Control system and control method for loading machine

Abstract

To provide a loading machine control system capable of controlling a loading machine according to the operation by an operator during automatic control of the loading machine.SOLUTION: An operation signal input unit receives input of manual operation signals of a revolving body and a work machine based on the operation made on an operating unit. A movement control unit generates automatic operation signals for driving the revolving body and the work machine. An output determination unit determines to output either one of the manual operation signals or the automatic operation signals on the basis of the manual operation signals. In particular, the output determination unit determines to output manual operation signals when the manual operation signals represent an operation that resists the automatic operation signals. The operation signal output unit outputs the manual operation signals or the automatic operation signals on the basis of the determination result.SELECTED DRAWING: Figure 6

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology related to semi-automatic control of a loading machine. The semi-automatic control according to Patent Document 1 is a control for automatically excavating a load after loading of a loading target such as a dump truck is completed, by receiving an excavation command from an operator and a control device controlling the rotation of the loading machine and the drive of the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-041352 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the position of the bucket after semi-automatic control does not necessarily coincide with the position of the bucket intended by the operator. An object of the present disclosure is to provide a control system and a control method for a loading machine that controls the loading machine in response to an operation by an operator while the loading machine is being automatically controlled. [Means for solving the problem]

[0005] According to one aspect of the present disclosure, a control system for a loading machine is a control device for a loading machine including a rotating body that rotates around a rotation center, a support unit that supports the rotating body, and a work machine having a bucket and attached to the rotating body, and includes an operation signal input unit that accepts input of a manual operation signal for the rotating body and the work machine based on operation of an operating device for operating the rotating body and the work machine, a movement control unit that generates an automatic operation signal for driving the rotating body and the work machine, an output determination unit that determines whether to output the manual operation signal or the automatic operation signal based on the manual operation signal, and determines to output the automatic operation signal if the manual operation signal represents an operation that resists the automatic operation signal, and an operation signal output unit that outputs the manual operation signal or the automatic operation signal based on the result of the determination. Effect of the Invention

[0006] According to the above aspect, the control system for the loading machine can control the loading machine in response to an operation by an operator during automatic control of the loading machine. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a configuration of a loading machine according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing the internal configuration of a driver's cab according to the first embodiment. [Diagram 3] 1 is a schematic block diagram showing a configuration of a control device according to a first embodiment. [Figure 4] 5 is a diagram showing an example of a target posture at the start of excavation of the work machine according to the first embodiment. FIG. [Diagram 5] 5 is a diagram showing an example of the movement of the loading machine from the start of automatic loading control to the start of unloading according to the first embodiment. FIG. [Figure 6] 5 is a diagram showing an example of the movement of the loading machine from the start of unloading to the end of automatic loading control according to the first embodiment. FIG. [Figure 7] 5A and 5B are diagrams comparing the attitude of the work machine at the start of automatic loading control and the attitude of the work machine at the end of automatic loading control in the first embodiment. [Figure 8] 5 is a flowchart showing the operation of the control device according to the first embodiment. [Figure 9] 5 is a flowchart showing the operation of the control device from the start of automatic loading control to the start of soil unloading according to the first embodiment. [Figure 10] 5 is a flowchart showing the operation of the control device according to the first embodiment from the start of unloading to the end of automatic loading control. [Figure 11] 5 is a flowchart showing an automatic / manual switching determination operation of the control device according to the first embodiment. [Figure 12] FIG. 3 is a diagram showing an example of an operation signal of a work machine according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

[0009] Configuration of the loading machine 100 FIG. 1 is a schematic diagram showing the configuration of a loading machine 100 according to the first embodiment. The loading machine 100 operates at a construction site, excavates a construction target such as soil and sand, and loads the soil 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 rotating body 120, a work machine 130, and a cab 140.

[0010] The traveling body 110 supports the loading machine 100 so that the loading machine 100 can travel. The traveling body 110 includes two endless tracks 111 provided on the left and right sides, and two travel motors 112 for driving the endless tracks 111, respectively. 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. The work machine 130 is supported on the front part of the rotating body 120 so as to be drivable in the vertical direction. The operator's cab 140 is a space where an operator gets in and operates the loading machine 100. The operator's cab 140 is provided on the left front part of the rotating body 120. Here, the part of the rotating body 120 to which the work machine 130 is attached is referred to as the front part. Furthermore, with respect to the rotating body 120, the part opposite the front part is referred to as the rear part, the left part as the left part, and the right part as the right part.

[0011] Configuration of the rotating body 120 The rotating body 120 is equipped with 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, a clam cylinder 1332C, the traveling motor 112, and the swing motor 124). The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122 . The swing motor 124 is driven by hydraulic oil supplied from a hydraulic pump 122 via a control valve 123 to swing the swing body 120 .

[0012] Configuration of the work machine 130 The work machine 130 includes a boom 131, an arm 132, a 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 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 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 backall 1331 attached to the tip of the arm 132 via a pin, a clamshell 1332 having a blade for excavating soil and sand, and a clam cylinder 1332C for opening and closing the backall 1331 and the clamshell 1332. The backall 1331 and the clamshell 1332 are connected to each other via a pin so as to be openable and closable. When the backall 1331 and the clamshell 1332 are closed, the backall 1331 and the clamshell 1332 function as containers for storing excavated soil and sand. On the other hand, the backall 1331 and the clamshell 1332 are opened to discharge the stored soil and sand. The base end of the clam cylinder 1332C is attached to the backall 1331. The tip of the clam cylinder 1332C is attached to the clamshell 1332. In other words, the boom 131, the arm 132, the backall 1331, and the clamshell 1332 configure a linkage. The boom 131, the arm 132, the backall 1331, and the clamshell 1332 are each an example of a link component.

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

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

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

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

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

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

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

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

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

[0023] The clam open pedal 143CO and the clam close pedal 143CC are located to the right of the left foot pedal 143LF. The clam open pedal 143CO is located to the left of the clam close pedal 143CC. When the clam open pedal 143CO is pressed down, the clam bucket 133 opens at a speed that corresponds to the amount it is pressed down. When the clam close pedal 143CC is pressed down, the clam bucket 133 closes at a speed that corresponds to the amount it is pressed down.

[0024] The swing brake pedal 143TB is disposed to the right of the right foot pedal 143RF. When the swing brake pedal 143TB is pressed down, 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 pressed down, the solenoid of a 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. This makes it possible to increase the braking force related to the swing.

