Controller for loading machine and control method

Abstract

To provide a controller for a loading machine and a control method allowing a bucket to be moved at an appropriate position to start excavation after automatically loading control of the loading machine.SOLUTION: A start angle determination part determines a start angle of an angle of a revolving superstructure at a loading start time of a loading machine. A movement control part outputs an operation signal to drive the revolving superstructure of which an angle becomes a start angle after a bucket reaches a loading point above a loading target, and outputs the operation signal to make a posture of the bucket the revolving superstructure reach a previously set target posture different from the posture of the bucket at the loading start time.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a technique related to semi-automatic control of a loading machine. The semi-automatic control according to Patent Document 1 is a control for automatically performing excavation by receiving a digging instruction from an operator after completion of loading onto a loading target such as a dump truck, and controlling the turning of the loading machine and the driving of the working machine by the control device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when moving the bucket to the next excavation position after the excavation operation by the operator, it may be considered to return the bucket to the position at the start of loading. However, since the position at the start of loading is the position where the bucket existed at the completion of the excavation operation by the operator, it may not be appropriate as the position at the start of excavation. An object of the present disclosure is to provide a control device and a control method for a loading machine that can move a bucket to an appropriate position for starting excavation by automatic control of the loading machine.

Means for Solving the Problems

[0005] According to one aspect of the present disclosure, a control device for a loading machine includes a revolving body that revolves around a center of revolution, a support portion that supports the revolving body, and a working machine that has a bucket and is attached to the revolving body. The control device for the loading machine includes a start angle specifying portion that specifies a start angle, which is an angle of the revolving body at the start of loading of the loading machine, and a movement control portion that generates an operation signal for driving the revolving body and the working machine. The movement control portion outputs an operation signal for driving the revolving body until the angle of the revolving body becomes the start angle after the bucket reaches a loading point above a loading target, and outputs an operation signal for driving the working machine until the attitude of the bucket with respect to the revolving body becomes a target attitude preset separately from the attitude of the bucket at the start of loading.

Effect of the Invention

[0006] According to the above aspect, the control device for the loading machine can move the bucket to an appropriate position to start excavation by automatic control of the loading machine.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

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

[0009] 《Configuration of Loading Machine 100》 FIG. 1 is a schematic diagram showing the configuration of a loading machine 100 according to the first embodiment. The loading machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads it into a loading target T such as a dump truck. The loading machine 100 according to the first embodiment is a face shovel. Note that the loading machine 100 according to other embodiments may be a backhoe shovel or a rope shovel. The loading machine 100 includes a traveling body 110, a revolving body 120, a working machine 130, and a cab 140.

[0010] The traveling body 110 supports the loading machine 100 so as to be able to travel. The traveling body 110 includes two endless tracks 111 provided on the left and right, and two traveling motors 112 for driving each endless track 111. The revolving body 120 is supported by the traveling body 110 so as to be able to revolve around the center of revolution. The working machine 130 is hydraulically driven. The working machine 130 is supported so as to be vertically drivable at the front part of the revolving body 120. The driver's cab 140 is a space for the operator to board and operate the loading machine 100. The driver's cab 140 is provided at the left front part of the revolving body 120. Here, the part of the revolving body 120 where the working machine 130 is attached is referred to as the front part. Also, regarding the revolving body 120, based on the front part, the opposite side part is referred to as the rear part, the left side part is referred to as the left part, and the right side part is referred to as the right part.

[0011] 《Configuration of the revolving body 120》 The revolving body 120 is equipped with an engine 121, a hydraulic pump 122, a control valve 123, and a slewing 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 to each actuator (boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, clam cylinder 1332C, travel motor 112, and slewing motor 124) via the control valve 123. The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122. The slewing motor 124 is driven by the hydraulic oil supplied from the hydraulic pump 122 via the control valve 123, and slews the revolving body 120.

[0012] 《Configuration of the working machine 130》 The working machine 130 is equipped with a boom 131, an arm 132, a clam bucket 133, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C.

[0013] The base end of the boom 131 is attached to the revolving body 120 via a boom pin. In the loading machine 100 shown in FIG. 1, the boom 131 is provided at the front center portion of the revolving body 120, but it is not limited thereto, and the boom 131 may be attached with an offset in the left - right direction. In this case, the turning center of the revolving body 120 is not located on the operation plane of the working machine 130. The arm 132 connects the boom 131 and the clam bucket 133. The base end of the arm 132 is attached to the tip of the boom 131 via an arm pin. The clam bucket 133 has a backhoe 1331 attached to the tip of the arm 132 via a pin, a clam shell 1332 having a blade for excavating earth and sand, and a clam cylinder 1332C for opening and closing the backhoe 1331 and the clam shell 1332. The backhoe 1331 and the clam shell 1332 are connected via a pin so as to be openable and closable. When the backhoe 1331 and the clam shell 1332 are closed, the backhoe 1331 and the clam shell 1332 function as a container for storing the excavated earth and sand. On the other hand, when the backhoe 1331 and the clam shell 1332 are opened, the stored earth and sand can be discharged. The base end of the clam cylinder 1332C is attached to the backhoe 1331. The tip of the clam cylinder 1332C is attached to the clam shell 1332.

[0014] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. The base end of the boom cylinder 131C is attached to the revolving body 120. The tip of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. The base end of the arm cylinder 132C is attached to the boom 131. The tip of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the clam bucket 133. The base end portion of the bucket cylinder 133C is attached to the boom 131. The tip end portion of the bucket cylinder 133C is attached to a link member connected to the backall 1331.

