Work system, control method and loading machine control device

Abstract

To automatically drive a loading machine without any order on a removed soil position.SOLUTION: A loaded machine information acquisition part acquires position information and direction information of a transport vehicle. A removed soil position identification part identifies a removed soil position for loading a loading object on the transport vehicle. A bucket position identification part identifies a position of a bucket. An operation signal generating part generates an operation signal to move the bucket from the identified position to the removed soil position.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to Working system, Control Method and loading machine control device Regarding. [Background technology]

[0002] Patent Documents 1 and 2 disclose techniques for automatically operating a hydraulic excavator by specifying an excavation position and an earth removal position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-115271 A [Patent Document 2] JP 2002-332655 A Summary of the Invention [Problem to be solved by the invention]

[0004] In order to improve the efficiency of automatic control, it is desirable to omit the specification of the soil unloading position. The present invention is capable of automatically operating a loading machine without specifying a dumping position. Working system, Control Method and loading machine control device The purpose is to provide. [Means for solving the problem]

[0005] The first aspect is a loading machine control device that controls a loading machine having a rotating body that rotates around a rotation center and a work machine that is attached to the rotating body and includes a bucket, and includes a loaded machine information acquisition unit that acquires position information and orientation information of a loaded machine, a soil discharge position identification unit that identifies a soil discharge position for loading soil into the loaded machine based on the position information and the orientation information, a bucket position identification unit that identifies the position of the bucket, and an operation signal generation unit that generates an operation signal to move the bucket from the identified position to the soil discharge position. Effect of the Invention

[0006] According to the above aspect, the loading machine control device can automatically operate the loading machine without specifying the unloading position. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic diagram showing a configuration of a remote control system according to a first embodiment. [Diagram 2] 1 is an external view of a loading machine according to a first embodiment. [Diagram 3] 2 is a schematic block diagram showing a configuration of a management device according to the first embodiment. FIG. [Figure 4] FIG. 2 is a diagram showing an example of a travel route. [Diagram 5] 1 is a schematic block diagram showing a configuration of a control device of a remote operator cab according to a first embodiment. [Figure 6] FIG. 4 is a diagram illustrating an example of a bucket path according to the first embodiment. [Figure 7] 4 is a first flowchart showing an automatic earth removal control method for the remote operator cab according to the first embodiment. [Figure 8] 5 is a second flowchart showing the automatic earth removal control method of the remote operator cab according to the first embodiment. [Figure 9] FIG. 11 is a schematic diagram showing a configuration of a remote control system according to a second embodiment. [Figure 10] FIG. 11 is an external view of a loading machine according to a second embodiment. [Figure 11] FIG. 11 is a schematic block diagram showing the configuration of a control device for a loading machine according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] First Embodiment <Work System> FIG. 1 is a schematic diagram showing the configuration of a remote control system according to the first embodiment. The work system 1 includes a loading machine 100, one or more transport vehicles 200 which are machines to be loaded, a management device 300, and a remote operator's cab 500. The loading machine 100 and the transport vehicle 200 operate at a work site (e.g., a mine, a quarry). The remote operator's cab 500 is provided at a point away from the work site (e.g., in a city, within the work site).

[0009] The transport vehicle 200 travels unmanned based on control information received from the management device 300. The transport vehicle 200 and the management device 300 are connected by communication via an access point 360. The management device 300 acquires the position and direction of the transport vehicle 200 from the transport vehicle 200, and generates course information used for the travel of the transport vehicle 200 based on the position and direction. The management device 300 transmits the course information to the transport vehicle 200. The transport vehicle 200 travels unmanned based on the received course information. In other words, the work system 1 includes an unmanned transport system including the transport vehicle 200 and the management device 300. The access point 360 is used for communication of the unmanned transport system.

[0010] The management device 300 receives instruction signals for the transport vehicle 200 from the loading machine 100 and the remote cab 500, and transmits the signals to the transport vehicle 200. The loading machine 100 and the management device 300 are connected by communication via an access point 360. The remote cab 500 and the management device 300 are also connected via a network. Examples of instruction signals for the transport vehicle 200 received from the loading machine 100 and the remote cab 500 include an entry instruction signal and a departure instruction signal. The entry instruction signal is a signal that instructs the transport vehicle 200 to enter from the waiting point P1 to the loading point P3. The departure instruction signal is a signal that instructs the transport vehicle 200 to leave the loading point P3 and exit the loading site A1 upon completion of loading.

[0011] The loading machine 100 is remotely operated based on an operation signal transmitted from the remote operator's cab 500. The loading machine 100 and the remote operator's cab 500 are connected by communication via an access point 350. A first operation device 530 of the remote operator's cab 500 accepts an operation of the loading machine 100 by an operator, and a control device 540 transmits an operation signal to the management device 300. The loading machine 100 operates based on the operation signal received from the remote operator's cab 500. In other words, the work system 1 includes a remote operation system configured from the loading machine 100 and the remote operator's cab 500. The access point 350 is used for communication of the remote operation system.

[0012] Transport Vehicle The transport vehicle 200 according to the first embodiment is an unmanned dump truck that travels unmanned along a set travel route. Note that the transport vehicle 200 according to other embodiments may be a transport vehicle other than a dump truck. The transport vehicle 200 includes a position and orientation detector 210 and a control device 220 .

[0013] The position and orientation detector 210 detects the position and orientation of the transport vehicle 200. The position and orientation detector 210 includes two receivers that receive positioning signals from artificial satellites that make up the Global Navigation Satellite System (GNSS). An example of the GNSS is the Global Positioning System (GPS). The two receivers are installed at different positions on the transport vehicle 200. The position and orientation detector 210 detects the position of a representative point of the transport vehicle 200 in the site coordinate system (the origin of the vehicle body coordinate system, for example, the center position of the rear axle of the transport vehicle 200) based on the positioning signals received by the receivers. The position and direction detector 210 uses the positioning signals received by the two receivers to calculate the direction in which the transport vehicle 200 faces as the relationship between the installation position of one receiver and the installation position of the other receiver. Note that in other embodiments, the present invention is not limited to this, and for example, the transport vehicle 200 may be equipped with an inertial measurement unit (IMU) and the direction may be calculated based on the measurement results of the inertial measurement unit. In this case, drift of the inertial measurement unit may be corrected based on the travel trajectory of the transport vehicle 200. When the direction is calculated using the inertial measurement unit, the transport vehicle 200 only needs to be equipped with one receiver.

