an operation signal for the boom 131, an operation signal for the arm 132, an operation signal for the bucket 133, a rotation operation signal for the rotating body 120, a travel operation signal for the traveling body 110, and an automatic control instruction signal for the loading machine 100.

[0046] The attitude identifying unit 214 identifies the attitude of the loading machine 100 based on the measurement data received by the acquiring unit 211. Specifically, the attitude identifying unit 214 identifies at least the position of the tip of the arm 132 in the vehicle body coordinate system. The posture identifying unit 214 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 posture identifying unit 214 determines the vertical and horizontal components of the length of the arm 132. The posture identifying unit 214 identifies, as the position of the tip of the arm 132, a position that is 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 and horizontal components of the lengths of the boom 131 and the arm 132.

[0047] When an automatic control instruction signal is input to the operation signal input unit 213, the discharge point determination unit 215 determines a discharge point p3, which is a target point for automatic control. The discharge point p3 is an example of a control point. The discharge point p3 may be expressed in a polar coordinate system based on the attitude of the revolving body 120 when the automatic control instruction signal is input. In other words, the position of the discharge point p3 is expressed by the deviation angle from the direction in which the revolving body 120 is facing when the automatic control instruction signal is input, the radius vector which is the distance from the center of rotation of the revolving body 120, and the height.

[0048] The discharge point determination unit 215 specifies the position of the discharge point p3 based on the measurement data of the position and orientation of the transport vehicle 300 acquired by the acquisition unit 211. The discharge point p3 is a point located at the center of the vessel of the transport vehicle 300 in a plan view from above. The height of the discharge point p3 is a height obtained by adding the length from the pin of the bucket 133 to the furthest point of the bucket 133 and a margin value to the height of the transport vehicle 300. The length from the pin of the bucket 133 to the furthest point of the bucket 133 is, for example, the length from the pin of the bucket 133 to the blade tip of the bucket 133. The margin value is a constant set so that the load loaded on the transport vehicle 300 and the bucket 133 do not interfere with each other. The margin value may be a value determined in advance according to the model of the transport vehicle 300.

[0049] The turning direction determination unit 216 determines whether to turn right or left in the automatic control based on the positional relationship between the start point p1, which is the position of the tip of the arm 132 when the automatic control instruction signal is input, and the unloading point p3. The turning direction determination unit 216 determines the turning direction in the direction that minimizes the angle (target turning angle) between the direction from the turning center toward the start point p1 and the direction from the turning center toward the unloading point p3. For example, when the target turning angle is 90 degrees in the case of a clockwise rotation and 270 degrees in the case of a counterclockwise rotation, the turning direction determination unit 216 determines the turning direction to the right. In other words, the loading machine 100 turns in a direction in which the turning angle is 180 degrees or less.

[0050] The interference avoidance point determination unit 217 specifies the position of the interference avoidance point p2 for preventing the loading machine 100 and the transport vehicle 300 from contacting each other in automatic control based on the position and direction of the loading machine 100 and the position and direction of the transport vehicle 300 acquired by the acquisition unit 211. The interference avoidance point p2 is a position where the distance from the center of rotation of the revolving body 120 is equal to the distance from the center of rotation to the earth unloading point p3, and below which the transport vehicle 300 does not exist. For example, the interference avoidance point determination unit 217 specifies a circle related to the radius of the earth unloading point p3, and specifies the angle on the circle where the outline of the bucket 133 does not interfere with the transport vehicle 300 in a plan view and is closest to the deviation angle of the earth unloading point p3 as the deviation angle of the interference avoidance point p2. The radius and height of the interference avoidance point p2 are equal to the radius and height of the earth unloading point p3. The interference avoidance point determination unit 217 can determine whether or not the transport vehicle 300 and the bucket 133 will interfere with each other, based on the position, direction, and known outer shape of the transport vehicle 300, and the known shape of the bucket 133. Here, "same height" and "equal distance" do not necessarily mean that the height or distance is completely the same, but rather allow for some error or margin.