[0015] 《Configuration of the driver's cab 140》 FIG. 2 is a diagram showing the internal configuration of the driver's cab 140 according to the first embodiment. In the driver's cab 140, a driver's seat 141, an operation terminal 142, and an operation device 143 are provided. The operation terminal 142 is provided in the vicinity of the driver's seat 141 and is a user interface with a control device 160 described later. The operation terminal 142 may receive operations from an operator, for example, by a touch panel. Further, the operation terminal 142 may include a display unit such as an LCD. The touch panel is an example of the display unit.

[0016] The operation device 143 is a device for driving the traveling body 110, the slewing body 120, and the working machine 130 by the manual operation of the operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left traveling lever 143LT, a right traveling lever 143RT, a clam open pedal 143CO, a clam close pedal 143CC, a slewing brake pedal 143TB, and a start switch 143SW.

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

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

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

[0020] The left foot pedal 143LF is arranged on the left side of the floor surface in front of the driver's seat 141. The right foot pedal 143RF is arranged on the right side of the floor surface in front of the driver's seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF and is configured such that the inclination of the left travel lever 143LT and the depression of the left foot pedal 143LF are interlocked. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF and is configured such that the inclination of the right travel lever 143RT and the depression of the right foot pedal 143RF are interlocked.

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

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

[0023] The clam open pedal 143CO and the clam close pedal 143CC are arranged on the left side of the left foot pedal 143LF. The clam open pedal 143CO is arranged to the immediate right of the clam close pedal 143CC. When the clam open pedal 143CO is depressed, the clam bucket 133 opens at a speed corresponding to the amount of depression. When the clam close pedal 143CC is depressed, the clam bucket 133 closes at a speed corresponding to the amount of depression.

[0024] The swing brake pedal 143TB is arranged on the right side of the right foot pedal 143RF. When the swing brake pedal 143TB is depressed, the relief pressure of the hydraulic circuit connecting the control valve 123 and the swing motor 124 is increased. Specifically, when the swing brake pedal 143TB is depressed, the solenoid of the variable relief valve provided in the hydraulic circuit connecting the control valve 123 and the swing motor 124 is excited, thereby increasing the relief pressure of the variable relief valve. Thereby, the braking force related to swinging can be increased.

[0025] The start switch 143SW is provided, for example, on the handle portion of the left operation lever 143LO. The start switch 143SW may be arranged so as to be located near the operator seated in the driver's seat 141. When the start switch 143SW is pressed, an automatic loading instruction signal is output to the control device 160. When receiving the input of the automatic loading instruction signal, the control device 160 starts the automatic loading control described later.

[0026] 《Configuration of the measurement system》 As shown in FIG. 1, the loading machine 100 includes a position and orientation calculator 151, an inclinometer 152, a boom angle sensor 153, an arm angle sensor 154, a bucket angle sensor 155, and a detection device 156.

[0027] The position and orientation calculator 151 calculates the position of the swing body 120 and the orientation in which the swing body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting GNSS. The two receivers are installed at different positions of the swing body 120 respectively. The position and orientation calculator 151 detects the position of the representative point (the origin of the excavator coordinate system) of the swing body 120 in the field coordinate system based on the positioning signals received by the receivers. The position and orientation calculator 151 calculates the orientation of the slewing body 120 as the relationship between the installation positions of the two receivers using each positioning signal received by the two receivers, with respect to the installation position of one receiver. The orientation of the slewing body 120 is the direction orthogonal to the front of the slewing body 120 and is equal to the horizontal component of the extending direction of the straight line extending from the boom 131 of the working machine 130 to the clam bucket 133.

[0028] The inclination measuring device 152 measures the acceleration and angular velocity of the slewing body 120, and detects the posture (for example, roll angle, pitch angle, yaw angle) of the slewing body 120 based on the measurement results. The inclination measuring device 152 is installed, for example, on the lower surface of the slewing body 120. The inclination measuring device 152 can use, for example, an inertial measurement unit (IMU).

[0029] The boom angle sensor 153 is attached to the boom 131 and detects the inclination angle of the boom 131. The arm angle sensor 154 is attached to the arm 132 and detects the inclination angle of the arm 132. The bucket angle sensor 155 is attached to the backhaul 1331 of the clam bucket 133 and detects the inclination angle of the clam bucket 133. The boom angle sensor 153, arm angle sensor 154, and bucket angle sensor 155 according to the first embodiment detect the inclination angle with respect to the ground plane. Note that the angle sensors according to other embodiments are not limited to this, and may detect the inclination angle with respect to other reference planes. For example, in other embodiments, the angle sensor may detect the relative rotation angle by a potentiometer provided at the base ends of the boom 131, arm 132, and clam bucket 133, or may measure the cylinder lengths of the boom cylinder 131C, arm cylinder 132C, and bucket cylinder 133C and detect the inclination angle by converting the cylinder lengths into angles.

[0030] The detection device 156 detects the three-dimensional position of an object existing around the loading machine 100. Examples of the detection device 156 include a stereo camera, a laser scanner, a UWB (Ultra Wide Band) distance measurement device, etc. The detection device 156 is provided, for example, above the driver's cab 140 so that the detection direction faces forward. Note that the detection device 156 may be provided anywhere as long as it can image the surroundings of the loading machine 100. For example, it may be provided on the side wall of the swivel body 120 outside the driver's cab 140. Also, the detection direction does not have to face forward. The detection device 156 specifies the three-dimensional position of the object in a coordinate system based on the position of the detection device 156. Note that the loading machine 100 according to other embodiments may include a plurality of detection devices 156.

[0031] 《Configuration of the control device 160》 FIG. 3 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The loading machine 100 includes the control device 160. The control device 160 may be mounted on the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input / output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 outputs the received operation signal or an operation signal for automatic loading control generated by calculation to the control valve 123, thereby driving the work implement 130, the swivel body 120, and the traveling body 110.

[0032] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores programs. The processor 610 reads a program from the storage 650, expands it in the main memory 630, and executes processing according to the program.