[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 disposed 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 the control device 160 receives the input of the automatic loading instruction signal, it 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 inclination measuring device 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 revolving body 120 and the orientation in which the revolving body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites that constitute the GNSS. The two receivers are installed at different positions on the revolving body 120. The position and orientation calculator 151 detects the position of a representative point of the revolving body 120 in the site coordinate system (the origin of the excavator coordinate system) based on the positioning signals received by the receivers. The position and orientation calculator 151 uses the positioning signals received by the two receivers to calculate the orientation of the rotating body 120 as the relationship between the installation position of one receiver and the installation position of the other receiver. The orientation of the rotating body 120 is a direction perpendicular to the front of the rotating body 120, and is equal to the horizontal component of the extension direction of a straight line extending from the boom 131 of the work machine 130 to the clam bucket 133.

[0028] 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) 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).

[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 back oar 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 horizontal ground. Note that the angle sensors according to other embodiments are not limited to this, and may detect the inclination angle with respect to another reference plane. For example, in other embodiments, the angle sensor may detect the relative rotation angle by a potentiometer provided at the base end of the boom 131, arm 132, and clam bucket 133, or may detect the inclination angle by measuring the cylinder lengths of the boom cylinder 131C, arm cylinder 132C, and bucket cylinder 133C and converting the cylinder lengths into angles.

[0030] The detection device 156 detects the three-dimensional position of an object present around the loading machine 100. Examples of the detection device 156 include a stereo camera, a laser scanner, and a UWB (Ultra Wide Band) distance measuring device. The detection device 156 is provided, for example, on the upper part of the cab 140 so that the detection direction faces forward. The detection device 156 may be provided anywhere as long as it can capture an image of the surroundings of the loading machine 100. For example, the detection device 156 may be provided on a side wall of the revolving body 120 outside the cab 140. 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. The loading machine 100 according to other embodiments may be provided with 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 a control device 160. The control device 160 may be implemented in the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input and output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The operation signal indicates an operation target and a drive speed. Hereinafter, the magnitude of the drive speed indicated by the operation signal is also referred to as an operation amount. The control device 160 drives the work machine 130, the revolving body 120, and the traveling body 110 by outputting the received operation signal or an operation signal for automatic loading control generated by calculation to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is also referred to as a manual operation signal, and the operation signal generated by calculation is also referred to as an automatic operation signal.

[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 a program. The processor 610 reads the program from the storage 650, loads it into the main memory 630, and executes processing according to the program.

[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 a common communication line of the control device 160, or may be an external medium connected to the control device 160 via an interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0034] By executing the program, the processor 610 is provided with a measurement data acquisition unit 611, a map generation unit 612, an operation signal input unit 613, a work 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 clam control unit 620, an output determination unit 621, and an operation signal output unit 622.

[0035] The measurement data acquisition unit 611 acquires measurement data by the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the inclination measuring instrument 152, the boom 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 revolving unit 120 by integrating the angular velocity of the revolving unit 120 measured by the inclination measuring instrument 152.

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

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

[0038] The work machine position identifying unit 614 identifies the position P (FIG. 5) of the tip of the arm 132 in the vehicle body coordinate system based on the rotating body 120 and the height H (FIG. 5) from the tip of the arm 132 to the lowest point of the clam bucket 133, based on the measurement data acquired by the measurement data acquiring unit 611. The lowest point of the clam bucket 133 refers to the point on the outer shape of the clam bucket 133 that is the shortest distance from the ground surface.

[0039] The work machine position specifying unit 614 determines the vertical and horizontal components of the length of the boom 131 based on the inclination angle of the boom 131 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip end). Similarly, the work machine position specifying unit 614 determines the vertical and horizontal components of the length of the arm 132. The work machine position specifying unit 614 specifies a position that is away from the position of the loading machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132 in a direction specified by the orientation and posture of the loading machine 100 as the position P of the tip of the arm 132. In addition, the work machine position specifying unit 614 specifies the lowest point of the clam bucket 133 in the vertical direction based on the inclination angle of the clam bucket 133 and the known shape 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 from the tip to the lowest point (FIG. 5).

[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 generating unit 612. The loading point is a position above the loading target T (for example, the vessel of a dump truck). In the automatic loading control, when the tip of the arm 132 reaches the loading point, the dump control is started. 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] The start angle identifying unit 616 identifies, as the start angle, the angle between the direction in which the revolving body 120 faces when an automatic loading instruction signal is input to the operation signal input unit 613 and the direction in which the loading point exists. The direction in which the revolving body 120 faces when an automatic loading instruction signal is input can also be said to be the direction in which the revolving body 120 faces when the automatic loading control of the loading machine 100 starts. In other words, the start angle identifying unit 616 identifies, as the start angle, the angle formed by a line segment extending from the rotation center of the revolving body 120 to the position of the tip of the arm 132 identified by the work machine position identifying unit 614 when the automatic loading control starts, and a line segment extending from the rotation center of the revolving body 120 to the loading point.

[0042] The avoidance angle identifying unit 617 identifies an interference avoidance angle based on the position and shape of the loading target T identified by the loading target identifying unit 615. The interference avoidance angle is a turning angle at which the working machine 130 and the loading target T do not interfere with each other in a plan view from above. Specifically, the avoidance angle identifying unit 617 identifies the interference avoidance angle in the following procedure.

[0043] The avoidance angle identification unit 617 identifies the rearmost point p1 (FIG. 5) in the rotation direction of the rotating body 120 of the contour of the loading target T based on the position and shape of the loading target T identified by the loading target identification unit 615. The avoidance angle identification unit 617 calculates a first angle φ1 (FIG. 5) between a line segment extending from the rotation center of the rotating body 120 to the position of the tip of the arm 132 at the start of the automatic loading control, and a line segment extending from the rotation center of the rotating body 120 to a point on the contour of the identified loading target T. The avoidance angle identification unit 617 identifies the frontmost point p2 (FIG. 5) in the rotation direction of the rotating body 120 of the contour of the clam bucket 133 based on the position of the tip of the arm 132 identified by the work machine position identification unit 614 and the known shape of the clam bucket 133. The avoidance angle identification unit 617 determines a second angle φ2 between a line segment extending from the center of rotation of the rotating body 120 to the position of the tip of the arm 132, and a line segment extending from the center of rotation of the rotating body 120 to an identified point on the outline of the clam bucket 133. The avoidance angle identification unit 617 determines the interference avoidance angle θ1 (FIG. 5) by further subtracting an angle φ3 for a control margin from the difference between the first angle φ1 and the second angle φ2.