[0051] The automatic control determination unit 218 determines whether to start automatic control based on the target turning angle related to the turning direction determined by the turning direction determination unit 216. Specifically, the automatic control determination unit 218 determines not to start automatic control when the target turning angle is smaller than the angle (first threshold value) between the direction from the turning center to the interference avoidance point p2 and the direction from the turning center to the earth unloading point p3. The automatic control determination unit 218 also determines not to start automatic control when the target turning angle is larger than 150 degrees (second threshold value). The angle between the direction from the turning center to the interference avoidance point p2 and the direction from the turning center to the earth unloading point p3 is an example of the first threshold value. In other embodiments, the first threshold value may be a fixed value such as 30 degrees. Also, 150 degrees is an example of the second threshold value. In other embodiments, the second threshold value may be another value close to 180 degrees.

[0052] When the automatic control determination unit 218 determines to start automatic control, the control unit 219 generates an operation signal for executing automatic control based on the position of the control point specified by the earth discharge point determination unit 215. The control unit 219 outputs, to the loading machine 100, the operation signal input to the operation signal input unit 213 or the generated operation signal.

[0053] <<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. 6 is a diagram showing an example of the movement of the loading machine 100 in the automatic control according to the first embodiment.

[0054] When the automatic control is started, as shown in FIG. 6, the loading machine 100 first starts driving the working machine 130 (boom 131, arm 132, and bucket 133), and moves the bucket 133 upward by raising the boom 131. After a delay, the loading control device 200 starts the rotation of the revolving body 120. The loading control device 200 adjusts the timing of the start of rotation so that the height of the tip of the arm 132 becomes the height of the interference avoidance point p2 and the distance from the center of rotation to the tip of the arm 132 becomes equal to the distance of the interference avoidance point p2 before the rotation angle of the revolving body 120 matches the interference avoidance angle (the deflection angle of the interference avoidance point p2). If the height of the working machine 130 becomes the height of the interference avoidance point p2 before the rotation angle of the revolving body 120 matches the interference avoidance angle, the working machine 130 will not come into contact with the transport vehicle 300 due to the rotation of the revolving body 120. When the rotation angle of the rotating body 120 reaches the interference avoidance angle, the loading control device 200 drives the rotating body 120 so that the position of the tip of the arm 132 coincides with the earth unloading point p3.

[0055] Although FIG. 6 shows an example in which the positional relationship between the excavation position and the transport vehicle 300 is approximately 90 degrees around the rotating body 120, the positional relationship between the excavation position and the transport vehicle 300 changes for each loading.

[0056] Here, the reason for determining not to start automatic control when the target turning angle is smaller than the angle (first threshold value) between the direction from the turning center to the interference avoidance point p2 and the direction from the turning center to the earth unloading point p3 is described. FIG. 7 is a diagram showing a first example in which automatic control is not started in the first embodiment. In the example shown in FIG. 7, the angle (target turning angle) between the direction from the turning center to the start point p1 and the direction from the turning center to the earth unloading point p3 is smaller than the angle between the direction from the turning center to the interference avoidance point p2 and the direction from the turning center to the earth unloading point p3. In this case, if the radius vector of the working machine 130 is extended by the automatic control, there is a possibility that the working machine 130 and the transport vehicle 300 will come into contact with each other as shown in FIG. 7. In this way, if automatic control is performed when the target turning angle is smaller than the angle between the direction from the turning center toward the interference avoidance point p2 and the direction from the turning center toward the earth unloading point p3, the loading machine 100 may behave in a manner that is not anticipated by the operator. For example, when excavating near the transport vehicle 300 and loading the excavated load onto the transport vehicle 300, automatic control is not started.

[0057] The reason why it is determined not to start the automatic control when the target turning angle is greater than 150 degrees (second threshold value) will be described. FIG. 8 is a diagram showing a second example in which the automatic control is not started in the first embodiment. In the example shown in FIG. 8, the angle (target turning angle) between the direction from the turning center toward the start point p1 and the direction from the turning center toward the earth unloading point p3 is about 180 degrees. In this case, whether to turn left or right is switched depending on whether the target turning angle is greater or smaller than 180 degrees. On the other hand, since the operator has no way of accurately recognizing the target turning angle, it is difficult for him or her to predict whether to turn right or left by the automatic control. Therefore, if the automatic control is performed when the target turning angle is greater than 150 degrees, which is the second threshold value, the loading machine 100 may behave in a manner that the operator does not expect.

