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

Abstract

To reduce the time required for automatic control.SOLUTION: A control unit, when determining to start automatic control, controls a rotating body and a work machine so that the lowest point of a work tool is at an intermediate target height that is higher than a loading object and lower than a target point from a first orientation where the rotating body faces a starting point to a second orientation where the work machine does not interfere with the loading target when viewed from above. The control unit controls the rotating body and the work machine so that the lowest point of the work tool is at the height of the target point by the time when the rotating body moves from the second orientation to a third orientation facing the target.SELECTED DRAWING: Figure 6

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] Incidentally, when a loading machine has a clam bucket, the bucket opens the clam and unloads the load while holding it in place. On the other hand, when unloading the load by rotating the bucket, the height of the lowest point of the bucket decreases as the bucket rotates. Therefore, according to the method described in Patent Document 1, the height of the interference avoidance point is set too high compared to the height of the loading target, which may result in a long time required for turning. 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 shorten the time required for 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 device for a loading machine that includes a rotating body that rotates around a rotation center, a support section that supports the rotating body, and a work machine attached to the rotating body having a working tool, and includes a control point determination section that determines, as a control point for the automatic control when the working tool is moved by automatic control to a target point above a loading object, a control point that is lower than the height of the target point and in an orientation where the work machine does not interfere with the loading object in a planar view from above, and a control section that controls the rotating body and the work machine via the control point when the automatic control is started. Effect of the Invention

[0006] According to the above aspect, the control system for the loading machine can reduce the time required for 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 a movement of the loading machine in a first turning according to the first embodiment. [Figure 7] 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 8] 4 is a flowchart (part 1) showing an automatic control method for a work system according to the first embodiment. [Figure 9] 4 is a flowchart (part 2) showing the automatic control method for the work system according to the first embodiment. [Figure 10]4 is a flowchart (part 3) 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 a 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 a control in which 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 (FIG. 6) which is a series of operations in which the bucket 133 is positioned outside the transport vehicle 300 due to excavation of the excavation target and the boom 131 is raised while rotating to a direction facing the transport vehicle 300, a loading operation in which the bucket 133 is rotated to load the load onto the transport vehicle 300, and a second rotation (FIG. 7) which is a series of operations in which the bucket 133 is positioned above the transport vehicle 300 due to the loading operation and the boom 131 is lowered while rotating to a predetermined direction to move the bucket 133 to the outside of the transport vehicle 300. In the example shown in FIGS. 6 and 7, the height of the transport vehicle 300 is higher than the excavation height, so the boom 131 is raised during the first rotation and the boom 131 is lowered during the second rotation, but the present invention 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 in the first rotation, and raised in the second rotation. Note that the automatic control according to other embodiments may be for performing only the first rotation. Note that the excavation target is usually located at a position lower than the height of the transport vehicle 300. Therefore, the loading machine 100 controls the drive of the work machine 130 so that the transport vehicle 300 and the work machine 130 do not come into contact with each other in the first and second rotations. 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, with 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] The processor 210 includes an acquisition unit 211, a display control unit 212, an operation signal input unit 213, a posture specification unit 214, a control point determination unit 215, and a control unit 216 by executing the loading control program.

[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 transmits the same to the remote control device 800 .

[0045] The operation signal input unit 213 receives an input of an operation signal of the operation device 730 from the remote control device 800. The operation signals include an operation signal of the boom 131, an operation signal of the arm 132, an operation signal of the bucket 133, a rotation operation signal of the revolving body 120, a travel operation signal of the traveling body 110, and an automatic control instruction signal of the loading machine 100. When the automatic control instruction signal is input, the operation signal input unit 213 decides to implement automatic control. In other words, the operation signal input unit 213 is an example of an automatic control determination unit that determines whether or not to start automatic control.