[0014] The control device 220 transmits the position and direction detected by the position and direction detector 210 to the management device 300. The control device 220 receives course information and instruction signals from the management device 300. The control device 220 causes the transport vehicle 200 to travel or raises and lowers the vessel of the transport vehicle 200 based on the received course information and instruction signals.

[0015] Loading Machine FIG. 2 is an external view of the loading machine according to the first embodiment. The loading machine 100 according to the first embodiment is a hydraulic excavator. The loading machine 100 according to other embodiments may be a loading machine other than a hydraulic excavator. The loading machine 100 shown in Fig. 2 is a face shovel, but may be a backhoe shovel or a rope shovel. The loading machine 100 includes a traveling body 130, a rotating body 120 supported by the traveling body 130, and a working machine 110 that is hydraulically operated and supported by the rotating body 120. The rotating body 120 is supported so as to be freely rotatable about a rotation center.

[0016] The work machine 110 includes a boom 111 , an arm 112 , a bucket 113 , a boom cylinder 114 , an arm cylinder 115 , a bucket cylinder 116 , a boom angle sensor 117 , an arm angle sensor 118 , and a bucket angle sensor 119 .

[0017] The base end of the boom 111 is attached to a rotating body 120 via a pin. The arm 112 connects the boom 111 and the bucket 113. The base end of the arm 112 is attached to the tip of the boom 111 via a pin. The bucket 113 includes a blade for digging up earth and sand, and a container for storing the excavated earth and sand. The base end of the bucket 113 is attached to the tip of the arm 112 via a pin.

[0018] The boom cylinder 114 is a hydraulic cylinder for operating the boom 111. A base end of the boom cylinder 114 is attached to the rotating body 120. A tip end of the boom cylinder 114 is attached to the boom 111. The arm cylinder 115 is a hydraulic cylinder for driving the arm 112. A base end of the arm cylinder 115 is attached to the boom 111. A tip end of the arm cylinder 115 is attached to the arm 112. The bucket cylinder 116 is a hydraulic cylinder for driving the bucket 113. A base end of the bucket cylinder 116 is attached to the boom 111. A tip end of the bucket cylinder 116 is attached to the bucket 113.

[0019] The boom angle sensor 117 is attached to the boom 111 and detects the inclination angle of the boom 111 . The arm angle sensor 118 is attached to the arm 112 and detects the inclination angle of the arm 112 . The bucket angle sensor 119 is attached to the bucket 113 and detects the inclination angle of the bucket 113 . The boom angle sensor 117, arm angle sensor 118, and bucket angle sensor 119 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 111, arm 112, and bucket 113, or may detect the inclination angle by measuring the cylinder lengths of the boom cylinder 114, arm cylinder 115, and bucket cylinder 116 and converting the cylinder lengths into angles.

[0020] The revolving body 120 is provided with a cab 121. An imaging device 122 is provided at the top of the cab 121. The imaging device 122 is installed at the front and top of the cab 121. The imaging device 122 captures an image of the area in front of the cab 121 through a windshield in front of the cab 121. Examples of the imaging device 122 include imaging devices using a charge coupled device (CCD) sensor and a complementary metal oxide semiconductor (CMOS) sensor. Note that in other embodiments, the imaging device 122 does not necessarily have to be provided in the cab 121, and the imaging device 122 may be provided at a position where it is possible to capture an image of at least the work target and the work machine 110.

[0021] The loading machine 100 includes an imaging device 122 , a position and orientation calculator 123 , an inclination measuring device 124 , a hydraulic device 125 , and a control device 126 .

[0022] The position and orientation calculator 123 calculates the position of the revolving body 120 and the orientation in which the revolving body 120 faces. The position and orientation calculator 123 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 123 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 123 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.

[0023] The inclination measuring device 124 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 124 is installed, for example, on the underside of the rotating body 120. The inclination measuring device 124 can use, for example, an inertial measurement unit (IMU).

[0024] The hydraulic device 125 includes a hydraulic oil tank, a hydraulic pump, and a flow control valve. The hydraulic pump is driven by the power of an engine (not shown), and supplies hydraulic oil to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 via the flow control valve. The flow control valve has a rod-shaped spool, and adjusts the flow rate of the hydraulic oil supplied to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 depending on the position of the spool. The spool is driven based on a control command received from the control device 126. In other words, the amount of hydraulic oil supplied to the boom cylinder 114, the arm cylinder 115, and the bucket cylinder 116 is controlled by the control device 126.

[0025] The control device 126 transmits the image captured by the imaging device 122, the rotation speed, position and orientation of the rotating body 120, the inclination angles of the boom 111, the arm 112 and the bucket 113, the traveling speed of the traveling body 130, and the attitude of the rotating body 120 to the remote cab 500. Hereinafter, the image, the rotation speed, position and orientation of the rotating body 120, the inclination angles of the boom 111, the arm 112 and the bucket 113, the traveling speed of the traveling body 130, and the attitude of the rotating body 120 are also referred to as vehicle information. Note that vehicle information according to other embodiments is not limited to this. For example, vehicle information according to other embodiments may not include any of the rotation speed, position, orientation, inclination angle, traveling speed, and attitude, may include values ​​detected by other sensors, or may include values ​​calculated from detected values. The control device 126 receives an operation signal from the remote operator's cab 500. The control device 126 drives the work machine 110, the rotating body 120, or the traveling body 130 based on the received operation signal.

[0026] 《Management device》 FIG. 3 is a schematic block diagram showing the configuration of a management device according to the first embodiment. The management device 300 manages the traveling of the transport vehicle 200 . The management device 300 is a computer including a processor 3100, a main memory 3200, a storage 3300, and an interface 3400. The storage 3300 stores a program p3. The processor 3100 reads the program p3 from the storage 3300, loads it into the main memory 3200, and executes processing in accordance with the program p3. The management device 300 is connected to a network via the interface 3400. An access point 360 is connected to the interface 3400. The management device 300 is wirelessly connected to the loading machine 100 and the transport vehicle 200 via the access point 360.