[0044] The target attitude determination unit 618 calculates the attitude of the work machine 130 when the tip of the arm 132 is located at the loading point based on the distance and height from the center of rotation to the loading point determined by the loading target specification unit 615, and determines the target attitude of the work machine 130 at the start of unloading. In addition, the target attitude determination unit 618 determines the target attitude of the work machine 130 at the start of excavation by reading out the predetermined target attitude of the work 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 attitude of the work machine 130 at the start of excavation according to the first embodiment. The target attitude at the start of excavation is, for example, an attitude in which the clam bucket 133 approaches the traveling body 110 to an extent that it does not interfere with the traveling body 110, and the bottom surface of the clam bucket 133 approaches the plane Z1 including the bottom surface of the traveling body 110 to an extent that it does not contact the plane Z1. That is, the clam bucket 133 in the target posture at the start of excavation is located outside the interference forbidden area Z2 formed outside the imaginary cylinder circumscribing the traveling body 110, in terms of the distance from the center of rotation. Such a target posture is a posture that makes it easy to start the next excavation work. By defining the interference forbidden area Z2 by a virtual cylinder rather than a rectangular parallelepiped equivalent to the traveling body 110, it is possible to prevent contact between the traveling body 110 and the clam bucket 133 when the rotating body 120 rotates. 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 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, for example. The posture of the working machine 130 includes the positions and angles of each part 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 automatic operation signal for realizing a combined operation of the rotating body 120 and the work machine 130 for moving 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 avoidance angle specifying unit 617. Specifically, the movement control unit 619 generates an automatic operation signal for driving the work machine 130 so that the attitude of the work machine 130 becomes the target attitude at the start of unloading determined by the target attitude determining unit 618. In addition, the movement control unit 619 adjusts the timing of the start of the swing so that the attitude of the work machine 130 becomes the target attitude at the start of unloading before the swing angle reaches the interference avoidance angle. That is, when rotation of the revolving body 120 is started, if the work implement 130 does not assume the target posture before the rotation angle due to the rotation reaches the interference avoidance angle, the movement control unit 619 does not generate a rotation operation signal for the revolving body 120, but generates only an operation signal for the work implement 130. On the other hand, if the movement control unit 619 determines that the work implement 130 will assume the target posture before the rotation angle due to the rotation reaches the interference avoidance angle, it generates a rotation operation signal for the revolving body 120 and an operation signal for the work implement 130, thereby realizing a combined operation of the revolving body 120 and the work implement 130.

[0046] In addition, after the tip of the arm 132 reaches the loading point, the movement control unit 619 generates an automatic operation signal to rotate the rotating body 120 to the start angle identified by the start angle identification unit 616 and drive the rotating body 120 and the work machine 130 so that the posture of the work machine 130 becomes the target posture at the start of excavation determined by the target posture determination unit 618.

[0047] The clam control unit 620 generates an automatic operation signal to open the clam bucket 133 when the tip of the arm 132 reaches the loading point. The clam control unit 620 also generates an automatic operation signal to close the clam bucket 133 when the rotation angle of the rotating body 120 exceeds the angle of the difference between the start angle and the interference avoidance angle. The clam control unit 620 may generate an automatic operation signal to open the clam bucket 133 when the clam bucket 133 and the loading target T overlap in a plan view from above, even before the tip of the arm 132 reaches the loading point.

[0048] The output determination unit 621 determines whether each of the rotating body 120, the boom 131, the arm 132, the clam bucket 133, and the clam shell 1332 (control objects) is to be controlled by a manual operation signal or an automatic operation signal, based on the manual operation signal input to the operation signal input unit 613 and the automatic operation signal generated by the movement control unit 619. The output determination unit 621 records and manages the value of the automatic operation flag for each control object in the main memory 630. The output determination unit 621 determines that a control object whose automatic operation flag is ON is to be controlled by an automatic operation signal, and that a control object whose automatic operation flag is OFF is to be controlled by a manual operation signal. Based on the determination result of the output determination section 621 , the operation signal output section 622 outputs the manual operation signal input to the operation signal input section 613 or the automatic operation signal generated by the movement control section 619 .

[0049] <Automatic loading control operation> Here, the movement of the loading machine 100 during automatic loading control according to the first embodiment will be described with reference to the drawings. 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 unloading 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 unloading to the end of automatic loading control according to the first embodiment.

[0050] The automatic loading control according to the first embodiment is started in a state in which the working machine 130 excavates the soil to be excavated by manual operation by the operator and the soil is held in the cram bucket 133. When the automatic loading control is started, the loading machine 100 discharges the soil above the loading target T and moves the working machine 130 to the next excavation start point. In the first embodiment, when the automatic loading control ends, the rotating body 120 is directed in the direction in which the automatic loading control was started so that the next excavation process can be easily performed. Also, in order to facilitate the next excavation process, the working machine 130 is lowered so that the bottom surface of the cram bucket 133 is close to the ground, and the cram bucket 133 is brought closer to the vehicle body.

[0051] Specifically, when the automatic loading control is started, as shown in FIG. 5, the control device 160 first starts driving the working machine 130 (the boom 131, the arm 132, and the clam bucket 133) and moves the clam bucket 133 upward. After a delay, the control device 160 starts the rotation of the rotating body 120. The control device 160 adjusts the timing of the start of the rotation so that the posture of the working machine 130 becomes the target posture at the start of the soil discharge by the time the rotation angle of the rotating body 120 matches the interference avoidance angle θ1. Hereinafter, the interference avoidance angle θ1 is also referred to as the first interference avoidance angle θ1. Note that when the posture of the working machine 130 becomes the target posture at the start of the soil discharge by the time the rotation angle of the rotating body 120 matches 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 working machine 130 does not come into contact with the loading target T by the rotation of the rotating 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 unloading soil.

[0052] When a certain time has elapsed since the start of soil discharge, the control device 160 starts the rotation of the revolving body 120 as shown in FIG. 6. The control device 160 does not start driving the working machine 130 until the revolving 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 revolving 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 revolving angle of the revolving body 120 reaches the start angle θ0, the control device 160 ends the driving of the revolving body 120. Also, 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] After the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 accepts the operation of the operator via the operation device 143. The control device 160 does not output an automatic operation signal for the control object for which the control device 160 has accepted the operation by the operator, but outputs a manual operation signal. On the other hand, the control device 160 continues to output the automatic operation signal for the control object for which the control device 160 has not accepted the operation by the operator.