[0058] <<Operation of the loading control device 200>> The transport vehicle 300 travels along the travel route R according to the course information generated by the control device 500, and stops at the waiting point P1. The operator of the loading machine 100 operates the operation terminal 740 (for example, by pressing a specific button) to input an entry instruction signal to the operation terminal 740. The entry instruction signal is transmitted from the operation terminal 740 to the control device 500. As a result, the control device 500 generates course information indicating the areas of the approach route R2 and the approach route R3. The transport vehicle 300 travels along the approach route R3, and stops at the loading point P3. The operator operates the operation device 730 to scoop up soil and sand with the bucket 133 of the loading machine 100, and operates the knob switch of the operation device 730 to generate and output an automatic control instruction signal.

[0059] Fig. 9 is a flowchart (part 1) showing the automatic control method of the work system 1 according to the first embodiment. Fig. 10 is a flowchart (part 2) showing the automatic control method of the work system 1 according to the first embodiment. When the loading control device 200 receives an automatic control instruction signal input from the remote control device 800 by the operation of the operator, it executes the automatic control shown in Figs. 9 and 10.

[0060] The acquisition unit 211 acquires measurement data of the loading machine 100 and the transport vehicle 300 (step S1). Specifically, the acquisition unit 211 acquires measurement data from the position / direction calculator 151, the inclination measuring device 152, the boom stroke sensor 153, the arm stroke sensor 154, the bucket stroke sensor 155, and the imaging device 156. That is, the acquisition unit 211 acquires measurement data of the position and direction of the revolving body 120, the inclination angles of the boom 131, the arm 132, and the bucket 133, and the attitude of the revolving body 120 from the loading machine 100. The acquisition unit 211 also acquires measurement data of the position and direction of the transport vehicle 300 from the control device 500. The attitude identification unit 214 identifies the position of the tip of the arm 132 at the time of input of the automatic control instruction signal based on the measurement data acquired by the acquisition unit 211 (step S2).

[0061] The discharge point determination unit 215 specifies the position of the discharge point p3 based on the position information and orientation information of the haulage vehicle 300 acquired by the acquisition unit 211 and the known shape of the haulage vehicle 300 (step S3). The discharge point determination unit 215 specifies the planar position (deviation angle and radius vector) of the discharge point p3 based on the position information and orientation information of the haulage vehicle 300 and the known shape of the haulage vehicle 300. The discharge point determination unit 215 also specifies the height of the discharge point p3 by adding the length from the pin to the blade tip of the bucket 133 and a margin value to the known height of the haulage vehicle 300.

[0062] The turning direction determination unit 216 determines the turning direction of the automatic control based on the positional relationship between the start point p1, which is the position of the tip of the arm 132 determined in step S3, and the unloading point p3 determined in step S3 (step S4). The interference avoidance point determination unit 217 determines the position of the interference avoidance point p2 based on the position and orientation of the loading machine 100 acquired in step S1, the position and orientation of the transport vehicle 300, and the turning direction determined in step S4 (step S5). For example, the interference avoidance point determination unit 217 determines a circle related to the radius of the unloading point p3, and determines the angle on the circle that is closest to the deviation angle of the unloading point p3 in the direction determined by the turning direction determination unit 216 as the deviation angle of the interference avoidance point p2. The radius and height of the interference avoidance point p2 are equal to the radius and height of the unloading point p3.

[0063] The automatic control determination unit 218 determines whether the target turning angle, which is the angle from the start point p1 to the dumping point p3 in the turning direction determined in step S4, is smaller than the angle from the interference avoidance point p2 to the dumping point p3 (step S6). The target turning angle is calculated by the difference between the deflection angle of the start point p1 and the deflection angle of the dumping point p3. The angle from the interference avoidance point p2 to the dumping point p3 is calculated by the difference between the deflection angle of the interference avoidance point p2 and the deflection angle of the dumping point p3. If the target turning angle is smaller than the angle from the interference avoidance point p2 to the dumping point p3 (step S6: YES), the automatic control determination unit 218 determines not to start automatic control. In this case, the display control unit 212 transmits a display signal to the remote control device 800 to display on the control terminal 740 that automatic control is not possible (step S8). Then, the loading control device 200 ends the process without performing automatic control.

[0064] On the other hand, if the target turning angle is equal to or greater than the angle from the interference avoidance point p2 to the unloading point p3 (step S6: NO), the automatic control determination unit 218 determines whether the target turning angle exceeds 150 degrees (step S7). If the target turning angle exceeds 150 degrees (step S7: YES), the automatic control determination unit 218 determines not to start automatic control. In this case, the display control unit 212 transmits a display signal to the remote control device 800 to cause the control terminal 740 to display that automatic control is not possible (step S8). Then, the loading control device 200 ends the process without performing automatic control.