[0027] The storage 3300 has storage areas as a travel route storage unit 3301 and a position / orientation storage unit 3302. Examples of the storage 3300 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage 3300 may be an internal medium directly connected to a common communication line of the management device 300, or an external medium connected to the management device 300 via an interface 3400. The storage 3300 is a non-transitory tangible storage medium.

[0028] The travel route storage unit 3301 stores a travel route R for each transport vehicle 200. FIG. 4 is a diagram showing an example of a travel route. The travel route R includes a predetermined connection route R1 connecting two areas A (for example, a loading site A1 and an unloading site A2), as well as an entrance route R2, an approach route R3, and an exit route R4, which are routes within the area A. The entrance route R2 is a route that connects a waiting point P1, which is one end of the connection route R1, and a predetermined turning point P2 within the area A. The approach route R3 is a route that connects the turning point P2 and a loading point P3 or an unloading point P4 within the area A. The exit route R4 is a route that connects a loading point P3 or an unloading point P4 within the area A and an exit point P5, which is the other end of the connection route R1. The loading point P3 is a point that is set by the operation of the operator of the loading machine 100. The switching point P2 is a point that is set by the management device 300 in accordance with the position of the loading point P3.

[0029] The position and direction storage unit 3302 stores the position information and direction information of each of the transport vehicles 200 .

[0030] The processor 3100 includes a position and orientation collection unit 3101 and a driving course generation unit 3102 by executing the program p3.

[0031] The position and orientation collecting unit 3101 receives the position information and orientation information of the delivery vehicle 200 from the delivery vehicle 200 via the access point 360. The position and orientation collecting unit 3101 causes the position and orientation storage unit 3302 to store the received position information and orientation information.

[0032] The travel course generating unit 3102 generates course information including information on an area in which the transport vehicle 200 is permitted to move, based on the travel route stored in the travel route storage unit 3301 and the position information and orientation information stored in the position orientation storage unit 3302. The generated course information is transmitted to the transport vehicle 200. The course information includes position information of points set at predetermined intervals on the travel route, target speed information at the points, and travel-permitted area information that does not overlap with the travel-permitted areas of other transport vehicles 200.

[0033] The travel course generating unit 3102 does not include the approach route R2 and the approach route R3 in the area indicated by the course information until the approach instruction signal is received from the remote cab 500. As a result, the transport vehicle 200 waits at the waiting point P1 until the approach instruction signal is received. When the travel course generating unit 3102 receives the approach instruction signal, it generates course information including the approach route R2 and the approach route R3 and not including the exit route R4. As a result, the transport vehicle 200 starts from the waiting point P1, travels to the loading point P3, and stops at the loading point P3. When the travel course generating unit 3102 receives the start instruction signal, it generates course information including the exit route R4. In the work system 1 according to this embodiment, the transport vehicle 200 waits at the waiting point P1 until the approach instruction signal is received, but is not limited to this. For example, in other embodiments, the position where the transport vehicle 200 waits may be the switching point P2 or a point along the entrance route R2 or the approach route R3.

[0034] Remote Control Cabin The remote operator's cab 500 includes a operator's seat 510 , a display device 520 , a first operating device 530 , a second operating device 531 , and a control device 540 . Display device 520 is disposed in front of driver's seat 510. Display device 520 is located in front of the operator when the operator sits in driver's seat 510. Display device 520 may be configured with a plurality of displays arranged side by side as shown in Fig. 1, or may be configured with one large display. Display device 520 may also be configured to project an image onto a curved or spherical surface by a projector or the like.

[0035] The first operating device 530 is an operating device for the remote operation system. In response to the operation of the operator, the first operating device 530 generates an operating signal for the boom cylinder 114, an operating signal for the arm cylinder 115, an operating signal for the bucket cylinder 116, an operating signal for turning the revolving body 120 to the left and right, and a traveling operating signal for moving the traveling body 130 forward and backward, and outputs them to the control device 540. The first operating device 530 is composed of, for example, a lever, a knob switch, and a pedal. The soil discharge command signal is generated by operating the knob switch. The second operation device 531, when operated by an operator, transmits a start instruction signal to the management device 300. The second operation device 531 is configured by, for example, a touch panel or the like. The first operating device 530 and the second operating device 531 are disposed near the driver's seat 510. The first operating device 530 and the second operating device 531 are located within a range that the operator can operate when the operator sits in the driver's seat 510.

[0036] The control device 540 causes the display device 520 to display the image received from the loading machine 100 , and transmits an operation signal representing the operation of the first operating device 530 to the loading machine 100 .

[0037] FIG. 5 is a schematic block diagram showing the configuration of the control device of the remote operator's cab according to the first embodiment. The control device 540 is a computer including a processor 5100, a main memory 5200, a storage 5300, and an interface 5400. The storage 5300 stores a program p5. The processor 5100 reads the program p5 from the storage 5300, loads it in the main memory 5200, and executes processing in accordance with the program p5. The control device 540 is connected to a network via the interface 5400.

[0038] Examples of the storage 5300 include an HDD, an SSD, a magnetic disk, an optical magnetic disk, a CD-ROM, a DVD-ROM, and a semiconductor memory. The storage 5300 may be an internal medium directly connected to a common communication line of the control device 540, or may be an external medium connected to the control device 540 via an interface 5400. The storage 5300 is a non-transitory tangible storage medium.

[0039] By executing program p5, the processor 5100 is equipped with a loading vehicle information acquisition unit 5101, a display control unit 5102, a transporting vehicle information acquisition unit 5103, an operation signal input unit 5104, a bucket position identification unit 5105, an earth removal position identification unit 5106, an avoidance position identification unit 5107, an operation signal generation unit 5109, and an operation signal output unit 5110.

[0040] The loading vehicle information acquisition unit 5101 acquires vehicle information from the loading machine 100 .

[0041] The display control unit 5102 generates a display signal for displaying an image included in the vehicle information received by the loading vehicle information acquisition unit 5101 , and outputs the signal to the display device 520 .

[0042] The transport vehicle information acquisition unit 5103 acquires the position information and orientation information of each transport vehicle 200 from the management device 300. The transport vehicle information acquisition unit 5103 is an example of a loaded machine information acquisition unit that acquires the position information and orientation information of the loaded machine.