[0054] FIG. 7 is a diagram comparing the posture of the work machine 130 at the start of the automatic loading control in the first embodiment with the posture of the work machine 130 at the end of the automatic loading control. The automatic loading control is started in a state in which the work machine 130 excavates soil and the soil is held in the clam bucket 133. Therefore, the posture 133s of the clam bucket 133 at the start of the automatic loading control is a posture in which the blade faces upward above the excavation target. In order to excavate the excavation target, it is necessary to scoop up the excavation target from below with the blade tip facing the excavation target, so in order to start 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. In contrast, the posture 133e of the clam bucket 133 at the end of the automatic loading control, i.e., the target posture at the start of excavation, is a posture in which the blade faces forward at a height close to the ground surface. As a result, by setting the attitude of the clam bucket 133 to the target attitude at the start of excavation when the automatic loading control ends, the operator can easily transition to the next excavation task.

[0055] 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 a state update process shown in FIG. 8 at regular control intervals during operation.

[0056] The measurement data acquisition unit 611 acquires measurement data from the position / orientation calculator 151, the inclination measuring device 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). This allows the control device 160 to always keep the map data, which indicates the situation in the vicinity of the loading machine 100, up to date, so that the latest position of the loading target T appears in the map data.

[0057] The work implement position identifying unit 614 identifies the position P of the tip of the arm 132 in the vehicle body coordinate system based on the rotating body 120 and the height H from the tip of the arm 132 to the lowest point of the clam bucket 133 based on the measurement data acquired in step SS1 (step SS3). This allows the control device 160 to always identify the current posture of the work implement 130.

[0058] Fig. 9 is a flowchart showing the operation of the control device 160 from the start of automatic loading control to the start of unloading according to the first embodiment. Fig. 10 is a flowchart showing the operation of the control device 160 from the start of unloading to the end of automatic loading control according to the first embodiment. Fig. 11 is a flowchart showing the automatic / manual switching determination operation of the control device according to the first embodiment. When the operator presses the start switch 143SW, the operation signal input unit 613 of the control device 160 accepts input of an automatic loading instruction signal. The control device 160 starts the automatic loading control from step S0 in FIG.

[0059] When the automatic loading instruction signal is input, the output determination unit 621 of the control device 160 resets all the values ​​of the automatic operation flags related to the revolving body 120, the boom 131, the arm 132, the clam bucket 133, and the clam shell 1332 to ON (step S0). The control device 160 updates the measurement data, the map data, and the attitude of the work machine 130 to the latest state by the state update process shown in FIG. 8 (step S1). The loading target specification 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 specification 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).

[0060] The start angle identification unit 616 identifies 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 expressed in the vehicle body coordinate system, the start angle identification unit 616 identifies, for example, the angle of the position vector of the loading point relative to a coordinate axis extending forward of the revolving body 120 as the start angle θ0. The avoidance angle identification unit 617 identifies a first interference avoidance angle θ1 based on the position and shape of the loading target T determined in step S2 (step S5). The target attitude determination unit 618 determines, as the target attitude, the attitude of the boom 131 and the arm 132 when the tip of the arm 132 is located at the loading point (step S6).

[0061] Next, the control device 160 updates the measurement data, map data, and posture of the work implement 130 to the latest states by the state update process shown in Fig. 8 (step S7). Next, the movement control unit 619 determines whether the posture of the work implement 130 identified in step S7 is similar to the target posture determined in step S6 (step S8). For example, the movement control unit 619 determines that the posture of the work implement 130 is similar to the target posture when the difference between the position of the tip of the arm 132 in the target posture and the current position of the tip of the arm 132 is equal to or smaller than a predetermined value.

[0062] If the posture of the work implement 130 is not close to the target posture (step S8: NO), the movement control unit 619 generates an automatic operation signal to move the boom 131 and the arm 132 closer to the target posture (step S9). At this time, the movement control unit 619 generates the automatic operation signal based on the positions and speeds of the boom 131 and the arm 132 identified in step S7.

[0063] The movement control unit 619 also calculates the sum of the angular velocities 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 rotating the clam bucket 133 at the same speed as the sum of the angular velocities (step S10). This allows the movement control unit 619 to generate an automatic operation signal that maintains the ground angle of the clam bucket 133.

[0064] The movement control unit 619 determines whether the work machine 130 is rotating (step S11). For example, the movement control unit 619 determines that the work machine 130 is rotating when the rotation speed of the revolving body 120 is equal to or higher than a predetermined speed. When the work machine 130 is not rotating (step S11: NO), the movement control unit 619 calculates a completion time until the work machine 130 reaches the target posture based on the speeds of the boom 131 and the arm 132 identified in step S7 (step S12). In addition, the movement control unit 619 calculates an arrival time until the revolving angle reaches the first interference avoidance angle θ1 identified in step S5 when the revolving body 120 starts rotating (step S13). The movement control unit 619 determines whether 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 the work machine 130 reaches the target posture when the revolving angle reaches the first interference avoidance angle θ1.

[0065] If the completion time is equal to or longer than the arrival time (step S14: NO), that is, if the work implement 130 does not assume the target posture before the swing angle reaches the first interference avoidance angle θ1, the movement control unit 619 does not generate a swing operation signal for the swing structure 120. On the other hand, if the completion time is shorter than the arrival time (step S14: YES), that is, if the work implement 130 assumes the target posture before the swing angle reaches the first interference avoidance angle θ1, the movement control unit 619 generates a swing operation signal for the swing structure 120 (step S15). This allows the control device 160 to prevent the work implement 130 from contacting the loading target T.

[0066] The output determination unit 621 determines that all of the control objects are to be controlled by the automatic operation signal because the values ​​of all the automatic operation flags recorded in the main memory 630 are ON. As a result, the operation signal output unit 622 outputs the automatic operation signal generated in at least one of steps S9, S10, and S15 to the control valve 123 (step S16). This drives the loading machine 100. Then, the control device 160 returns the process to step S7 and continues the control.