[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] The control point determination unit 215 determines a plurality of control points related to automatic control when an automatic control instruction signal is input to the operation signal input unit 213. The control points 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 control point is expressed by the deviation angle from the direction in which the revolving body 120 faces when the automatic control instruction signal is input, the moving radius which is the distance from the center of rotation of the revolving body 120, and the height. The control point determination unit 215 determines the positions of the start point p1, the first interference avoidance point p2a, the second interference avoidance point p2b, and the earth removal point p3 as the control points. The start point p1 is the target point of the tip of the arm 132 in the second rotation. The first interference avoidance point p2a is a control point for controlling the work machine 130 and the transport vehicle 300 not to come into contact with each other in the first rotation. The second interference avoidance point p2b is a control point for controlling the second rotation so as to prevent contact between the work implement 130 and the transport vehicle 300. The earth unloading point p3 is a target point for the tip of the arm 132 in the first rotation.

[0048] The control point determination unit 215 specifies the position of the tip of the arm 132 when the automatic control instruction signal is input as the position of the start point p1.

[0049] The control point determination unit 215 specifies the position of the earth unloading point p3 based on the measurement data of the position and orientation of the transport vehicle 300 acquired by the acquisition unit 211. The earth unloading 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 earth unloading 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 the first margin 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 first margin is a constant set so that the load loaded on the transport vehicle 300 does not interfere with the bucket 133. The first margin may be a value determined in advance according to the model of the transport vehicle 300.

[0050] The control point determination unit 215 specifies the positions of the first interference avoidance point p2a and the second interference avoidance point p2b based on the position and orientation of the loading machine 100 and the position and orientation 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 control point determination unit 215 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 points p2a and p2b. The radius of the interference avoidance points p2a and p2b is equal to the radius of the earth unloading point p3. The control point determination unit 215 can determine whether or not the transport vehicle 300 and the bucket 133 interfere with each other based on the position, orientation, 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. The height of the first interference avoidance point p2a is the height of the transport vehicle 300 plus the height of the bucket 133 when it is in a posture to hold a load, and the height of the bucket 133 plus the second margin. The height of the bucket 133 when it is in a posture to hold a load is, for example, the length from the pin of the bucket 133 to the bottom surface of the bucket 133. The second margin is a constant that is set so that the transport vehicle 300 and the bucket 133 do not interfere with each other. The second margin may be a value smaller than the first margin. The height of the second interference avoidance point p2b may be the same as the height of the earth unloading point p3.

[0051] The control unit 216 generates operation signals for executing the first rotation, the loading operation, and the second rotation, based on the positions of the control points identified by the control point determination unit 215. The control unit 216 determines the control amount of each actuator according to the operation signal input to the operation signal input unit 213 or the generated operation signal, and outputs a control signal to the control valve 123.

[0052] <<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 during a first turning according to the first embodiment. Fig. 7 is a diagram showing an example of the movement of the loading machine 100 during a second turning according to the first embodiment.

[0053] When the automatic control is started, the control unit 216 first causes the loading machine 100 to execute a first rotation. As shown in Fig. 6, the loading machine 100 first starts driving the work implement 130 (the boom 131, the arm 132, and the 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 first interference avoidance point p2 (the intermediate target height for the first rotation) and the distance from the center of rotation to the tip of the arm 132 becomes equal to the distance of the first interference avoidance point p2 by the time the rotation angle of the revolving body 120 matches the first interference avoidance angle θ1 (the deflection angle of the first interference avoidance point p2a). Note that, if the height of the work implement 130 reaches the intermediate target height for the first rotation before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1, that is, if the lowest point of the bucket 133 is higher than the upper end of the vessel wall of the transport vehicle 300, the rotation of the rotating body 120 will not cause the work implement 130 to come into contact with the transport vehicle 300. When the rotation angle of the rotating body 120 reaches the first interference avoidance angle θ1, the loading control device 200 drives the rotating body 120 and the work implement 130 so that the position of the tip of the arm 132 matches the earth unloading point p3.