[0043] The operation signal input unit 5104 receives an input of an operation signal from the first operation device 530. The operation signals include an operation signal for the boom 111, an operation signal for the arm 112, an operation signal for the bucket 113, a rotation operation signal for the rotating body 120, a travel operation signal for the traveling body 130, and an earth removal instruction signal for the loading machine 100.

[0044] The bucket position specifying unit 5105 specifies the position P of the tip of the arm 112 in the shovel coordinate system and the height Hb from the tip of the arm 112 to the lowest point of the bucket 113 based on the vehicle information received by the loading vehicle information acquisition unit 5101. The lowest point of the bucket 113 refers to the point of the bucket 113 that is the shortest distance from the ground surface among the contours of the bucket 113. In particular, the bucket position specifying unit 5105 specifies the position P of the tip of the arm 112 when the input of the soil discharge instruction signal is received as the excavation completion position P10. FIG. 6 is a diagram showing an example of the path of the bucket according to the first embodiment. Specifically, the bucket position specifying unit 5105 determines the vertical and horizontal components of the length of the boom 111 based on the inclination angle of the boom 111 and the known length of the boom 111 (the distance from the pin at the base end to the pin at the tip). Similarly, the bucket position specifying unit 5105 determines the vertical and horizontal components of the length of the arm 112. The bucket position identifying unit 5105 identifies a position P of the tip of the arm 112 (position P of the pin at the tip of the arm 112 shown in FIG. 2) 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 111 and the arm 112 in a direction identified from the orientation and posture of the loading machine 100. In addition, the bucket position identifying unit 5105 identifies the lowest point of the bucket 113 in the vertical direction based on the inclination angle of the bucket 113 and the known shape of the bucket, and identifies the height Hb from the tip of the arm 112 to the lowest point.

[0045] When an unloading instruction signal is input to the operation signal input unit 5104, the unloading position specifying unit 5106 specifies the unloading position P13 based on the position information and orientation information of the transport vehicle 200 acquired by the transport vehicle information acquisition unit 5103. That is, the unloading position specifying unit 5106 specifies the unloading position P13 based on the position information and orientation information when the transport vehicle 200 stops at the loading point P3. The unloading position specifying unit 5106 converts the reference position P21 indicated by the position information of the transport vehicle 200 from the site coordinate system to the excavator coordinate system based on the position, orientation and attitude of the revolving body 120 acquired by the loading vehicle information acquisition unit 5101, and specifies the unloading point P22 that is a distance D1 away from the reference position P21 in the direction indicated by the orientation information of the transport vehicle 200. The distance D1 is a known distance between the reference position P21 and the unloading point P22 on the vessel. The discharge position specifying unit 5106 specifies a position that is a distance D2 from the center of the bucket 113 to the tip of the arm 112 in the direction in which the revolving body 120 of the loading machine 100 faces from the specified position P22 as the planar position of the discharge position P13. The discharge position specifying unit 5106 specifies the height of the discharge position P13 by adding the height Hb from the tip to the lowest point of the arm 112 specified by the bucket position specifying unit 5105 and the height of the control margin of the bucket 113 to the height Ht of the transport vehicle 200. Note that in other embodiments, the discharge position specifying unit 5106 may specify the discharge position P13 without adding the height of the control margin. That is, the discharge position specifying unit 5106 may specify the height of the discharge position P13 by adding the height Hb to the height Ht of the transport vehicle 200.

[0046] The avoidance position specifying unit 5107 specifies an interference avoidance position P12, which is a point that does not interfere with the transport vehicle 200, based on the unloading position P13 specified by the unloading position specifying unit 5106, the position of the loading machine 100 acquired by the loading vehicle information acquiring unit 5101, and the position and orientation of the transport vehicle 200 acquired by the transport vehicle information acquiring unit 5103. The interference avoidance position P12 is a position that has the same height as the unloading position P13, is equal in distance from the rotation center of the revolving body 120 to the unloading position P13, and is below which the transport vehicle 200 does not exist. For example, the avoidance position specifying unit 5107 specifies a circle centered on the rotation center of the revolving body 120 and has a radius equal to the distance between the rotation center and the unloading position, and specifies, among the positions on the circle, a position where the outer shape of the bucket 113 does not interfere with the transport vehicle 200 in a plan view and is closest to the unloading position P13 as the interference avoidance position P12. The avoidance position specifying unit 5107 can determine whether or not the transport vehicle 200 and the bucket 113 will interfere with each other, based on the position, direction, and known outer shape of the transport vehicle 200, and the known shape of the bucket 113. Here, "same height" and "equal distance" do not necessarily mean that the height or distance is completely the same, but rather allow for some error or margin.

[0047] The operation signal generating unit 5109 generates an operation signal for moving the bucket 113 to the discharge position P13 based on the discharge position P13 identified by the discharge position identifying unit 5106 and the interference avoidance position P12 identified by the avoidance position identifying unit 5107. That is, the operation signal generating unit 5109 generates an operation signal to move the bucket 113 from the excavation completion position P10 via position P11 and the interference avoidance position P12 to the discharge position P13. The operation signal generating unit 5109 also generates an operation signal for the bucket 113 so that the angle of the bucket 113 does not change even if the boom 111 and the arm 112 are driven.

[0048] The operation signal output unit 5110 outputs the operation signal input to the operation signal input unit 5104 or the operation signal generated by the operation signal generation unit 5109 to the loading machine 100.

[0049] "method" The transport vehicle 200 travels along the travel route R according to the course information generated by the management device 300, and stops at the waiting point P1. The operator of the loading machine 100 operates the second operation device 531 (for example, by pressing a predetermined button) to input an entry instruction signal to the second operation device 531. The entry instruction signal is transmitted from the second operation device 531 to the management device 300. As a result, the management device 300 generates course information indicating the areas of the entry route R2 and the approach route R3. The transport vehicle 200 travels along the approach route R3, and stops at the loading point P3. The operator operates the first operation device 530 to scoop up soil and sand with the bucket 113 of the loading machine 100, and operates the knob switch of the first operation device 530 to generate and output an earth removal instruction signal.