[0067] On the other hand, if it is determined in step S11 that the work machine 130 is rotating (step S11: YES), the movement control unit 619 determines whether or not the tip of the arm 132 will reach the loading point by inertial rotation when the rotation operation signal is stopped, based on the rotation speed of the work machine 130 identified in step S7 (step S17). If the tip of the arm 132 does not reach the loading point by inertial rotation (step S17: NO), the movement control unit 619 generates a rotation operation signal in step S15, and the operation signal output unit 622 outputs the rotation operation signal to the control valve 123 in step S16.

[0068] On the other hand, when it is determined that the tip of the arm 132 reaches the loading point by the rotation due to inertia (step S17: YES), the control device 160 updates the measurement data, map data, and the attitude of the work 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 tip to reach the loading point. At this time, the values ​​of the automatic operation signals recorded in the main memory 630 are all ON, so the control device 160 does not accept manual operation of the operation device 143.

[0069] When the tip of the arm 132 reaches the loading point (step S19: YES), the clam control unit 620 generates an open operation signal for the clam bucket 133 (step S20). The operation signal output unit 622 outputs the open operation signal generated in step S20 to the control valve 123 (step S21). The clam control unit 620 waits for a certain amount of time to elapse after outputting the open operation signal for the clam bucket 133 (step S22). This time is the time it takes for a certain amount of soil to fall from the open clam bucket 133. Note that this time may be shorter than the time it takes for all the soil to fall from the clam bucket 133.

[0070] After a certain time, the target attitude determination unit 618 determines the target attitude of the work machine 130 at the start of excavation by reading a predetermined target attitude of the work machine 130 at the start of excavation from the storage 650 or the main memory 630 (step S23). The target attitude at the start of excavation is, for example, an attitude in which the clam bucket 133 approaches the traveling body 110 to an extent that it does not interfere with the traveling body 110, and the bottom surface of the clam bucket 133 approaches the traveling body 110 to an extent that it does not interfere with a plane passing through the bottom surface of the traveling body 110.

[0071] Next, the control device 160 updates the measurement data, map data, and attitude of the work machine 130 to the latest states by the state update process shown in Fig. 8 (step S24). Next, the movement control unit 619 determines whether the rotation angle of the rotating body 120 from the start of unloading 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). If the rotation angle is less than the second interference avoidance angle θ2 (step S25: YES), there is a possibility that the work machine 130 will come into contact with the loading target T, so the movement control unit 619 generates an automatic operation signal (neutral signal) to maintain the attitude of the work machine 130.

[0072] In step S25, if the turning angle is equal to or greater than the second interference avoidance angle θ2 (step S25: NO), the movement control unit 619 determines whether the posture of the work implement 130 identified in step S24 is close to the target posture determined in step S23 (step S26). If the posture of the work implement 130 is not close to the target posture (step S26: NO), the movement control unit 619 generates an automatic operation signal that moves the boom 131, the arm 132, and the clam bucket 133 closer to the target posture (step S27). In addition, the clam bucket control unit 620 generates a closing operation signal for the clam bucket (step S28). If the posture of the work implement 130 is close to the target posture (step S26: YES), the movement control unit 619 does not generate an automatic operation signal for the work implement 130.

[0073] Furthermore, the movement control unit 619 determines whether or not the work machine 130 can be rotated to the start angle θ0 identified in step S4 by inertial rotation when the value of the rotation operation signal is set to zero, based on the rotation speed of the work machine 130 identified in step S24 (step S29). If the work machine 130 cannot be rotated to the start angle θ0 by inertial rotation (step S29: NO), the movement control unit 619 generates a rotation operation signal (step S30). On the other hand, if the work machine 130 can be rotated to the start angle θ0 by inertial rotation (step S29: YES), the movement control unit 619 does not generate a rotation operation signal.

[0074] Next, the output determination unit 621 selects the control objects (the rotating body 120, the boom 131, the arm 132, the clam bucket 133, and the clam shell 1332) one by one (step S31) as shown in FIG. 11, and executes the processing from step S31 to step S42 for the selected control objects.

[0075] The output determination unit 621 determines whether or not the value of the automatic operation flag for the control object selected in step S31 is ON (step S32). If the value of the automatic operation flag is ON (step S32: YES), the output determination unit 621 determines whether or not the operation signal input unit 613 has received an input of a manual operation signal for operating the control object selected in step S31 (step S33). If the operation amount of the manual operation signal is equal to or greater than a threshold value corresponding to play, the output determination unit 621 determines that the input of the manual operation signal has been received.

[0076] The manual operation signal related to the rotating body 120 is a left / right operation signal from the left operation lever 143LO, and an operation signal from the swing brake pedal 143TB. The manual operation signal related to the boom 131 is a front / rear operation signal from the right operation lever 143RO. The manual operation signal related to the arm 132 is a front / rear operation signal from the left operation lever 143LO. The manual operation signal related to the rotation of the clam bucket 133 is a left / right operation signal from the right operation lever 143RO. The manual operation signal related to the opening and closing of the clam shell 1332 is an operation signal from the clam open pedal 143CO and the clam close pedal 143CC.

[0077] When there is an input of a manual operation signal related to the control object selected in step S31 (step S33: YES), the output determination unit 621 determines whether or not the manual operation signal represents an operation resisting the automatic operation signal related to the control object generated in step S27, S28, or S30 (step S34). Specifically, when the operation direction of the manual operation signal is opposite to that of the automatic operation signal, or when the operation of the manual operation signal is a brake operation, the output determination unit 621 determines that the manual operation signal represents an operation resisting the automatic operation signal. For example, when the automatic operation signal represents a left-handed turning operation and when the manual operation signal represents a right-handed turning operation, the output determination unit 621 determines that the manual operation signal represents an operation resisting the automatic operation signal. Also, for example, when the automatic operation signal represents a closing operation of the clamshell 1332 and when the manual operation signal represents an opening operation of the clamshell 1332, the output determination unit 621 determines that the manual operation signal represents an operation resisting the automatic operation signal. Also, for example, when the automatic operation signal represents a left turning operation and the manual operation signal represents depression of the turning brake pedal 143TB, the output determination unit 621 determines that the manual operation signal represents an operation resisting the automatic operation signal.

[0078] If the manual operation signal is not an operation resisting the automatic operation signal (step S34: NO), the output determination unit 621 determines whether the operation amount of the manual operation signal is less than the operation amount of the automatic operation signal (step S35). If the operation amount of the manual operation signal is less than the operation amount of the automatic operation signal (step S35: YES), or if it is determined in step S33 that there is no input of the manual operation signal (step S33: NO), the output determination unit 621 determines whether or not the control amount of the control object selected in step S31 has reached the target value (step S36). If the control object is the revolving body 120, the output determination unit 621 determines whether or not the revolving angle has reached the start angle θ0. If the control object is the boom 131, the arm 132, or the clam bucket 133, the output determination unit 621 determines whether or not the rotation angle has reached the angle related to the target attitude determined in step S23. If the control object is the clamshell 1332, the output determination unit 621 determines whether or not the opening angle has reached zero.