[0033] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, an optical disk, etc. The storage 650 may be an internal medium directly connected to the common communication line of the control device 160, or may be an external medium connected to the control device 160 via the interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0034] By executing a program, the processor 610 includes a measurement data acquisition unit 611, a map generation unit 612, an operation signal input unit 613, a working machine position identification unit 614, a loading target identification unit 615, a start angle identification unit 616, an avoidance angle identification unit 617, a target attitude determination unit 618, a movement control unit 619, a clamp control unit 620, and an operation signal output unit 621.

[0035] The measurement data acquisition unit 611 acquires measurement data from the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the tilt meter 152, the boom angle sensor 153, the arm angle sensor 154, the bucket angle sensor 155, and the detection device 156. The measurement data acquisition unit 611 calculates the angle of the slewing body 120 by integrating the angular velocity of the slewing body 120 measured by the tilt meter 152.

[0036] The map generation unit 612 generates map data representing the surroundings of the loading machine 100 using the measurement data acquired from the detection device 156. The map generation unit 612 generates map data by, for example, SLAM (Simultaneous Localization and Mapping) technology. The map data is represented in the vehicle body coordinate system. The vehicle body coordinate system is an orthogonal coordinate system with the center of rotation of the slewing body 120 as the origin, an axis extending in the front-rear direction, an axis extending in the left-right direction, and an axis extending in the up-down direction. Since the detection device 156 is fixed to the slewing body 120, the map generation unit 612 can generate map data in the vehicle body coordinate system by translating the calculation result of SLAM based on the positional relationship between the center of rotation and the detection device 156. The map data generated by the map generation unit 612 is recorded in the main memory 630.

[0037] The operation signal input unit 613 receives the input of operation signals from the operation device 143. The operation signals include the rotation operation signal of the boom 131, the rotation operation signal of the arm 132, the rotation operation signal of the clam bucket 133, the opening / closing operation signal of the clam bucket 133, the turning operation signal of the slewing body 120, the traveling operation signal of the traveling body 110, and the automatic loading instruction signal of the loading machine 100.

[0038] Based on the measurement data acquired by the measurement data acquisition unit 611, the work implement position specifying unit 614 specifies the position P (FIG. 5) of the tip of the arm 132 and the height H (FIG. 5) from the tip of the arm 132 to the lowest point of the clam bucket 133 in the vehicle body coordinate system with the slewing body 120 as the reference. The lowest point of the clam bucket 133 refers to the point on the outer shape of the clam bucket 133 where the distance from the ground surface is the shortest.

[0039] 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), the work implement position specifying unit 614 obtains the vertical direction component and the horizontal direction component of the length of the boom 131. Similarly, the work implement position specifying unit 614 obtains the vertical direction component and the horizontal direction component of the length of the arm 132. The work implement position specifying unit 614 specifies, as the position P of the tip of the arm 132, a position that is separated by the sum of the vertical direction components and the sum of the horizontal direction components of the lengths of the boom 131 and the arm 132 in the direction specified from the position of the loading machine 100 and the orientation and posture of the loading machine 100. Further, based on the inclination angle of the clam bucket 133 and the known shape of the clam bucket 133, the work implement position specifying unit 614 specifies the lowest point in the vertical direction of the clam bucket 133, and specifies the height H from the tip of the arm 132 to the lowest point and the horizontal distance D (FIG. 5) from the tip to the lowest point.

[0040] When an automatic loading instruction signal is input to the operation signal input unit 613, the loading target specifying unit 615 determines a loading point based on the map data generated by the map generation unit 612. The loading point is a position above the loading target T (for example, the hopper of a dump truck). In automatic loading control, dump control is started when the tip of the arm 132 reaches the loading point. Specifically, the loading target specifying unit 615 specifies the position and shape of the loading target T from the map data and the known shape of the loading target T. For example, the loading target specifying unit 615 specifies the position of the loading target T by three-dimensional pattern matching. The loading target specifying unit 615 determines the loading point based on the center point of the upper surface of the specified loading target T and the shape of the clam bucket 133.

[0041] When an automatic loading instruction signal is input to the operation signal input unit 613, the start angle specifying unit 616 specifies, as the start angle, the angle between the direction in which the revolving body 120 faces and the direction in which the loading point exists. The direction in which the revolving body 120 faces when the automatic loading instruction signal is input can also be said to be the direction in which the revolving body 120 faces at the start of the automatic loading control of the loading machine 100. That is, the start angle specifying unit 616 specifies, as the start angle, the angle formed by a line segment extending from the center of rotation of the revolving body 120 to the position of the tip of the arm 132 specified by the work implement position specifying unit 614 at the start of the automatic loading control and a line segment extending from the center of rotation of the revolving body 120 to the loading point.

[0042] The interference avoidance angle specifying unit 617 specifies an interference avoidance angle based on the position and shape of the loading target T specified by the loading target specifying unit 615. The interference avoidance angle is the turning angle when the work implement 130 and the loading target T do not interfere in a plan view from above. Specifically, the interference avoidance angle specifying unit 617 specifies the interference avoidance angle according to the following procedure.

[0043] The avoidance angle specifying unit 617 specifies the most rearward point p1 (Fig. 5) in the turning direction of the rotating body 120 among the outer shapes of the loading target T based on the position and shape of the loading target T specified by the loading target specifying unit 615. The avoidance angle specifying unit 617 obtains a first angle φ1 (Fig. 5) formed by a line segment extending from the turning center of the rotating body 120 at the start of the automatic loading control to the position of the tip of the arm 132 and a line segment extending from the turning center of the rotating body 120 to a point on the outer shape of the specified loading target T. The avoidance angle specifying unit 617 specifies the most forward point p2 (Fig. 5) in the turning direction of the rotating body 120 among the outer shapes of the clam bucket 133 based on the position of the tip of the arm 132 specified by the work implement position specifying unit 614 and the known shape of the clam bucket 133. The avoidance angle specifying unit 617 obtains a second angle φ2 formed by a line segment extending from the turning center of the rotating body 120 to the position of the tip of the arm 132 and a line segment extending from the turning center of the rotating body 120 to a point on the outer shape of the specified clam bucket 133. The avoidance angle specifying unit 617 obtains an interference avoidance angle θ1 (Fig. 5) by subtracting an angle φ3 for the control margin from the difference between the first angle φ1 and the second angle φ2.