[0065] If the target turning angle is equal to or greater than the angle from the interference avoidance point p2 to the earth unloading point p3 and does not exceed 150 degrees (step S7: NO), the automatic control determination unit 218 determines to start automatic control.

[0066] When automatic control is started, the acquisition unit 211 acquires measurement data on the position and orientation of the revolving structure 120, the inclination angles of the boom 131, the arm 132, and the bucket 133, and the attitude of the revolving structure 120 (step S9). The attitude identification unit 214 identifies the position of the tip of the arm 132 based on the measurement data (step S10).

[0067] The control unit 219 judges whether or not the rotation angle of the loading machine 100 is smaller than the deflection angle of the interference avoidance point p2 determined in step S5 (step S11). The rotation angle of the loading machine 100 is the difference angle between the direction in which the rotating body 120 faces when the automatic control instruction signal is input (initial direction) and the direction in which the rotating body 120 currently faces.

[0068] If the rotation angle of the loading machine 100 is smaller than the deflection angle of the interference avoidance point p2 (step S11: YES), that is, if the rotating body 120 is facing outward from the transport vehicle 300, the control unit 219 determines whether the difference between the radius and height of the tip of the arm 132 identified in step S10 when expressed in a polar coordinate system and the radius and height of the interference avoidance point p2 is smaller than a predetermined threshold value (step S12).

[0069] If the difference between the radius vector and height of the tip of the arm 132 and the radius vector and height of the interference avoidance point p2 is equal to or greater than the threshold (step S12: NO), the control unit 219 generates an automatic operation signal for the boom 131 and the arm 132 so as to bring the tip of the arm 132 closer to the radius vector and height of the interference avoidance point p2 (step S13). At this time, the control unit 219 generates the automatic operation signal based on the position and speed of the boom 131 and the arm 132 identified from the measurement data acquired in step S9.

[0070] Furthermore, the control unit 219 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 S14). This allows the control unit 219 to generate an operation signal that maintains the ground angle of the bucket 133. That is, the control unit 219 maintains a state in which the bottom surface of the bucket 133 is at the lowest point in automatic control. Note that in another embodiment, the control unit 216 may generate the automatic operation signal for the bucket 133 by feedback control based on the difference between a target ground angle of the bucket 133 (for example, the ground angle of the bucket 133 at the start of automatic control) and an actual ground angle of the bucket 133 identified from the measurement data acquired in step S9.

[0071] The control unit 219 determines whether the work machine 130 is rotating (step S15). For example, the control unit 219 determines that the work machine 130 is rotating when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed. When the work machine 130 is not rotating (step S15: NO), the control unit 219 calculates a completion time until the difference between the radius and height of the tip of the arm 132 and the radius and height of the interference avoidance point p2 becomes equal based on the speeds of the boom 131 and the arm 132 (step S16). In addition, the control unit 219 calculates an arrival time until the rotation angle reaches the deflection angle of the interference avoidance point p2 specified in step S5 when the rotating body 120 starts rotating (step S17). The control unit 219 determines whether the completion time calculated in step S16 is less than the arrival time calculated in step S17 (step S18). That is, the control unit 219 determines whether or not the radius vector and the height of the tip of the arm 132 match the radius vector and the height of the interference avoidance point p2 when the rotation angle reaches the deflection angle of the interference avoidance point p2.

[0072] If the completion time is equal to or longer than the arrival time (step S18: NO), that is, if the radius vector and height of the tip of the arm 132 do not match the radius vector and height of the interference avoidance point p2 by the time the rotation angle reaches the deflection angle of the interference avoidance point p2, the control unit 219 does not generate a rotation operation signal for the rotating body 120. On the other hand, if the completion time is shorter than the arrival time (step S18: YES), that is, if the radius vector and height of the tip of the arm 132 match the radius vector and height of the interference avoidance point p2 by the time the rotation angle reaches the deflection angle of the interference avoidance point p2, the control unit 219 generates a rotation operation signal for the rotating body 120 (step S19). This allows the loading control device 200 to prevent the working machine 130 from coming into contact with the transport vehicle 300 due to the working machine 130 rotating while the height of the working machine 130 is low.

[0073] The control section 219 outputs the generated automatic operation signal to the control valve 123 (step S20). This drives the loading machine 100. Then, the loading control device 200 returns the process to step S9 and continues the control.