[0079] If the control amount of the control object selected in step S31 has not reached the target value (step S36: NO), the output determination unit 621 determines that the control object selected in step S31 is to be controlled by an automatic operation signal. That is, the value of the automatic operation flag related to the control object selected in step S31 is maintained ON. The operation signal output unit 622 outputs the automatic operation signal related to the control object selected in step S31 from among the automatic operation signals generated in step S27, S28, or S30 (step S37).

[0080] On the other hand, if the manual operation signal is an operation resisting the automatic operation signal (step S34: YES), if the operation amount of the manual operation signal is not less than the operation amount of the automatic operation signal (step S35: NO), or if the control amount of the control object reaches the target value (step S36: YES), the output determination unit 621 performs the following process. The output determination unit 621 determines whether the control object selected in step S31 is a link member (the boom 131, the arm 132, and the clam bucket 133) that constitutes the work machine 130 (step S38).

[0081] If the control object to be switched from automatic operation to manual operation is a link member constituting the work machine 130 (step S38: YES), the output determination unit 621 determines whether or not the rotation angle of the revolving body 120 from the start of unloading 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 S39). If the rotation angle is less than the second interference avoidance angle θ2 (step S39: YES), there is a possibility that the work machine 130 will come into contact with the loading target T, so the output determination unit 621 determines that the control object selected in step S31 will be controlled by an automatic operation signal. That is, the value of the automatic operation flag related to the control object selected in step S31 is maintained at ON. Then, the operation signal output unit 622 outputs the automatic operation signal related to the control object selected in step S31 (step S37).

[0082] On the other hand, if the rotation angle is equal to or greater than the second interference avoidance angle θ2 (step S39: NO), the movement control unit 619 identifies, among the multiple link members, a link member other than the one selected in step S31, whose automatic operation flag is ON. For example, if the boom 131 is selected in step S31, the movement control unit 619 identifies, among the arm 132 and the clam bucket 133, whose automatic operation flag is ON. The movement control unit 619 reduces the operation amount of the automatic operation signal related to the identified link member at a constant rate from the operation amount determined in step S27 (step S40).

[0083] FIG. 12 is a diagram showing an example of an operation signal of the work machine according to the first embodiment. In FIG. 12, the operation amount of the output operation signal is indicated by a solid line, the operation amount of the automatic operation signal is indicated by a dotted line, and the operation amount of the manual operation signal is indicated by a dashed line. In the example shown in FIG. 12, the output of the automatic operation signal of the boom 131, the arm 132, and the clam bucket 133 starts at time t1. After that, at time t2, the operator starts inputting a manual operation signal for operating the arm 132 in the direction opposite to the automatic control. The operator also starts inputting a manual operation signal for operating the clam bucket 133 in the direction opposite to the automatic control following the arm 132. On the other hand, from time t2 to time t3, the operation amount of both the arm 132 and the clam bucket 133 is less than the threshold value, so the output determination unit 621 determines in step S33 that the manual operation signal has not been input. Therefore, from time t1 to time t3, the automatic operation signal is output as the operation signal of the boom 131, the arm 132, and the clam bucket 133.

[0084] At time t3, when the operation amount of the manual operation signal of the arm 132 becomes equal to or greater than the threshold value, the automatic operation signal and the manual operation signal have opposite operation directions, so the output determination unit 621 determines in step S34 that the manual operation signal is an operation that resists the automatic operation signal. As a result, the automatic operation flag of the arm 132 is turned OFF, and thereafter, the manual operation signal is output as the operation signal of the arm 132. At this time, in step S40, the movement control unit 619 reduces the operation amount of the automatic operation signal of the boom 131 and the clam bucket 133 at a constant rate. In other words, after time t3, the operation amount of the automatic operation signal that is output (solid line in FIG. 12) decreases at a constant rate from the operation amount (dotted line in FIG. 12) determined in step S27.

[0085] Thereafter, when the operation amount of the manual operation signal of the clam bucket 133 becomes equal to or greater than the threshold value at time t4, the automatic operation signal and the manual operation signal have opposite operation directions, so the output determination unit 621 determines in step S34 that the manual operation signal is an operation that resists the automatic operation signal. As a result, the automatic operation flag of the clam bucket 133 is turned OFF. Thereafter, the manual operation signal is output as the operation signal for the arm 132 and the clam bucket 133. Note that at time t4, the operator starts inputting a manual operation signal that operates the boom 131 in the same direction as the automatic control. On the other hand, from time t4 to time t5, the operation amount is less than the operation amount of the automatic operation signal, so the automatic operation signal is output as the operation signal for the boom 131. Thereafter, when the operation amount of the manual operation signal of the boom 131 becomes equal to or greater than the operation amount of the automatic operation signal at time t5 (step S35), the automatic operation flag of the boom 131 is turned OFF. Thereafter, a manual operation signal is output as the operation signal of the work implement 130. In this manner, in the example shown in FIG. 12, the movement control unit 619 switches the signals output to the arm 132, the clam bucket 133, and the boom 131, in that order, to manual operation signals. Eventually, the operation of all axes of the work implement 130 is switched to manual operation. It should be noted that the process shown in FIG. 12 is merely an example, and the order and timing of switching of the automatic operation signals may vary depending on the order of operations performed by the operator.

[0086] In other words, when only some of the link members of the work machine 130 are operated, the movement control unit 619 gradually brings the operation amount related to the automatic operation of the other link members closer to the output related to the manual operation. This allows the control device 160 to smoothly switch the control of the work machine 130 from automatic operation to manual operation. 11, the output determination unit 621 rewrites the value of the automatic operation flag related to the control object selected in step S31 to OFF (step S41). The output determination unit 621 thereby switches the output source of the operation signal from the automatic operation signal to the manual operation signal. Next, the movement control unit 619 outputs the manual operation signal related to the control object selected in step S31 (step S42).