[0044] The target posture determination unit 618 calculates the posture of the working machine 130 when the tip of the arm 132 is positioned at the loading point based on the distance and height from the turning center determined by the loading target identification unit 615 to the loading point, and determines the target posture of the working machine 130 at the start of soil discharge. Further, the target posture determination unit 618 determines the target posture of the working machine 130 at the start of excavation by reading out the predetermined target posture of the working machine 130 at the start of excavation from the storage 650 or the main memory 630. FIG. 4 is a diagram showing an example of the target posture of the working machine 130 at the start of excavation according to the first embodiment. The target posture at the start of excavation is, for example, a posture such that the clam bucket 133 approaches to such an extent that it does not interfere with the traveling body 110, and approaches to such an extent that the bottom surface of the clam bucket 133 does not contact the plane Z1 including the bottom surface of the traveling body 110. That is, in the target posture at the start of excavation, the clam bucket 133 is located outside the interference prohibition region Z2 formed outside the virtual cylinder circumscribing the traveling body 110 in terms of the distance from the turning center. Such a target posture is a posture that is easy to enter the next excavation work. By defining the interference prohibition region Z2 by a virtual cylinder instead of a rectangular parallelepiped corresponding to the traveling body 110, it is possible to prevent contact between the traveling body 110 and the clam bucket 133 when the revolving body 120 revolves. The bottom surface of the clam bucket 133 related to the target posture at the start of excavation may be parallel to the plane Z1 or may form an acute angle with respect to the plane Z1. The target posture is represented by, for example, the positions of the tip of the boom 131, the tip of the arm 132, and the cutting edge of the clam bucket 133 in the vehicle body coordinate system. Note that the posture of the working machine 130 includes the positions and angles of the respective components constituting the working machine 130 in the vehicle body coordinate system.

[0045] When the operation signal input unit 613 receives an input of an automatic loading instruction signal, the movement control unit 619 shown in FIG. 3 generates an operation signal for realizing a combined operation of the slewing body 120 and the working machine 130 to move the clam bucket 133 to the loading point based on the loading point specified by the loading target specifying unit 615 and the interference avoidance angle specified by the interference avoidance angle specifying unit 617. Specifically, the movement control unit 619 generates an operation signal for driving the working machine 130 so that the posture of the working machine 130 becomes the target posture at the start of soil discharge determined by the target posture determination unit 618. Further, the movement control unit 619 adjusts the turning start timing so that the posture of the working machine 130 becomes the target posture at the start of soil discharge by the time the turning angle reaches the interference avoidance angle. That is, when the turning of the slewing body 120 is started, if the working machine 130 does not reach the target posture by the time the turning angle due to the turning reaches the interference avoidance angle, the movement control unit 619 does not generate a turning operation signal for the slewing body 120 and generates only an operation signal for the working machine 130. On the other hand, when it is determined that the working machine 130 reaches the target posture by the time the turning angle due to the turning reaches the interference avoidance angle, the movement control unit 619 generates a turning operation signal for the slewing body 120 and an operation signal for the working machine 130, and realizes a combined operation of the slewing body 120 and the working machine 130.

[0046] Further, after the tip of the arm 132 reaches the loading point, the movement control unit 619 turns the slewing body 120 to the start angle specified by the start angle specifying unit 616, and generates an operation signal for driving the slewing body 120 and the working machine 130 so that the posture of the working machine 130 becomes the target posture at the start of excavation determined by the target posture determination unit 618.

[0047] When the tip of the arm 132 reaches the loading point, the clamp control unit 620 generates an operation signal to open the clamp bucket 133. Further, when the turning angle of the revolving body 120 exceeds the angle which is the difference between the start angle and the interference avoidance angle, the clamp control unit 620 generates an operation signal to close the clamp bucket 133. Note that even before the tip of the arm 132 reaches the loading point, the clamp control unit 620 may generate an operation signal to open the clamp bucket 133 when the clamp bucket 133 and the loading target T overlap in a plan view from above. The clamp control unit 620 is an example of a dump control unit.

[0048] The operation signal output unit 621 outputs the operation signal input to the operation signal input unit 613 or the operation signal generated by the movement control unit 619. Specifically, the operation signal output unit 621 outputs the operation signal generated by the movement control unit 619 when the automatic loading control is in progress, and outputs the operation signal input to the operation signal input unit 613 when the automatic loading control is not in progress.

[0049] 《Operation during Automatic Loading Control》 Here, with reference to the drawings, the movement of the loading machine 100 during automatic loading control according to the first embodiment will be described. FIG. 5 is a diagram showing an example of the movement of the loading machine 100 from the start of automatic loading control to the start of soil discharge according to the first embodiment. FIG. 6 is a diagram showing an example of the movement of the loading machine 100 from the start of soil discharge to the end of automatic loading control according to the first embodiment.

[0050] The automatic loading control according to the first embodiment is started when the start switch 143SW is pressed while the work machine 130 excavates the earth and sand to be excavated by manual operation by the operator and the earth and sand is held in the clam bucket 133. When the automatic loading control is started, the loading machine 100 discharges the earth and sand above the loading target T and moves the work machine 130 to the next excavation start point. In the first embodiment, at the end of the automatic loading control, the revolving body 120 is turned in the direction in which the automatic loading control is started so as to facilitate the next excavation process. Further, so as to facilitate the next excavation process, the work machine 130 is lowered until the bottom surface of the clam bucket 133 is close to the ground, and the clam bucket 133 is brought closer to the vehicle body side.