[0054] When the tip of the arm 132 reaches the earth unloading point p3, the loading control device 200 rotates the bucket 133 in the dumping direction. In order to improve work efficiency, the loading control device 200 may rotate the bucket 133 in the dumping direction at a timing that is a response delay time from the earth unloading control command until the earth falls, before the timing of reaching a point a certain angle before the earth unloading point p3. When a certain time has elapsed after the bucket 133 is rotated in the dumping direction, the control unit 216 causes the loading machine 100 to execute a second rotation. As shown in FIG. 7, the loading control device 200 rotates the rotating body 120 without moving the work implement 130 until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2 (the difference between the deflection angle of the second interference avoidance point p2b and the deflection angle of the earth unloading point p3), thereby maintaining the height of the lowest point of the bucket 133. When the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the loading control device 200 drives the boom 131, the arm 132, and the bucket 133. At this time, the loading control device 200 may drive all of the boom 131, the arm 132, and the bucket 133, or may drive some of the boom 131, the arm 132, and the bucket 133, depending on the relationship between the posture at the start of the rotation and the target posture. When the position of the tip of the arm 132 reaches the start point p1, the loading control device 200 ends the automatic control of the loading machine 100. Note that, in other embodiments, the posture of the working machine 130 at the end of the second rotation may not match the posture at the start of the automatic control. That is, in other embodiments, the position of the tip of the arm 132 may not match the start point p1. For example, the posture of the working machine 130 at the end of the second rotation may be a posture that is determined in advance so as to make it easy to start excavation.

[0055] 6 and 7 show an example in which the positional relationship between the excavation position and the transport vehicle 300 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 transport vehicle 300 may be another rotation angle position, such as about 180 degrees around the rotating body 120.

[0056] <<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.

[0057] Fig. 8 is a flowchart (part 1) showing the automatic control method of the work system 1 according to the first embodiment. Fig. 9 is a flowchart (part 2) showing the automatic control method of the work system 1 according to the first embodiment. Fig. 10 is a flowchart (part 3) showing the automatic control method of the work system 1 according to the first embodiment. When the loading control device 200 receives an input of an automatic control instruction signal from the remote control device 800 by operation of the operator, it executes the automatic control shown in Figs. 8 to 10.

[0058] 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 / orientation calculator 151, the inclination measuring instrument 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 orientation of the revolving unit 120, the inclination angles of the boom 131, the arm 132, and the bucket 133, and the attitude of the revolving unit 120. The acquisition unit 211 also acquires measurement data of the position and orientation of the transport vehicle 300 from the control device 500.

[0059] The posture 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). The control point determination unit 215 identifies the position of the tip of the arm 132 identified in step S2 as the position of the start point p1 (step S3).

[0060] The control point determination unit 215 specifies the position of the earth unloading 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 S4). The control point determination unit 215 specifies the planar position (deflection angle and radius vector) of the earth unloading 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 control point determination unit 215 also specifies the height of the earth unloading point p3 by adding the length from the pin to the blade tip of the bucket 133 and the first margin to the known height of the haulage vehicle 300.

[0061] The control point determination unit 215 specifies the positions of the interference avoidance points p2a and p2b based on the position information and direction information of the haulage vehicle 300 acquired by the acquisition unit 211, the known shape of the haulage vehicle 300, and the position of the earth unloading point p3 (step S5). The control point determination unit 215 specifies the radius of the earth unloading point p3 as the radius of the interference avoidance points p2a and p2b. The control point determination unit 215 specifies the deflection angle at which the outer shape of the bucket 133 does not interfere with the haulage vehicle 300 in a plan view and is closest to the earth unloading point p3 as the deflection angle of the interference avoidance points p2a and p2b. The control point determination unit 215 specifies the height of the first interference avoidance point p2a by adding the length from the pin to the bottom surface of the bucket 133 and the second margin to the known height of the haulage vehicle 300. The control point determination unit 215 specifies the height of the earth unloading point p3 as the height of the second interference avoidance point p2b.

[0062] The loading control device 200 first executes a first rotation control of the loading machine 100 (FIG. 9). The acquisition unit 211 acquires the position and orientation 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 (step S6). The attitude identification unit 214 identifies the position of the tip of the arm 132 based on the measurement data (step S7).

[0063] The control unit 216 judges whether or not the rotation angle of the loading machine 100 is smaller than the deflection angle of the first interference avoidance point p2a determined in step S5 (step S8). 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.