[0074] On the other hand, if it is determined in step S15 that the work machine 130 is turning (step S15: YES), the control unit 219 generates a turning operation signal in step S19, and outputs the turning operation signal to the control valve 123 in step S20. Then, the loading control device 200 returns the process to step S9 and continues the control.

[0075] On the other hand, if the turning angle is equal to or larger than the deflection angle of the interference avoidance point p2 (step S11: NO), that is, if the rotating body 120 is facing the transport vehicle 300, the control unit 219 judges whether or not the turning angle reaches the deflection angle of the earth discharge point p3 by inertial turning when the turning operation signal is stopped based on the turning speed of the rotating body 120 (step S21). If the turning angle does not reach the deflection angle of the earth discharge point p3 by inertial turning (step S21: NO), the control unit 219 generates a turning operation signal (step S22). If the turning angle reaches the deflection angle of the earth discharge point p3 by inertial turning (step S21: YES), the control unit 219 does not generate a turning operation signal, but sets it to a neutral signal. The control unit 219 outputs the generated operation signal of the working machine 130 and / or the turning operation signal to the control valve 123 (step S23).

[0076] The control unit 219 determines whether the tip of the arm 132 has reached the unloading point p3 (step S24). If the tip of the arm 132 has not reached the unloading point p3 (step S24: NO), the process returns to step S9 and the automatic control continues.

[0077] When the tip of the arm 132 reaches the unloading point p3 (step S24: YES), the loading control device 200 ends the automatic control.

[0078] By the above-mentioned automatic control, the loading machine 100 can automatically move the bucket 133 above the transport vehicle 300. The operator operates the operation device 730 to load earth and sand onto the transport vehicle 300 and perform excavation again. The operator repeats this work to the extent that the load capacity of the transport vehicle 300 does not exceed the maximum load capacity. Then, the operator operates the operation terminal 740 to input a departure instruction signal to the operation terminal 740. The departure instruction signal is transmitted from the operation terminal 740 to the control device 500. As a result, the control device 500 generates course information including the area of ​​the exit route R4. The transport vehicle 300 starts from the loading point P3, travels along the exit route R4, and exits the loading site A1.

[0079] Actions and Effects According to the first embodiment, the loading control device 200 executes the following processes. The attitude identification unit 214 identifies the position of the bucket 133. The discharge point determination unit 215 determines the discharge point p3 for loading the load onto the transport vehicle based on the position of the transport vehicle 300. The automatic control determination unit 218 determines whether or not to start automatic control based on the position of the bucket 133 and the position of the discharge point p3 when the automatic control instruction signal is input. This enables the loading control device 200 to prevent the operator from becoming confused during automatic control.

[0080] 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.

[0081] The turning direction determination unit 216 of the loading control device 200 according to the embodiment described above determines the turning direction in the direction in which the angle between the direction in which the start point p1 faces and the direction in which the earth unloading point p3 faces is the smallest, but is not limited to this. For example, the turning direction determination unit 216 according to another embodiment may determine the turning direction based on the direction in which the transport vehicle 300 faces. For example, the turning direction determination unit 216 may determine the turning direction based on the angle between a vector extending from the turning center to the earth unloading point p3 and a vector representing the direction in which the transport vehicle 300 faces. For example, when the angle between the two vectors is greater than 0 degrees, the turning direction determination unit 216 determines the turning direction to the right. On the other hand, when the angle between the two vectors is not greater than 0 degrees, the turning direction determination unit 216 determines the turning direction to the left.

[0082] The loading control device 200 according to the embodiment described above determines the start point p1, the interference avoidance point p2, and the earth unloading point p3, and controls the revolving body 120 and the work machine 130 to pass through these points, but in other embodiments, this is not limited to the above. For example, in other embodiments, the loading control device 200 may include a trajectory generating unit that generates a trajectory that passes through the start point p1, the interference avoidance point p2, and the earth unloading point p3, and the control unit 219 may control the revolving body 120 and the work machine 130 to follow the trajectory generated.

[0083] The loading machine 100 according to the above-described embodiment acquires the position information and orientation information of the transport vehicle 300 from the control device 500, but is not limited to this. For example, the loading machine 100 according to another embodiment includes a detection device that detects the spatial position of an object present in the detection direction, and acquires the position information and orientation information of the transport vehicle 300 based on the detection result of the detection device. In this way, the loading machine 100 may acquire the position information and orientation information of the transport vehicle 300 without relying on the control device 500.