[0051] Specifically, when the automatic loading control is started, as shown in FIG. 5, the control device 160 first starts driving the work machine 130 (boom 131, arm 132, and clam bucket 133) and moves the clam bucket 133 upward. Subsequently, the control device 160 starts turning the revolving body 120. The control device 160 adjusts the turning start timing so that the posture of the work machine 130 becomes the target posture at the start of discharging before the turning angle of the revolving body 120 coincides with the interference avoidance angle θ1. Hereinafter, the interference avoidance angle θ1 is also referred to as the first interference avoidance angle θ1. When the posture of the work machine 130 becomes the target posture at the start of discharging before the turning angle of the revolving body 120 coincides with the first interference avoidance angle θ1, that is, when the height of the lowest point of the clam bucket 133 is higher than the upper surface of the loading target T, the work machine 130 does not contact the loading target T due to the turning of the revolving body 120. Thereafter, when the tip of the arm 132 reaches the loading point, the control device 160 opens the clam bucket 133 and starts discharging.

[0052] When a certain period of time has elapsed since the start of dumping, the control device 160 starts the turning of the revolving body 120 as shown in FIG. 6. The control device 160 does not start driving the working machine 130 until the turning angle of the revolving body 120 exceeds the angle θ2, which is the difference between the start angle θ0 and the interference avoidance angle θ1. Hereinafter, the angle θ2 is also referred to as the second interference avoidance angle θ2. When the turning angle of the revolving body 120 exceeds the second interference avoidance angle θ2, the control device 160 starts driving the working machine 130. When the turning angle of the revolving body 120 reaches the start angle θ0, the control device 160 ends the driving of the revolving body 120. Further, when the posture of the working machine 130 becomes the target posture at the start of excavation, the control device 160 ends the driving of the working machine 130.

[0053] FIG. 7 is a diagram comparing the posture of the working machine 130 at the start of the automatic loading control and the posture of the working machine 130 at the end of the automatic loading control in the first embodiment. The automatic loading control starts when the working machine 130 excavates earth and sand and the earth and sand are held in the clam bucket 133. Therefore, the posture 133s of the clam bucket 133 at the start of the automatic loading control takes a posture with the blade facing upward above the excavation target. In order to excavate the excavation target, it is necessary to scoop up from below with the cutting edge facing the excavation target. Therefore, in order to start the excavation work from the posture 133s of the clam bucket 133 at the start of the automatic loading control, it is necessary to change the position and posture of the clam bucket 133. On the other hand, the posture 133e of the clam bucket 133 at the end of the automatic loading control, that is, the target posture at the start of excavation, takes a posture with the blade facing forward at a height close to the ground surface. Thereby, by setting the posture of the clam bucket 133 at the end of the automatic loading control to the target posture at the start of excavation, the operator can easily shift the work to the next excavation work.

[0054] 《Operation of the control device 160》 FIG. 8 is a flowchart showing the operation of the control device 160 according to the first embodiment. The control device 160 of the loading machine 100 performs the state update process shown in FIG. 8 at regular control cycles during operation.

[0055] The measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the inclinometer 152, the boom angle sensor 153, the arm angle sensor 154, the bucket angle sensor 155, and the detection device 156 (step SS1). The map generation unit 612 updates the map data recorded in the main memory 630 using the measurement data acquired from the detection device 156 in step SS1 (step SS2). Thereby, the control device 160 can always keep the map data representing the situation near the loading machine 100 in the latest state, and can make the latest position of the loading target T appear in the map data.

[0056] The work machine position specifying unit 614 specifies the position P of the tip of the arm 132 and the height H from the tip of the arm 132 to the lowest point of the clam bucket 133 in the vehicle body coordinate system with the slewing body 120 as a reference based on the measurement data acquired in step SS3 (step SS3). Thereby, the control device 160 can always specify the current posture of the work machine 130.

[0057] FIG. 9 is a flowchart showing the operation of the control device 160 from the start of the automatic loading control to the start of the soil discharge according to the first embodiment. FIG. 10 is a flowchart showing the operation of the control device 160 from the start of the soil discharge to the end of the automatic loading control according to the first embodiment. When the start switch 143SW is pressed by the operator, the operation signal input unit 613 of the control device 160 receives the input of the automatic loading instruction signal. The control device 160 starts the automatic loading control from step SS1 in FIG. 8 using the automatic loading signal as a trigger.

[0058] The control device 160 updates the measurement data, the map data, and the posture of the working machine 130 to the latest state by the state update process shown in FIG. 8 (step S1). The loading target specifying unit 615 specifies the position and shape of the loading target T based on the map data updated in step S1 (step S2). The loading target specifying unit 615 determines the loading point based on the position of the loading target T specified in step S2 and the height H from the tip of the arm 132 to the lowest point of the clam bucket 133 specified in step S1 (step S3).

[0059] The start angle specifying unit 616 specifies the start angle θ0 based on the position of the loading point in the map data determined in step S3 (step S4). Since the map data is represented in the vehicle body coordinate system, the start angle specifying unit 616 specifies, for example, the angle of the position vector of the loading point with respect to the coordinate axis extending in front of the revolving body 120 as the start angle θ0. The avoidance angle specifying unit 617 specifies the first interference avoidance angle θ1 based on the position and shape of the loading target T specified in step S2 (step S5). The target posture determining unit 618 determines the postures of the boom 131 and the arm 132 when the tip of the arm 132 is located at the loading point as the target posture (step S6).