[0064] If the rotation angle of the loading machine 100 is smaller than the deflection angle of the first interference avoidance point p2a (step S8: YES), that is, if the rotating body 120 is facing outward from the transport vehicle 300, the control unit 216 determines whether the difference between the radius and height of the tip of the arm 132 identified in step S7 when expressed in a polar coordinate system and the radius and height of the first interference avoidance point p2a is smaller than a predetermined threshold value (step S9).

[0065] If the difference between the radius vector and height of the tip of the arm 132 and the radius vector and height of the first interference avoidance point p2a is equal to or greater than the threshold (step S9: NO), the control unit 216 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 first interference avoidance point p2a (step S10). At this time, the control unit 216 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 S6.

[0066] Furthermore, the control unit 216 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 the same speed as the sum of the drive speeds (step S11). This allows the control unit 216 to generate an operation signal that maintains the ground angle of the bucket 133. That is, the control unit 216 maintains a state in which the bottom surface of the bucket 133 is at the lowest point during the first rotation. 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 S6.

[0067] The control unit 216 determines whether the work machine 130 is rotating (step S12). For example, the control unit 216 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 S12: NO), the control unit 216 calculates a completion time until the difference between the radius vector and height of the tip of the arm 132 and the radius vector and height of the first interference avoidance point p2a become equal based on the speeds of the boom 131 and the arm 132 (step S13). In addition, the control unit 216 calculates an arrival time until the rotation angle reaches the deflection angle of the first interference avoidance point p2a specified in step S5 when the rotating body 120 starts rotating (step S14). The control unit 216 determines whether the completion time calculated in step S13 is less than the arrival time calculated in step S14 (step S15). That is, the control unit 216 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 first interference avoidance point p2a when the rotation angle reaches the deflection angle of the first interference avoidance point p2a.

[0068] If the completion time is equal to or longer than the arrival time (step S15: 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 first interference avoidance point p2a before the rotation angle reaches the deflection angle of the first interference avoidance point p2a, the control unit 216 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 S15: YES), that is, if the radius vector and height of the tip of the arm 132 match the radius vector and height of the first interference avoidance point p2a before the rotation angle reaches the deflection angle of the first interference avoidance point p2a, the control unit 216 generates a rotation operation signal for the rotating body 120 (step S16). This allows the loading control device 200 to prevent the working machine 130 from contacting the transport vehicle 300 due to the working machine 130 rotating while the working machine 130 is still low. In addition, since the height of the first interference avoidance point p2a is lower than the height of the earth-discharging point p3, the time during which only the working machine 130 is driven without rotating during the first rotation can be shortened.

[0069] The control section 216 outputs the generated automatic operation signal to the control valve 123 (step S17). This drives the loading machine 100. Then, the loading control device 200 returns the process to step S6 and continues the control.

[0070] On the other hand, if it is determined in step S12 that the work machine 130 is turning (step S12: YES), the control unit 216 generates a turning operation signal in step S16, and outputs the turning operation signal to the control valve 123 in step S17. Then, the loading control device 200 returns the process to step S6 and continues the control.

[0071] On the other hand, if the rotation angle is equal to or greater than the deflection angle of the first interference avoidance point p2a (step S8: NO), that is, if the rotating body 120 is facing the transport vehicle 300, the control unit 216 determines whether the difference between the height of the tip of the arm 132 identified in step S7 when expressed in the polar coordinate system and the height of the earth unloading point p3 is smaller than a predetermined threshold value (step S18).

[0072] If the difference between the height of the tip of the arm 132 and the height of the earth unloading point p3 is equal to or greater than the threshold value (step S18: NO), the control unit 216 generates an automatic operation signal for the boom 131 and the arm 132 so as to bring the height of the tip of the arm 132 closer to the height of the earth unloading point p3 (step S19). The control unit 216 also calculates the sum of the drive speeds of the boom 131 and the arm 132 based on the generated automatic operation signals for 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 S20). 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 the target ground angle of the bucket 133 and the actual ground angle of the bucket 133 identified from the measurement data acquired in step S6.