[0084] In the above-described embodiment, the loading machine 100 is remotely controlled via the remote control device 800, but the present invention is not limited to this. For example, the loading machine 100 according to another embodiment may be operated by an operator on board. In this case, the loading control device 200 of the loading machine 100 controls the loading machine 100 by an operation signal of an operation device (not shown) provided at the driver's seat. The operator may output an automatic digging and loading instruction to the loading control device 200 by pressing an automatic digging and loading button (not shown) provided at the driver's seat. In another embodiment, the loading machine 100 may transmit and receive signals by vehicle-to-vehicle communication instead of communication via an access point.

[0085] The control device according to the above embodiment (for example, the loading control device 200) may be configured by a single computer, or may be configured by distributing the configuration of the control device among multiple computers, which cooperate with each other to function as the control device. In this case, a part of the configuration of the control device may be realized by the loading control device 200, the control device 500, the remote control device 800, etc. [Explanation of symbols]

[0086] 1...Work system 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 151...Position and orientation calculator 152...Inclination measuring device 153...Boom stroke sensor 154...Arm stroke sensor 155...Bucket stroke sensor 156...Imaging device 200...Loading control device 300...Transportation vehicle 310...Position and orientation detector 400...Transportation control device 500...Control device 510...Processor 511...Position and orientation collection unit 512...Travel course generation unit 520...Main memory 530...Storage 531: Travel route storage unit 532: Position and direction storage unit 540: Interface 700: Remote driver's cab 710: Driver's seat 720: Display device 730: Operation device 740: Operation terminal 800: Remote control device 210: Processor 211: Acquisition unit 212: Display control unit 213: Operation signal input unit 214: Attitude identification unit 215: Earth removal point determination unit 216: Turning direction determination unit 217: Interference avoidance point determination unit 218: Automatic control judgment unit 219: Control unit 220: Main memory 230: Storage 240: Interface

Claims

1. A control system for a loading machine that controls a loading machine including a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a working machine including a working tool attached to the rotating body, A posture identification unit that identifies a position of the work tool; a discharge point determination unit that determines a discharge point for loading the load onto the loading object based on a position of the loading object; an automatic control determination unit that determines whether or not to start automatic control for moving the work tool to the unloading point based on the position of the work tool and the position of the unloading point; A control system for a loading machine comprising:

2. The automatic control determination unit determines whether or not to start the automatic control based on the direction in which the work tool is facing. A control system for a loading machine according to claim 1.

3. The automatic control determination unit determines whether to start the automatic control based on a relative angle between a direction in which the earth unloading point faces from a rotation center of the rotating body and a direction in which the work tool faces from the rotation center of the rotating body. A control system for a loading machine according to claim 2.

4. The automatic control determination unit does not start the automatic control when a relative angle between a direction from a rotation center of the rotating body to the earth unloading point and a direction from the rotation center of the rotating body to the working tool is smaller than a first threshold value. A control system for a loading machine according to claim 3.

5. The automatic control determination unit does not start the automatic control when a relative angle between a direction from a rotation center of the rotating body to the earth discharge point and a direction from the rotation center of the rotating body to the work tool is greater than a second threshold value. A control system for a loading machine according to claim 3.

6. A rotation direction determination unit is provided that determines the direction in which the rotating body rotates to move the working tool to the earth unloading point. A control system for a loading machine according to claim 1.

7. The turning direction determination unit determines the turning direction in a direction in which the operator's cab of the loaded machine does not overlap with the working implement in a plan view from above. A control system for a loading machine according to claim 6.

8. The turning direction determination unit determines the turning direction in a direction that minimizes an angle between a direction in which the work tool faces and a direction in which the earth discharge point faces. A control system for a loading machine according to claim 6.

9. A method for controlling a loading machine including a rotating body and a work machine including a work tool attached to the rotating body, comprising: determining a location of the work implement; determining an unloading point for loading the load onto the loading object based on the position of the loading object; a step of determining whether or not to start automatic control for moving the implement to the unloading point based on the position of the implement and the position of the unloading point; A method for controlling a loading machine comprising:

10. A control system for a loading machine according to any one of claims 1 to 8; A display device and an operation device provided remotely from the control system of the loading machine; Equipped with Remote control system for loading machines.

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