[0060] Next, the control device 160 updates the measurement data, the map data, and the posture of the working machine 130 to the latest state by the state update process shown in FIG. 8 (step S7). Next, the movement control unit 619 determines whether the posture of the working machine 130 specified in step S7 approximates the target posture determined in step S6 (step S8). For example, the movement control unit 619 determines that the posture of the working machine 130 approximates the target posture when the difference between the position of the tip of the arm 132 in the target posture and the current position of the tip of the arm 132 is equal to or less than a predetermined value.

[0061] When the posture of the working machine 130 does not approximate the target posture (step S8: NO), the movement control unit 619 generates an operation signal to bring the boom 131 and the arm 132 closer to the target posture (step S9). At this time, the movement control unit 619 generates the operation signal based on the positions and speeds of the boom 131 and the arm 132 specified in step S7.

[0062] Further, the movement control unit 619 calculates the sum of the angular velocities of the boom 131 and the arm 132 based on the generated operation signals of the boom 131 and the arm 132, and generates an operation signal to rotate the clam bucket 133 at the same speed as the sum of the angular velocities (step S10). Thereby, the movement control unit 619 can generate an operation signal for holding the ground angle of the clam bucket 133.

[0063] The movement control unit 619 determines whether or not the working machine 130 is turning (step S11). The movement control unit 619 determines that it is turning, for example, when the turning speed of the turning body 120 is equal to or higher than a predetermined speed. When the working machine 130 is not turning (step S11: NO), the movement control unit 619 calculates the completion time until the working machine 130 reaches the target posture based on the speeds of the boom 131 and the arm 132 specified in step S7 (step S12). Further, the movement control unit 619 calculates the arrival time until the turning angle reaches the first interference avoidance angle θ1 specified in step S5 when the turning body 120 starts turning (step S13). The movement control unit 619 determines whether or not the completion time calculated in step S12 is less than the arrival time calculated in step S13 (step S14). That is, the movement control unit 619 determines whether or not the working machine 130 reaches the target posture when the turning angle reaches the first interference avoidance angle θ1.

[0064] When the completion time is equal to or greater than the arrival time (step S14: NO), that is, when the working machine 130 does not reach the target posture before the turning angle reaches the first interference avoidance angle θ1, the movement control unit 619 does not generate a turning operation signal for the turning body 120. On the other hand, when the completion time is less than the arrival time (step S14: YES), that is, when the working machine 130 reaches the target posture before the turning angle reaches the first interference avoidance angle θ1, the movement control unit 619 generates a turning operation signal for the turning body 120 (step S15). Thereby, the control device 160 can prevent the working machine 130 from contacting the loading target T.

[0065] Then, the operation signal output unit 621 outputs the operation signal generated in at least any one of steps S9, S10, and S15 to the control valve 123 (step S16). Thereby, the loading machine 100 is driven. Then, the control device 160 returns the process to step S7 and continues the control.

[0066] On the other hand, when it is determined in step S11 that the working machine 130 is turning (step S11: YES), the movement control unit 619 determines whether the tip of the arm 132 reaches the loading point by the coasting turning when the turning operation signal is stopped based on the turning speed of the working machine 130 specified in step S7 (step S17). When the tip of the arm 132 does not reach the loading point by the coasting turning (step S17: NO), the movement control unit 619 generates a turning operation signal in step S15, and the operation signal output unit 621 outputs the turning operation signal to the control valve 123 in step S16.

[0067] When it is determined that the tip of the arm 132 reaches the loading point due to the rotation by inertia (step S17: YES), the control device 160 updates the measurement data, the map data, and the posture of the working machine 130 to the latest state by the state update process shown in FIG. 8 (step S18 in FIG. 10). The movement control unit 619 determines whether or not the tip of the arm 132 has reached the loading point based on the map data updated in step S18 (step S19). When the tip of the arm 132 has not reached the loading point (step S19: NO), the control device 160 returns the process to step S18 and waits for the arrival at the loading point.

[0068] When the tip of the arm 132 reaches the loading point (step S19: YES), the clam control unit 620 generates an opening operation signal for the clam bucket 133 (step S20). The operation signal output unit 621 outputs the opening operation signal generated in step S20 to the control valve 123 (step S21). The clam control unit 620 waits for a certain time to elapse after outputting the opening operation signal for the clam bucket 133 (step S22). This time is the time until a certain amount of earth and sand falls from the opened clam bucket 133. Note that this time may be shorter than the time until all the earth and sand falls from the clam bucket 133.

[0069] After a certain time, the target posture determination unit 618 determines the target posture at the start of excavation of the working machine 130 by reading out the target posture at the start of excavation of the working machine 130, which is predetermined, from the storage 650 or the main memory 630 (step S23). The target posture at the start of excavation is, for example, a posture such that the clam bucket 133 approaches to such an extent that it does not interfere with the traveling body 110 and does not interfere with the plane passing through the bottom surface of the traveling body 110.

[0070] Next, the control device 160 updates the measurement data, the map data, and the posture of the work implement 130 to the latest state by the state update process shown in FIG. 8 (step S24). Next, the movement control unit 619 determines whether or not the turning angle of the revolving body 120 from the start of dumping to the current time is less than the second interference avoidance angle θ2, which is the difference between the start angle θ0 and the first interference avoidance angle θ1 (step S25). When the turning angle is less than the second interference avoidance angle θ2 (step S25: YES), since the work implement 130 may come into contact with the loading target T, the movement control unit 619 generates an operation signal (neutral signal) for maintaining the posture of the work implement 130.

[0071] In step S25, when the turning angle is greater than or equal to the second interference avoidance angle θ2 (step S25: NO), the movement control unit 619 determines whether or not the posture of the work implement 130 specified in step S24 approximates the target posture determined in step S23 (step S26). When the posture of the work implement 130 does not approximate the target posture (step S26: NO), the movement control unit 619 generates an operation signal for bringing the boom 131, the arm 132, and the clam bucket 133 closer to the target posture (step S27). Further, the clam control unit 620 generates a closing operation signal for the clam bucket (step S28). When the posture of the work implement 130 approximates the target posture (step S26: YES), the movement control unit 619 does not generate an operation signal for the work implement 130.