[0073] Next, the control unit 216 determines whether or not the swing angle reaches the deflection angle of the dumping point p3 by inertial swing when the swing operation signal is stopped based on the swing speed of the swing body 120 (step S21). If the swing angle does not reach the deflection angle of the dumping point p3 by inertial swing (step S21: NO), the control unit 216 generates a swing operation signal (step S22). If the swing angle reaches the deflection angle of the dumping point p3 by inertial swing (step S21: YES), the control unit 216 does not generate a swing operation signal, but sets it to a neutral signal. The control unit 216 outputs the generated operation signal of the work implement 130 and / or the swing operation signal to the control valve 123 (step S23).

[0074] The control unit 216 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 control unit 216 returns to the process in step S6 and continues the first swing control.

[0075] When the tip of the arm 132 reaches the earth unloading point p3 (step S24: YES), the control unit 216 generates an operation signal for rotating the bucket 133 in the dumping direction (step S25) and outputs it to the control valve 123 (step S26). Note that, in order to improve work efficiency, the control unit 216 may output an operation signal for rotating the bucket 133 in the dumping direction at a timing that is further before the timing of reaching a point a certain angle before the earth unloading point p3, and at a timing that is a response delay time from the earth unloading control command until the earth falls. When the loading operation onto the transport vehicle 300 is completed, the loading control device 200 executes the second swing control of the loading machine 100 (FIG. 10).

[0076] The acquisition unit 211 acquires the measurement data of the loading machine 100 (step S27). The attitude identification unit 214 identifies the position of the tip of the arm 132 based on the measurement data (step S28).

[0077] The control unit 216 judges whether or not the turning angle of the loading machine 100 is larger than the deflection angle of the second interference avoidance point p2b determined in step S5 (step S29). The turning angle of the loading machine 100 at the start of the second turning is larger than the deflection angle of the second interference avoidance point p2b.

[0078] When the turning angle of the loading machine 100 is larger than the deflection angle of the second interference avoidance point p2b (step S29: YES), that is, when the turning body 120 is facing the transport vehicle 300, the control unit 216 generates a turning operation signal for the turning body 120 (step S30) and outputs the generated automatic operation signal to the control valve 123 (step S31). The loading control device 200 returns the process to step S27 and continues the control.

[0079] On the other hand, if the rotation angle is less than or equal to the deflection angle of the second interference avoidance point p2b (step S29: NO), that is, if the rotating body 120 is facing outward from the transport vehicle 300, the control unit 216 determines whether the difference between the radius and height of the tip of the arm 132 identified in step S28 when expressed in a polar coordinate system and the radius and height of the starting point p1 is less than a predetermined threshold value (step S32).

[0080] When the difference between the radius vector and the height of the tip of the arm 132 and the radius vector and the height of the start point p1 is equal to or greater than the threshold (step S32: NO), the control unit 216 generates an automatic operation signal for the boom 131 and the arm 132 so as to bring the height of the tip of the arm 132 closer to the height of the start point p1 (step S33). The control unit 216 also calculates the sum of the drive speeds of the boom 131 and the arm 132 based on the generated automatic operation signals for the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the drive speeds (step S34). 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 the target ground angle of the bucket 133 (for example, the ground angle of the bucket 133 at the start of the second rotation) and the actual ground angle of the bucket 133 identified from the measurement data acquired in step S27.

[0081] Next, the control unit 216 determines whether or not the rotation angle reaches the deflection angle of the start point p1 due to the rotation by inertia when the rotation operation signal is stopped based on the rotation speed of the rotating body 120 (step S35). If the rotation angle does not reach the deflection angle of the start point p1 due to the rotation by inertia (step S35: NO), the control unit 216 generates a rotation operation signal (step S36). If the rotation angle reaches the deflection angle of the start point p1 due to the rotation by inertia (step S36: YES), the control unit 216 does not generate a rotation operation signal, but sets it as a neutral signal. The control unit 216 outputs the generated operation signal of the work implement 130 and / or the rotation operation signal to the control valve 123 (step S37).

[0082] The control unit 216 judges whether the tip of the arm 132 has reached the start point p1 (step S38). In another embodiment, the posture of the work implement 130 at the end of the second rotation may be a predetermined posture so as to easily start excavation. In this case, the control unit 216 judges whether the tip of the arm 132 has reached a point whose rotation angle is represented by the deflection angle of the start point p1 and the radius vector when the work implement 130 takes the predetermined posture. If the tip of the arm 132 has not reached the start point p1 (step S38: NO), the loading control device 200 returns the process to step S27 and continues the second rotation control. On the other hand, if the tip of the arm 132 has reached the start point p1 (step S38: YES), the loading control device 200 ends the automatic control.