[0050] Fig. 7 is a first flowchart showing the automatic earth removal control method of the remote operator's cab according to the first embodiment. Fig. 8 is a second flowchart showing the automatic earth removal control method of the remote operator's cab according to the first embodiment. When the control device 540 receives an earth removal instruction signal input from an operator, it executes the automatic earth removal control shown in Fig. 7.

[0051] The loading vehicle information acquisition unit 5101 acquires the position and orientation of the rotating body 120, the inclination angles of the boom 111, the arm 112 and the bucket 113, and the attitude of the rotating body 120 from the loading machine 100 (step S1). The transport vehicle information acquisition unit 5103 acquires the position and orientation of the transport vehicle 200 from the management device 300 (step S2).

[0052] The bucket position identifying unit 5105 identifies the position P of the tip of the arm 112 when the unloading instruction signal was input and the height from the tip of the arm 112 to the lowest point of the bucket 113 based on the vehicle information acquired by the loading vehicle information acquiring unit 5101 (step S3). The bucket position identifying unit 5105 identifies the position P as the excavation completion position P10.

[0053] The soil discharge position identifying unit 5106 converts the position information of the transport vehicle 200 acquired by the transport vehicle information acquiring unit 5103 from the site coordinate system to the excavator coordinate system based on the position, direction and attitude of the revolving body 120 acquired in step S1. The soil discharge position identifying unit 5106 identifies the planar position of the soil discharge position P13 based on the position information and direction information of the transport vehicle 200 acquired by the transport vehicle information acquiring unit 5103 and the known shape of the transport vehicle 200 (step S4). At this time, the soil discharge position identifying unit 5106 identifies the height of the soil discharge position P13 by adding the height Hb from the tip of the arm 112 to the lowest point of the bucket 113 identified in step S3 and the height of the control margin of the bucket 113 to the known height Ht of the transport vehicle 200 (step S5).

[0054] The avoidance position identifying unit 5107 identifies the position of the center of rotation of the rotating body 120 based on the position and orientation of the rotating body 120 acquired by the loading vehicle information acquiring unit 5101 (step S6). The avoidance position identifying unit 5107 identifies the planar distance from the center of rotation to the dumping position P13 (step S7). The avoidance position identifying unit 5107 identifies, as the interference avoidance position P12, a position that is the identified planar distance away from the center of rotation, where the outline of the bucket 113 does not interfere with the transport vehicle 200 in a planar view, and is closest to the dumping position P13 (step S8).

[0055] The operation signal generating unit 5109 judges whether the position of the tip of the arm 112 has reached the earth unloading position P13 (step S9). If the position of the tip of the arm 112 has not reached the earth unloading position P13 (step S9: NO), the operation signal generating unit 5109 judges whether the height of the tip of the arm 112 is less than the height of the interference avoidance position P12, or whether the planar distance from the rotation center of the rotating body 120 to the tip of the arm 112 is less than the planar distance from the rotation center to the interference avoidance position P12 (step S10). If the height of the bucket 113 is less than the height of the interference avoidance position P12, or if the planar distance from the rotation center to the tip of the arm 112 is less than the planar distance from the rotation center to the interference avoidance position P12 (step S10: YES), the operation signal generating unit 5109 generates an operation signal to raise the boom 111 and the arm 112 to the height of the interference avoidance position P12 (step S11). At this time, the operation signal generating unit 5109 generates an operation signal based on the positions and speeds of the boom 111 and the arm 112 .

[0056] Furthermore, the operation signal generating unit 5109 calculates the sum of the angular velocities of the boom 111 and the arm 112 based on the generated operation signals of the boom 111 and the arm 112, and generates an operation signal for rotating the bucket 113 at a speed equal to the sum of the angular velocities (step S12). This allows the operation signal generating unit 5109 to generate an operation signal for maintaining the ground angle of the bucket 113. Note that in another embodiment, the operation signal generating unit 5109 may generate an operation signal for rotating the bucket 113 so that the ground angle of the bucket 113 calculated from the detection values ​​of the boom angle sensor 117, the arm angle sensor 118, and the bucket angle sensor 119 becomes equal to the ground angle at the start of automatic control.

[0057] If the height of the bucket 113 is equal to or higher than the height of the interference avoidance position P12 (step S10: NO), the operation signal generating unit 5109 does not generate operation signals for the boom 111, the arm 112, and the bucket 113.

[0058] Next, the operation signal generating unit 5109 identifies a rise time, which is the time it takes for the height of the bucket 113 to rise from the height of the excavation completion position P10 to the height of the interference avoidance position P12 (step S13). The operation signal generating unit 5109 generates a swing operation signal (step S14). At this time, the operation signal generating unit 5109 generates the swing operation signal based on the rise time of the bucket 113 so that the tip of the arm 112 swings and passes through the interference avoidance position P12 after the height of the bucket 113 reaches or exceeds the height of the interference avoidance position P12.

[0059] When at least one of the operation signals of the boom 111, the arm 112, and the bucket 113 and the rotation operation signal of the rotating body 120 is generated in the processing from step S9 to step S14, the operation signal output unit 5110 outputs the generated operation signal to the loading machine 100 (step S15). The loading vehicle information acquisition unit 5101 acquires vehicle information from the loading machine 100 (step S16). This allows the loading vehicle information acquisition unit 5101 to acquire vehicle information after being driven by the output operation signal. The control device 540 returns the processing to step S9 and repeatedly executes generation of the operation signal.

[0060] On the other hand, in step S9, when the position of the tip of the arm 112 reaches the dumping position P13 (step S9: YES), the operation signal generating unit 5109 does not generate an operation signal. Therefore, when the position of the tip of the arm 112 reaches the dumping position P13, the work machine 110 and the revolving body 120 stop. When the position of the tip of the arm 112 reaches the dumping position P13 (step S9: YES), that is, when the operation signal generating unit 5109 has not generated an operation signal in the processing from step S9 to step S14, the operation signal generating unit 5109 generates an operation signal for dumping the bucket 113 (step S17). Examples of the operation signal for dumping the bucket 113 include an operation signal for rotating the bucket 113 in the dumping direction and an operation signal for opening the clam when the bucket 113 is a clam bucket. The operation signal output unit 5110 outputs the generated operation signal to the loading machine 100 (step S18). Then, the control device 540 ends the automatic soil removal control.