[0072] In addition, based on the turning speed of the work implement 130 specified in step S24, the movement control unit 619 determines whether or not it is possible to turn to the start angle θ0 specified in step S4 by the turning due to inertia when the turning operation signal is stopped (step S29). When it is not possible to turn to the start angle θ0 by the turning due to inertia (step S29: NO), the movement control unit 619 generates a turning operation signal (step S30). On the other hand, when it is possible to turn to the start angle θ0 by the turning due to inertia (step S29: YES), the movement control unit 619 does not generate a turning operation signal.

[0073] Next, the operation signal output unit 621 determines whether or not the working machine 130 approximates the target posture and the turning angle of the revolving body 120 has reached the starting angle θ0 (step S31). When the working machine 130 does not approximate the target posture or the turning angle of the revolving body 120 is less than the starting angle θ0 (step S31: NO), the operation signal output unit 621 outputs the operation signals generated in steps S27, S28, and S30 to the control valve 123 (step S32). Then, the control device 160 returns the process to step S24 and continues the control.

[0074] On the other hand, when the working machine 130 approximates the target posture and the turning angle of the revolving body 120 has reached the starting angle θ0 (step S31: YES), the control device 160 ends the automatic loading control.

[0075] 《Function and Effect》 As described above, the control device 160 according to the first embodiment specifies the starting angle θ0 which is the angle of the revolving body 120 at the start of the automatic loading control, and after the clam bucket 133 reaches the loading point, drives the revolving body 120 until the angle of the revolving body 120 becomes the starting angle θ0, and drives the working machine 130 until the posture of the working machine 130 becomes a target posture preset separately from the posture of the working machine 130 at the start of the automatic loading control. Since the posture of the working machine 130 at the start of the automatic loading control is the posture immediately after normal excavation, there is a high possibility that it is not a posture suitable for excavation. Usually, after excavation, the clam bucket 133 faces upward in order to hold the earth and sand, so the cutting edge faces upward. On the other hand, it is preferable that the cutting edge faces the earth and sand in order to excavate the earth and sand. Therefore, according to the first embodiment, the control device 160 drives the clam bucket 133 until it reaches a target posture preset separately from the posture of the clam bucket 133 at the start of the automatic loading control, so that after the automatic loading control, the clam bucket 133 can be set in an appropriate posture for starting excavation.

[0076] In addition, the position of the clam bucket 133 indicated by the target posture in the first embodiment is located outside the interference prohibited region Z2. That is, the position of the clam bucket 133 indicated by the target posture is a position that does not interfere with the circumcircle of the traveling body 110. Thereby, when the control device 160 controls the work implement 130 to be in the target posture, the control device 160 can prevent the clam bucket 133 from contacting the traveling body 110.

[0077] In addition, the control device 160 according to the first embodiment outputs a swing operation signal of the swing body 120 after the clam bucket 133 reaches the loading point and before outputting a closing operation signal of the clam bucket 133. Thereby, the control device 160 can shorten the cycle time related to the next excavation operation.

[0078] 〈Other Embodiments〉 Although one embodiment has been described in detail with reference to the drawings above, the specific configuration is not limited to the above, and various design changes and the like are possible. That is, in other embodiments, the order of the above-described processes may be appropriately changed. Also, some processes may be executed in parallel.

[0079] The control device 160 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged in a plurality of computers, and the plurality of computers may function as the control device 160 by cooperating with each other. At this time, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and other computers may be provided outside the loading machine 100.

[0080] The loading machine 100 according to the above-described embodiment is a face shovel, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be a backhoe. When the loading machine 100 is a backhoe, the target posture at the start of excavation of the working machine 130 is different from that in the first embodiment. Since the backhoe performs excavation by pulling the working machine 130 toward the front side, it is preferable that the position of the bucket regarding the target posture at the start of excavation is away from the revolving body 120. For example, the loading machine 100 may identify the shape of the excavation target from the map data, and set, as the target posture at the start of excavation, a posture that is away from the revolving body 120, close to the excavation target, and at an angle where the cutting edge faces the excavation target.

[0081] The loading machine 100 according to the above-described embodiment has a clam bucket 133, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be equipped with a normal bucket. In this case, the loading machine 100 is provided with a dump control unit instead of the clam control unit 620. The dump control unit outputs a rotation operation signal in the dump direction instead of an opening operation signal. Note that the control device 160 may output a turning operation signal of the revolving body 120 during the output of the rotation operation signal in the dump direction in order to shorten the cycle time.

[0082] The target posture according to the above-described embodiment is preset and recorded in the main memory 630 or the storage 650, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be configured such that the target posture can be changed by an operation of the operation terminal 142. For example, the loading machine 100 according to another embodiment may change the target posture by inputting numerical values representing the positions and angles of the boom 131, the arm 132, and the clam bucket 133 to the operation terminal 142. Further, the loading machine 100 according to another embodiment may control the working machine 130 to a preferable posture by an operator's operation, and then operate the operation terminal 142, so that the working machine position specifying unit 614 specifies the posture of the working machine 130 and overwrites the target posture with the posture.

[0083] The control device 160 according to the above-described embodiment specifies the loading target based on the map data of SLAM based on the measurement data of the detection device 156, but is not limited thereto. For example, the control device 160 according to another embodiment may receive an input of the latitude, longitude, and facing direction of the loading target, and calculate the position and shape of the loading target in the vehicle body coordinate system from the measurement results of the position and orientation calculator 151. Further, the control device 160 according to another embodiment may control the loading machine 100 based on a global coordinate system represented by latitude, longitude, and altitude instead of the vehicle body coordinate system. In this case, the control device 160 may calculate angles such as the start angle and the turning angle as angles with respect to the reference direction of the global coordinate system.