[0087] When an automatic operation signal or a manual operation signal is output for each control object by the processes from step S31 to step S42, the output determination unit 621 determines whether or not the values ​​of the automatic operation flags recorded in the main memory 630 are all OFF (step S43). In other words, the output determination unit 621 determines whether or not all control objects have been switched to manual operation. If the value of at least one automatic operation flag is ON (step S43: NO), the control device 160 returns the process to step S24 in Fig. 10 and continues the automatic loading control. On the other hand, if the values ​​of all the automatic operation flags are OFF (step S43: YES), the control device 160 ends the automatic loading control.

[0088] Actions and Effects In this way, the control device 160 according to the first embodiment determines whether to output a manual operation signal or an automatic operation signal based on the manual operation signal input from the operation device 143. At this time, the control device 160 determines to output a manual operation signal when the manual operation signal represents an operation resisting the automatic operation signal. If the control device 160 always controls to output a manual operation signal when a manual operation signal is input by the operator, the operation amount of the operation signal changes suddenly, making the switching awkward. Therefore, the control device 160 gradually switches the operation so that the operation amount of the operation signal does not change suddenly. On the other hand, when the manual operation signal represents an operation resisting the automatic operation signal, it is highly likely that the operation by the automatic control is different from that intended by the operator and is an operation for correcting the movement of the loading machine 100. Therefore, the control device 160 can realize the operation switching according to the intention of the operator by determining to output a manual operation signal when the manual operation signal represents an operation resisting the automatic operation signal.

[0089] Furthermore, the control device 160 according to the first embodiment outputs a manual operation signal when the manual operation signal does not represent an operation that resists the automatic operation signal and the operation amount of the manual operation signal is greater than the operation amount of the automatic operation signal. This allows the control device 160 to switch the operation so that the operation amount of the operation signal does not change suddenly.

[0090] Furthermore, the control device 160 according to the first embodiment outputs an automatic operation signal regardless of a manual operation signal until the rotation angle of the rotating body 120 reaches the interference avoidance angle during automatic control of moving the clam bucket 133 from above the loading target to the excavation point. This makes it possible to prevent contact between the working machine 130 and the loading target even if a manual operation input of the working machine 130 or the rotating body 120 is received when the clam bucket 133 is located above the loading target.

[0091] 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.

[0092] The control device 160 according to the embodiment described above may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged among a plurality of computers, and the plurality of computers may function as the control device 160 by working together. In this case, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and other computers may be provided outside the loading machine 100.

[0093] The loading machine 100 according to the embodiment described above 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 of the working machine 130 at the start of excavation is different from that of the first embodiment. Since a backhoe performs excavation by pulling the working machine 130 toward the front, it is preferable that the position of the bucket related to the target posture at the start of excavation is away from the rotating body 120. For example, the loading machine 100 may specify the shape of the excavation target from the map data, and set the posture at which the loading machine 100 is away from the rotating body 120 and close to the excavation target and the cutting edge is angled toward the excavation target as the target posture at the start of excavation.

[0094] The loading machine 100 according to the embodiment described above has the clam bucket 133, but is not limited thereto. For example, the loading machine 100 according to other embodiments may have a normal bucket. In this case, the loading machine 100 has 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 open operation signal. Note that the control device 160 may output a rotation operation signal for the rotating body 120 while outputting a rotation operation signal in the dump direction in order to shorten the cycle time.

[0095] The target posture according to the above-described embodiment is set in advance 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 to be able to change the target posture by operating 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. Furthermore, the loading machine 100 according to another embodiment may control the working machine 130 to a preferred posture by the operation of the operator, and then operate the operation terminal 142 to cause the working machine position specifying unit 614 to specify the posture of the working machine 130 and overwrite the target posture with the posture.

[0096] The control device 160 according to the embodiment described above specifies the loading target based on the map data of the 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 the input of the latitude, longitude, and heading direction of the loading target, and calculate the position and shape of the loading target in the vehicle body coordinate system from the measurement result of the position and heading calculator 151. Furthermore, 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 relative to the reference direction of the global coordinate system.

[0097] The control device 160 according to the embodiment described above calculates the angle of the revolving body 120 by integrating the angular velocity of the revolving body 120 measured by the inclinometer 152, but is not limited to this. For example, the control device 160 according to another embodiment may calculate the angle of the revolving body 120 based on the difference in the orientation measured by the position and orientation calculator 151. In another embodiment, the angle of the revolving body 120 may be specified using the detection value of a rotation angle sensor provided in the revolving motor 124.

[0098] The control device 160 according to the embodiment described above performs automatic loading control based on a comparison between the swing angle and the interference avoidance angle, but is not limited to this. For example, the control device 160 according to another embodiment may perform automatic loading control based on a comparison between the position of the clam bucket 133 and a point p1 (FIG. 5) that is the rearmost point in the swing direction of the swing body 120 among the contours of the loading target T. For example, the control device 160 according to another embodiment may adjust the swing start timing so that the clam bucket 133 is located in an area near point p1.

[0099] The loading machine 100 according to the embodiment described above is operated directly by an operator by boarding the cab 140, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by remote control. That is, in another embodiment, an operation signal may be transmitted from a remotely provided operation device 143 to the control device 160 by communication. In this case, a part or all of the configuration of the control device 160 may be provided in a remote control room in which the operation device 143 is provided. For example, the configuration of the operation signal input unit 613, the movement control unit 619, the output determination unit 621, the operation signal output unit 622, etc. may be provided in a computer provided in the remote control room.

[0100] The automatic loading control according to the embodiment described above moves the clam bucket 133 from the position at the completion of excavation to the loading point, and then moves it to a position for starting the next excavation, but is not limited to this. For example, in another embodiment, the clam bucket 133 may be manually moved from the position at the completion of excavation to the loading point to discharge soil, and the loading machine 100 may automatically control only the movement from the loading point to a position for starting the next excavation. In this case, after the clam bucket 133 reaches the loading point, the operator may output a signal to the control device 160 by operating a switch provided on an operating lever or the like to drive the working machine to a position for starting the next excavation. In response to the signal from the 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 the posture at the start of excavation, as in the case of the automatic loading control according to the embodiment described above.