[0061] Here, the operation of the loading machine 100 during the automatic soil removal control will be described with reference to FIG. When the automatic soil removal control is started, the boom 111 and the arm 112 rise from the excavation completion position P10 toward a position P11. At this time, the bucket 113 is driven so as to maintain the angle at which it was at the time of the completion of excavation.

[0062] When the tip of the arm 112 reaches position P11, the rotating body 120 starts to rotate toward the earth unloading position P13. At this time, the tip of the arm 112 has not yet reached the height of the interference avoidance position P12, so the boom 111 and the arm 112 continue to rise. As the tip of the arm 112 moves from position P11 to the interference avoidance position P12, the boom 111, the arm 112 and the bucket 113 decelerate so that the height of the tip of the arm 112 becomes equal to that of the interference avoidance position P12.

[0063] When the tip of the arm 112 reaches the interference avoidance position P12, the drive of the work implement 110 stops. Meanwhile, the rotating body 120 continues to rotate. That is, between the interference avoidance position P12 and the soil discharge position P13, the tip of the arm 112 moves only by the rotation of the rotating body 120, not by the drive of the work implement 110. As the tip of the arm 112 moves from position P11 to the soil discharge position P13, the rotating body 120 decelerates so that the position of the tip of the arm 112 becomes equal to the soil discharge position P13.

[0064] When the tip of the arm 112 reaches the earth-discharging position P13, the driving of the work implement 110 and the rotating body 120 stops. After that, the bucket 113 performs the earth-discharging operation.

[0065] By the above-mentioned automatic soil discharge control, the loading machine 100 can automatically discharge the soil scooped by the bucket 113 to the transport vehicle 200. The operator repeatedly executes the excavation by the work machine 110 and the automatic soil discharge control by inputting the soil discharge instruction signal to the extent that the load capacity of the transport vehicle 200 does not exceed the maximum load capacity. Then, the operator operates the second operation device 531 to input a departure instruction signal to the second operation device 531. The departure instruction signal is transmitted from the second operation device 531 to the management device 300. As a result, the management device 300 generates course information including the area of ​​the exit route R4. The transport vehicle 200 starts from the loading point P3, travels along the exit route R4, and exits the loading site A1.

[0066] Actions and Effects According to the first embodiment, the control device 540 specifies the discharge position for loading earth and sand onto the transport vehicle 200 based on the position information and direction information of the transport vehicle 200 detected by the transport vehicle 200. This allows the control device 540 to automatically operate the loading machine 100 without receiving a discharge position designation from an operator or the like.

[0067] Furthermore, according to the first embodiment, the control device 540 identifies the excavation completion position P10 of the bucket 113, and generates an operation signal for moving the bucket 113 from the excavation completion position P10 to the earth unloading position P13. This enables the control device 540 to automatically unload the earth scooped up by the bucket 113 onto the transport vehicle 200.

[0068] Furthermore, according to the first embodiment, the control device 540 generates a control signal so that the bucket 113 passes through the interference avoidance position P12. The interference avoidance position P12 according to the first embodiment is a position that is equal in height to the earth unloading position P13, equal in distance from the center of rotation of the rotating structure 120 to the distance from the center of rotation to the earth unloading position P13, and is a position below which the transport vehicle 200 is not present, taking into account the outer shape of the bucket 113. This can reliably prevent the bucket 113 from coming into contact with the transport vehicle 200 due to the rotation of the rotating structure 120.

[0069] Second embodiment The loading machine 100 according to the first embodiment acquires position information and orientation information of the transport vehicle 200 from the management device 300. In contrast, the loading machine 100 according to the second embodiment includes a detection device that detects the spatial position of an object present in the detection direction, and acquires position information and orientation information of the transport vehicle 200 based on the detection result of the detection device. This allows the loading machine 100 to obtain the position information and direction information of the transport vehicle 200 without relying on the management device 300.

[0070] FIG. 9 is a schematic diagram showing the configuration of a remote control system according to the second embodiment. In the work system 1 according to the second embodiment, the loading machine 100 and the transport vehicle 200 are operated from inside. Therefore, the work system 1 according to the second embodiment does not include the management device 300 and the remote operator's cab 500.

[0071] Loading Machine FIG. 10 is an external view of the loading machine according to the second embodiment. The loading machine 100 according to the second embodiment is further provided with a detection device 127 and an operation device 128 in addition to the configuration of the loading machine 100 according to the first embodiment. On the other hand, the loading machine 100 according to the second embodiment does not include the imaging device 122.

[0072] The detection device 127 detects the spatial position of an object present in the detection direction. Examples of the detection device 127 include a stereo camera, a laser scanner, and a UWB (Ultra Wide Band) distance measuring device. The detection device 127 is provided such that the detection direction faces, for example, forward of the cab 121 of the loading machine 100. The detection device 127 specifies the spatial position of the object in a coordinate system based on the position of the detection device 127.

[0073] The operation device 128 is provided inside the operator's cab 121. Examples of the operation device 128 include an operation lever and an operation panel. The operation device 128 according to the second embodiment accepts input of operations for the work machine 110, the revolving body 120, and the traveling body 130 by an operation lever. The operation device 128 according to the second embodiment also accepts input of an earth removal command signal by an operation panel.

[0074] FIG. 11 is a schematic block diagram showing the configuration of the control device for the loading machine according to the second embodiment. The control device 126 drives the work machine 110, the revolving body 120, or the traveling body 130 based on an operation signal input to the operation device 128. In addition, the control device 126 recognizes the transport vehicle 200 based on the vehicle information and the detection information of the detection device 127, and performs automatic soil removal processing.

[0075] The control device 126 is a computer including a processor 1100, a main memory 1200, a storage 1300, and an interface 1400. The storage 1300 stores a program p1. The processor 1100 reads the program p1 from the storage 1300, loads it in the main memory 1200, and executes processing in accordance with the program p1. The control device 126 is connected to a network via the interface 1400.

[0076] Examples of the storage 1300 include an HDD, an SSD, a magnetic disk, an optical magnetic disk, a CD-ROM, a DVD-ROM, and a semiconductor memory. The storage 1300 may be an internal medium directly connected to a common communication line of the control device 126, or an external medium connected to the control device 126 via an interface 1400. The storage 1300 is a non-transitory tangible storage medium.