[0084] The control device 160 according to the above-described embodiment calculates the angle of the swivel body 120 by integrating the angular velocity of the swivel body 120 measured by the inclinometer 152, but is not limited thereto. For example, the control device 160 according to another embodiment may calculate the angle of the swivel body 120 based on the difference in the orientation measured by the position and orientation calculator 151. Further, in another embodiment, the angle of the swivel body 120 may be specified using the detection value of the rotation angle sensor provided in the swivel motor 124.

[0085] The control device 160 according to the above-described embodiment performs automatic loading control based on a comparison between the turning angle and the interference avoidance angle, but is not limited thereto. For example, the control device 160 according to another embodiment may perform automatic loading control based on a comparison between the position of the clam bucket 133 and the most rear point p1 (FIG. 5) in the outer shape of the loading target T in the turning direction of the swivel body 120. For example, the control device 160 according to another embodiment may adjust the turning start timing so that the clam bucket 133 is located in the region near the point p1.

[0086] The loading machine 100 according to the above-described embodiment is directly operated by an operator boarding the cab 140, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by remote control. That is, in another embodiment, an operation signal may be transmitted from the operation device 143 provided remotely to the control device 160 by communication.

[0087] The automatic loading control according to the above-described embodiment moves the clam bucket 133 from the position at the completion of excavation to the loading point and further to the position for starting the next excavation, but is not limited thereto. For example, in another embodiment, the clam bucket 133 may be manually operated to move from the position at the completion of excavation to the loading point for discharging soil, and only the movement of the loading machine 100 from the loading point to the position for starting the next excavation may be automatically controlled. In this case, after the clam bucket 133 reaches the loading point, the operator may output a signal for driving the working machine to the position for starting the next excavation to the control device 160 by operating a switch provided on an operation lever or the like. Based on the signal from the aforementioned switch, the control device 160 controls the working machine 130 so that the posture of the working machine 130 becomes a preset target posture different from that at the start of excavation, in the same manner as in the case of the automatic loading control according to the above-described embodiment.

[0088] The control device 160 according to the above-described embodiment controls the working machine 130 based on the position P at the tip of the arm 132. However, the position P at the tip of the arm 132 may be the center of the tip of the arm 132 or may be a position shifted to the left or right. Further, in another embodiment, instead of the position P at the tip of the arm 132, the working machine 130 may be controlled based on an arbitrary position of the clam bucket 133.

Explanation of Reference Numerals

[0089] 100... Loading machine 110... Traveling body 111... Infinite track 120... Slewing body 121... Engine 122... Hydraulic pump 123... Control valve 124... Slewing motor 130... Working machine 131... Boom 131C... Boom cylinder 132... Arm 132C... Arm cylinder 133... Clam bucket 1331... Backhoe 1332... Clam shell 1332C... Clam cylinder 133C... Bucket cylinder 140... Cab 141... Driver's seat 142... Operation terminal 143... Operating device 143SW... Start switch 151... Position and azimuth calculator 152... Inclinometer 153... Boom angle sensor 154... Arm angle sensor 155... Bucket angle sensor 156... Detection device 160... Control device 610... Processor 611... Measurement data acquisition unit 612... Map generation unit 613... Operation signal input unit 614... Working machine position specifying unit 615... Loading target specifying unit 616... Start angle specifying unit 617... Avoidance angle specifying unit 618... Target attitude determination unit 619... Movement control unit 620... Clam control unit 621... Operation signal output unit 630... Main memory 650... Storage 670... Interface

Claims

1. A control device for a loading machine, comprising: a revolving body that revolves around a turning center; a support portion that supports the revolving body; and a working implement that has a bucket and is attached to the revolving body, a starting angle specifying portion that specifies a starting angle which is the angle of the revolving body at the start of loading of the loading machine, and a movement control portion that generates an operation signal for driving the revolving body and the working implement, wherein after the bucket reaches a loading point above a loading target, the movement control portion outputs an operation signal for driving the revolving body until the angle of the revolving body becomes the starting angle, and outputs an operation signal for driving the working implement until the attitude of the bucket with respect to the revolving body becomes a target attitude preset separately from the attitude of the bucket at the start of loading. A control device for a loading machine.

2. The starting angle is the angle of the revolving body at the start of automatic loading control of the loading machine, and the movement control portion when starting the automatic loading control, outputs an operation signal for driving the revolving body and the working implement to move the bucket to the loading point until the bucket reaches the loading point. The control device for a loading machine according to claim 1.

3. The position of the bucket according to the target attitude is a position that does not interfere with a virtual cylinder circumscribing the support portion. The control device for a loading machine according to claim 1 or claim 2.

4. comprising a dump control portion that outputs an operation signal for driving the bucket to perform a dump operation when the bucket and the loading target overlap in a plan view from above, wherein the movement control portion outputs the operation signal during execution of the dump operation. The control device for a loading machine according to any one of claims 1 to 3.

5. A control method for a loading machine, comprising: a revolving body that revolves around a turning center; a support portion that supports the revolving body; and a working implement that has a bucket and is attached to the revolving body, a step of specifying a starting angle which is the angle of the revolving body at the start of loading of the loading machine, a step of outputting an operation signal for driving the revolving body until the angle of the revolving body becomes the starting angle after the bucket reaches a loading point above a loading target, and a step of outputting an operation signal for driving the working implement until the attitude of the bucket with respect to the revolving body becomes a target attitude preset separately from the attitude of the bucket at the start of loading when the bucket is located at the loading point. A control method for a loading machine comprising the same.

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