[0083] By the above-mentioned automatic control, the loading machine 100 can automatically discharge the soil scooped by the bucket 133 to the transport vehicle 300. The operator repeatedly executes the excavation by the work machine 130 and the automatic control by inputting the automatic control instruction signal 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.

[0084] Actions and Effects According to the first embodiment, the loading control device 200 automatically controls the rotating body 120 and the work machine 130 so that the lowest point of the bucket 133 is at an intermediate target height that is higher than the transport vehicle 300 and lower than the unloading point p3 by the time the rotating body 120 turns from the first direction to the second direction in which the work machine 130 does not interfere with the transport vehicle 300 in a plan view from above. Thereafter, the loading control device 200 controls the rotating body 120 and the work machine 130 so that the lowest point of the bucket 133 is at the height of the unloading point p3 by the time the rotating body 120 turns from the second direction to the third direction. Note that the direction related to the deflection angle of the start point p1 is an example of the first direction, the direction related to the deflection angle of the first interference avoidance point p2a is an example of the second direction, and the direction related to the deflection angle of the unloading point p3 is an example of the third direction. As a result, the loading control device 200 can reduce the time required for the revolving body 120 to turn from the first direction to the second direction, thereby shortening the time required for automatic control.

[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 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 unit 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 216 may control the revolving unit 120 and the work machine 130 to follow the trajectory generated.

[0087] 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.

[0088] 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.

[0089] 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]

[0090] 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 orientation 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: Control point determination unit 216: Control unit 220: Main memory 230: Storage 240: Interface

Claims

1. A control device for 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 attached to the rotating body that has a working tool, a control point determination unit that, when moving the working tool to a target point above the loading target by automatic control, determines, as a control point related to the automatic control, a control point that is lower than the height of the target point and has a direction in which the working tool does not interfere with the loading target in a plan view from above; a control unit that controls the rotating body and the work machine via the control point when the automatic control is started; Equipped with Loading machine control system.

2. When the automatic control is started, the control unit controls the rotating body and the work machine so that the lowest point of the work tool is at a height of the control point by the time the rotating body turns from a first direction in which the automatic control is started to a second direction in which the control point is turned, and controls the rotating body and the work machine so that the lowest point of the work tool is at a height of the target point by the time the rotating body turns from the second direction to a third direction in which the target point is turned. A control system for a loading machine according to claim 1.

3. The working tool is provided at the tip of the working machine so as to be rotatable around a rotation axis, the control unit controls the rotating body and the work machine so that a position of the rotation axis of the work machine moves to the target point via the control point, The height of the target point is higher than the height of the loading object plus the length from the rotation axis to the farthest point, A control system for a loading machine according to claim 1.

4. The height of the target point is a height obtained by adding the height of the loading object, the length of the work tool to the point farthest from the rotation axis, and a predetermined margin value. A control system for a loading machine according to claim 3.

5. The height of the control point is higher than the height of the loading target plus the height of the work tool when the load is held. A control system for a loading machine according to claim 1.

6. An acquisition unit that acquires measurement data indicating a position and an attitude of the loading object, The control point determination unit includes a determination unit that determines the control points based on the measurement data; Equipped with A control system for a loading machine according to claim 1.

7. a trajectory generating unit that generates a trajectory that passes through the control points and the target points; The control unit controls the rotating body and the work machine so that the work tool moves according to the trajectory. A control system for a loading machine according to claim 1.

8. A control method for 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 attached to the rotating body that has a working tool, comprising: When the working tool is moved to a target point above the loading target by automatic control, a control point related to the automatic control is determined to be lower than the height of the target point and in a direction in which the working tool does not interfere with the loading target in a plan view from above; When the automatic control is started, controlling the rotating body and the work machine via the control point; Equipped with A method for controlling a loading machine.

9. A control system for a loading machine according to any one of claims 1 to 7; 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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