[0077] By executing program p1, processor 1100 is provided with a vehicle information acquisition unit 1101, a detection information acquisition unit 1102, an operation signal input unit 1103, a bucket position identification unit 1104, an earth removal position identification unit 1105, an avoidance position identification unit 1106, an operation signal generation unit 1108, a drive control unit 1109, and an instruction signal output unit 1110.

[0078] The vehicle information acquisition unit 1101 acquires the position and orientation of the revolving unit 120 from the position and orientation calculator 123. The vehicle information acquisition unit 1101 acquires the rotation speed and attitude of the revolving unit 120 from the inclination measuring instrument 124. The vehicle information acquisition unit 1101 acquires the inclination angles of the boom 111, the arm 112, and the bucket 113 from the boom angle sensor 117, the arm angle sensor 118, and the bucket angle sensor 119, respectively.

[0079] The detection information acquisition unit 1102 acquires three-dimensional data (eg, point cloud data, polygon data, voxel data, etc.) indicating the spatial position of the object detected by the detection device 127.

[0080] The operation signal input unit 1103 receives input of an operation signal and an instruction signal (an entry instruction signal and a departure instruction signal) for the transport vehicle 200 from the operation device 128 .

[0081] The bucket position identifying unit 1104 identifies the excavation completion position P10 of the tip of the arm 112 in the shovel coordinate system and the height Hb from the tip of the arm 112 to the lowest point of the bucket 113, based on the vehicle information acquired by the vehicle information acquiring unit 1101. The bucket position identifying unit 1104 identifies the excavation completion position P10 and the height Hb in a manner similar to that of the bucket position identifying unit 5105 according to the first embodiment.

[0082] When an unloading instruction signal is input to the operation signal input unit 1103, the unloading position identification unit 1105 identifies the unloading position P13 based on the three-dimensional data acquired by the detection information acquisition unit 1102. Based on the position, direction, and attitude of the revolving body 120 acquired by the vehicle information acquisition unit 1101 and the known installation position of the detection device 127 on the revolving body 120, the unloading position identification unit 1105 converts the spatial position of the object indicated by the three-dimensional data from a coordinate system based on the installation position of the detection device 127 to a shovel coordinate system. The unloading position identification unit 1105 identifies the position and direction of the transport vehicle 200 in the shovel coordinate system by applying the known shape of the transport vehicle 200 to the converted three-dimensional data. The unloading position identification unit 1105 identifies an unloading point P22 that is separated by a distance D1 from a reference position P21 indicated by the position information of the transport vehicle 200 in a direction indicated by the orientation information of the transport vehicle 200. The discharge position identifying unit 5106 identifies a position that is a distance D2 from the center of the bucket 113 to the tip of the arm 112 in the direction in which the revolving body 120 of the loading machine 100 faces from the identified position P22 as the planar position of the discharge position P13. The discharge position identifying unit 1105 identifies the height of the discharge position P13 by adding the height Hb from the tip of the arm 112 to the lowest point of the bucket 113 identified by the bucket position identifying unit 1104 and the height of the control margin of the bucket 113 to the height Ht of the transport vehicle 200.

[0083] The avoidance position identification unit 1106 identifies the interference avoidance position P12 in a manner similar to that of the avoidance position identification unit 5107 according to the first embodiment, based on the discharge position P13 identified by the discharge position identification unit 1105 and the position of the loading machine 100 acquired by the vehicle information acquisition unit 1101. The operation signal generating unit 1108 generates an operation signal for moving the bucket 113 to the soil unloading position in a manner similar to that of the operation signal generating unit 5109 according to the first embodiment, based on the soil unloading position identified by the soil unloading position identifying unit 1105 and the interference avoidance position identified by the avoidance position identifying unit 1106.

[0084] The drive control unit 1109 drives the work machine 110 , the revolving body 120 , and the traveling body 130 based on the operation signal input to the operation signal input unit 1103 or the operation signal generated by the operation signal generation unit 1108 . The instruction signal output unit 1110 transmits the instruction signals (the entry instruction signal and the departure instruction signal) input to the operation signal input unit 1103 to the management device 300.

[0085] Actions and Effects The control device 540 according to the second embodiment includes a detection device 127 that detects the spatial position of an object present in the detection direction, and acquires position information and orientation information of the transport vehicle 200 based on the detection result of the detection device 127. As a result, the loading machine 100 according to the second embodiment can acquire the position information and orientation information of the transport vehicle 200 without relying on the management device 300, and can automatically operate the loading machine 100 without being specified as a discharge position.

[0086] 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 modifications and the like are possible. For example, in the first embodiment, the remotely operated loading machine 100 discharges soil onto the unmanned transport vehicle 200, and in the second embodiment, the loading machine 100 operated by boarding discharges soil onto the transport vehicle 200 operated by boarding, but this is not limited thereto. For example, in other embodiments, the remotely operated loading machine 100 may discharge soil onto the transport vehicle 200 operated by boarding, or the loading machine 100 operated by boarding may discharge soil onto the unmanned transport vehicle 200. Even when the transport vehicle 200 operates by unmanned operation, the loading machine 100 may acquire position information and direction information of the transport vehicle 200 based on the detection device 127 as in the second embodiment. Also, even when the transport vehicle 200 operates by boarding, the management device 300 may manage position information and direction information of the transport vehicle 200 as in the first embodiment, and the loading machine 100 may acquire these information from the management device 300.

[0087] In the work system 1 according to the first embodiment, the control device 540 of the remote cab 500 calculates the automatic earth removal process based on the position information and orientation information of the transport vehicle 200 received from the management device 300, but this is not limited to the above. For example, in the work system 1 according to another embodiment, the control device 126 of the loading machine 100 may calculate the automatic earth removal process based on the position information and orientation information of the transport vehicle 200 received from the management device 300. That is, the detection information acquisition unit 1102 of the control device 126 according to the second embodiment may acquire the position information and orientation information of the transport vehicle 200 from the management device 300.

[0088] In the first embodiment, the loading machine 100 acquires the position and the direction of the transport vehicle 200 via the management device 300, but this is not limited to the above. For example, the loading machine 100 according to other embodiments may acquire the position and the direction of the transport vehicle 200 from the transport vehicle 200 through vehicle-to-vehicle communication.