[0101] The control device 160 according to the embodiment described above controls the work implement 130 based on the position P of the tip of the arm 132, but the position P of 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. Also, in other embodiments, the work implement 130 may be controlled based on an arbitrary position of the clam bucket 133 instead of the position P of the tip of the arm 132. [Explanation of symbols]

[0102] 100...loading machine 110...traveling body 111...crawler 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...clam bucket 1331...back oar 1332...clam shell 1332C...clam cylinder 133C...bucket cylinder 140...operator's cab 141...operator's seat 142...operation terminal 143...operation device 143SW...start switch 151...position and direction calculator 152...inclination measuring device 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: Work machine position identification unit 615: Loading target identification unit 616: Start angle identification unit 617: Avoidance angle identification unit 618: Target attitude determination unit 619: Movement control unit 620: Crumb control unit 621: Output determination unit 622: Operation signal output unit 630: Main memory 650: Storage 670: Interface

Claims

1. A control system for a loading machine including a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a work machine having a bucket and attached to the rotating body, an operation signal input unit that receives an input of a manual operation signal of a plurality of control objects based on an operation of an operation device for operating a plurality of control objects including the rotating body and the work machine; A movement control unit that generates an automatic operation signal for driving the plurality of controlled objects; an output determination unit that determines whether to output the manual operation signal or the automatic operation signal for each of the plurality of control objects based on the manual operation signal, and determines that the manual operation signal is to be output to a control object among the plurality of control objects for which the manual operation signal represents an operation resisting the automatic operation signal; an operation signal output unit that outputs the manual operation signal or the automatic operation signal to each of the plurality of control targets based on a result of the determination; A control system for a loading machine comprising:

2. The loading machine control system according to claim 1 , wherein the output determination unit determines that the manual operation signal represents an operation resisting the automatic operation signal when an operation direction of the manual operation signal and an operation direction of the automatic operation signal do not match.

3. The output determination unit determines that the manual operation signal represents an operation resisting the automatic operation signal when the manual operation signal represents a brake operation. A control system for a loading machine according to claim 1.

4. The output determination unit determines to output the manual operation signal when the manual operation signal does not represent an operation resisting the automatic operation signal and the operation amount of the manual operation signal is greater than the operation amount of the automatic operation signal. A control system for a loading machine according to any one of claims 1 to 3.

5. A control system for a loading machine including a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a work machine having a bucket and attached to the rotating body, an operation signal input unit that receives an input of a manual operation signal for the rotating body and the work machine based on an operation of an operation device for operating the rotating body and the work machine; A movement control unit that generates an automatic operation signal for driving the rotating body and the working machine; an output determination unit that determines whether to output the manual operation signal or the automatic operation signal based on the manual operation signal, and determines to output the manual operation signal when the manual operation signal represents an operation that resists the automatic operation signal; an operation signal output unit that outputs the manual operation signal or the automatic operation signal based on a result of the determination; an avoidance angle specifying unit that specifies an interference avoidance angle, which is a rotation angle of the rotating body at which the bucket and the loading target do not overlap in a plan view from above, during automatic control of moving the bucket from above the loading target to an excavation start point; Equipped with The operation signal output unit outputs the automatic operation signal for the work machine regardless of the manual operation signal until the rotation angle of the rotating body reaches the interference avoidance angle. Loading machine control system.

6. A control system for a loading machine including a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a work machine having a bucket and attached to the rotating body, an operation signal input unit that receives an input of a manual operation signal for the rotating body and the work machine based on an operation of an operation device for operating the rotating body and the work machine; A movement control unit that generates an automatic operation signal for driving the rotating body and the working machine; an output determination unit that determines whether to output the manual operation signal or the automatic operation signal based on the manual operation signal, and determines to output the manual operation signal when the manual operation signal represents an operation that resists the automatic operation signal; an operation signal output unit that outputs the manual operation signal or the automatic operation signal based on a result of the determination; Equipped with The work machine is composed of a plurality of link parts including the bucket, When the result of the determination indicates that the manual operation signal is to be output for at least one link part among the plurality of link parts, the movement control unit generates the automatic operation signal for other link parts other than the at least one link part among the plurality of link parts so as to approach an operation amount of the manual operation signal related to the other link parts. Loading machine control system.

7. 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 work machine having a bucket and attached to the rotating body, comprising: receiving an input of a manual operation signal of the plurality of control objects based on an operation of an operation device for operating the plurality of control objects including the rotating body and the work machine; generating an automatic operation signal for driving the plurality of controlled objects; determining whether to output the manual operation signal or the automatic operation signal for each of the plurality of control objects based on the manual operation signal, and determining that the manual operation signal is to be output to a control object among the plurality of control objects for which the manual operation signal represents an operation resisting the automatic operation signal; outputting the manual operation signal or the automatic operation signal to each of the plurality of controlled objects based on a result of the determination; A method for controlling a loading machine comprising:

8. A method for controlling a loading machine including a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a work machine having a bucket and attached to the rotating body, comprising: receiving an input of a manual operation signal for the rotating body and the work machine based on an operation of an operation device for operating the rotating body and the work machine; generating an automatic operation signal for driving the rotating body and the work machine; determining whether to output the manual operation signal or the automatic operation signal based on the manual operation signal, and determining that the manual operation signal is to be output when the manual operation signal represents an operation resisting the automatic operation signal; outputting the manual operation signal or the automatic operation signal based on a result of the determination; A step of specifying an interference avoidance angle, which is a rotation angle of the rotating body at which the bucket and the loading target do not overlap in a plan view from above, during automatic control of moving the bucket from above the loading target to an excavation start point; Equipped with In the step of outputting the manual operation signal or the automatic operation signal, the automatic operation signal is output for the work machine regardless of the manual operation signal until the rotation angle of the rotating body reaches the interference avoidance angle. A method for controlling a loading machine.

9. A method for controlling a loading machine having a rotating body that rotates around a rotation center, a support part that supports the rotating body, and a work implement that is composed of a plurality of link parts including a bucket and is attached to the rotating body, comprising: receiving an input of a manual operation signal for the rotating body and the work machine based on an operation of an operation device for operating the rotating body and the work machine; generating an automatic operation signal for driving the rotating body and the work machine; determining whether to output the manual operation signal or the automatic operation signal based on the manual operation signal, and determining that the manual operation signal is to be output when the manual operation signal represents an operation resisting the automatic operation signal; outputting the manual operation signal or the automatic operation signal based on a result of the determination; Equipped with In the step of outputting the manual operation signal or the automatic operation signal, when the result of the determination indicates that the manual operation signal is to be output for at least one link part among the plurality of link parts, the automatic operation signal is generated for other link parts other than the at least one link part among the plurality of link parts so as to approach an operation amount of the manual operation signal related to the other link parts. A method for controlling a loading machine.

Images