[0089] In the work system 1 according to the embodiment described above, the unloading position P13 is identified based on the position information and orientation information when the transport vehicle 200 stops at the loading point P3, but this is not limited to the above. For example, in another embodiment, the unloading position P13 may be identified based on the position of the loading point P3, rather than the position information and orientation information of the transport vehicle 200. In this case, the work system 1 can identify the loading point P3 before the transport vehicle 200 stops.

[0090] In the above-described embodiment, the loaded machine is a manned or unmanned transport vehicle 200, but is not limited thereto. Other examples of the loaded machine include an in-pit crusher equipped with a hopper and a belt conveyor, and a self-propelled crusher equipped with a hopper and a traveling body. In this case, the soil discharge position specifying unit 5106 and the soil discharge position specifying unit 1105 can specify the soil discharge position based on the hopper position of the loaded machine.

[0091] In the work system 1 according to the embodiment described above, the loading machine 100 loads earth and sand, but this is not limited to the above in other embodiments. For example, the loading target in other embodiments may be ore, crushed stone, coal, etc.

[0092] In the above-described embodiment of the control device 126, the management device 300, and the control device 540, the case where the program is stored in the storage has been described, but this is not limited to the above. For example, in another embodiment, the program may be distributed to the control device via a communication line. In this case, the control device that receives the program loads the program in the main memory and executes the above-described process.

[0093] Furthermore, the programs p1 and p5 may be for realizing some of the above-mentioned functions. For example, the programs p1 and p5 may be for realizing the above-mentioned functions in combination with other programs already stored in the storage or in combination with other programs implemented in other devices.

[0094] Furthermore, the control device 126, the management device 300, and the control device 540 may include a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some of the functions realized by the processor may be realized by the PLD. [Explanation of symbols]

[0095] 1...Work system 100...Loading machine 126...Control device 1101...Vehicle information acquisition unit 1102...Detection information acquisition unit 1103...Operation signal input unit 1104...Bucket position identification unit 1105...Soil discharge position identification unit 1106...Avoidance position identification unit 1107...Turning timing identification unit 1108...Operation signal generation unit 1109...Drive control unit 1110...Instruction signal output unit 200...Transportation vehicle (loaded machine) 300...Management device 3101...Position and direction collection unit 3102...Travel course generation unit 3103...Transfer unit 3301...Travel route memory unit 3302...Position and direction memory unit 500...Remote driver's cab 510...Driver's seat 520...Display device 530...First operation device 531...Second operation device 540...Control device 5101...Loading vehicle information acquisition unit 5102: Display control unit 5103: Transport vehicle information acquisition unit (loaded machine information acquisition unit) 5104: Operation signal input unit 5105: Bucket position identification unit 5106: Soil discharge position identification unit 5107: Avoidance position identification unit 5108: Turning timing identification unit 5109: Operation signal generation unit 5110: Operation signal output unit

Claims

1. A work system for controlling a loading machine including a rotating body and a work implement including a bucket attached to the rotating body, a loaded machine information acquisition unit that acquires position information of a transport vehicle that travels unmanned along a set travel route, the travel route not including a route to a loading point being set until an entry instruction signal is input by an operator, and the transport vehicle that has a travel route set for traveling to the loading point when the entry instruction signal is input, when the transport vehicle stops at the loading point; a dumping position specification unit that specifies a dumping position for loading the loading object onto the transport vehicle based on the position information; an operation signal input unit that receives an input of an operation signal for the rotating body and the working machine, and an earth unloading instruction signal for automatically moving the bucket to the earth unloading position; an operation signal generating unit that generates an operation signal for moving the bucket to the soil unloading position when the soil unloading instruction signal is input; an operation signal output unit that outputs the operation signal from the operation signal input unit, the operation signal output unit outputting the operation signal generated by the operation signal generation unit when the soil discharge instruction signal is input; A working system comprising:

2. The soil discharge instruction signal is input by an operator. The work system according to claim 1 .

3. The operation signal input unit receives an input of the operation signal for the rotating body and the work machine from an operator. The work system according to claim 1 or 2.

4. The operation signal is input by an operation device provided remotely from the loading machine. The work system according to any one of claims 1 to 3.

5. The soil discharge position specifying unit specifies the soil discharge position when the soil discharge instruction signal is input. The work system according to any one of claims 1 to 4.

6. The work system according to claim 1 , wherein the position information of the transport vehicle is based on an output of a detection device that detects the position of the transport vehicle.

7. A control method for a loading machine including a rotating body and a work implement including a bucket attached to the rotating body, comprising: a step of acquiring position information of a transport vehicle, which travels unmanned along a set travel route, a travel route not including a route to a loading point, and a transport vehicle, which has a travel route set for traveling to the loading point when the entry instruction signal is input, among a plurality of transport vehicles, when the transport vehicle stops at the loading point, the travel route set for traveling to the loading point being set; A step of specifying a discharge position for loading the loading object onto the transport vehicle based on the position information; receiving input of operation signals for the rotating body and the working machine, and an earth unloading instruction signal for automatically moving the bucket to the earth unloading position; outputting an operation signal for moving the bucket to the soil unloading position when the soil unloading instruction signal is input; outputting the operation signal received as an input; outputting the generated operation signal when the soil discharge instruction signal is input.

8. A loading machine control device that controls a loading machine having a rotating body and a work machine including a bucket attached to the rotating body, a loaded machine information acquisition unit that acquires position information of a transport vehicle that travels unmanned along a set travel route, the travel route not including a route to a loading point being set until an entry instruction signal is input by an operator, and the transport vehicle that has a travel route set for traveling to the loading point when the entry instruction signal is input, when the transport vehicle stops at the loading point; a dumping position specification unit that specifies a dumping position for loading the loading object onto the transport vehicle based on the position information; an operation signal input unit that receives an input of an operation signal for the rotating body and the working machine, and an earth unloading instruction signal for automatically moving the bucket to the earth unloading position; an operation signal generating unit that generates an operation signal for moving the bucket to the soil unloading position when the soil unloading instruction signal is input; an operation signal output unit that outputs the operation signal from the operation signal input unit, the operation signal output unit outputting the operation signal generated by the operation signal generation unit when the soil discharge instruction signal is input; A loading machine control device comprising:

Images