Loading Machine Control Device and Control Method

Abstract

To shorten a cycle time in automatic loading control.SOLUTION: An operation signal input part receives an input of a loading instruction signal from an operator. When receiving the loading instruction signal, an operation signal output part outputs an operation signal of a work machine and a swinging body for moving a bucket to a loading point. When the swinging body faces a soil removal starting direction on the near side in the swing direction rather than an end direction that is a direction where the swinging body faces when the work machine is positioned in the loading point, the operation signal output part outputs a soil removal operation signal for removing soil to the bucket.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a technique related to automatic loading control of a loading machine. Automatic loading control is a control in which a control device receives a designation of a loading point from an operator of the loading machine or the like, and the control device controls the operations of the loading machine and the working machine to move the bucket to the loading point. According to the technique described in Patent Document 1, the control device stores in advance the time series of the positions of the working machine and operates the working machine according to the time series.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique described in Patent Document 1, the working machine automatically moves to a pre-stored loading point, and earthwork is performed at the loading point. On the other hand, there is a desire to shorten the cycle time in automatic loading. An object of the present invention is to provide a control device and a control method for a loading machine that can shorten the cycle time in automatic loading control.

Means for Solving the Problems

[0005] According to a first aspect of the present invention, a control device for a loading machine is a control device for a loading machine including a revolving body that revolves around a center of revolution and a working machine having a bucket and attached to the revolving body, the control device including: an operation signal input unit that receives an input of a loading instruction signal from an operator; and an operation signal output unit that outputs operation signals for the working machine and the revolving body to move the bucket to a loading position above a loading target when receiving the loading instruction signal, and outputs an earth discharge operation signal for discharging earth into the bucket when the revolving body faces an earth discharge start azimuth on the front side in the revolving direction from an end azimuth that is the azimuth in which the revolving body faces when the working machine is at the loading position.

Effect of the Invention

[0006] According to the above aspect, the control device of the loading machine can shorten the cycle time in automatic loading control.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0008] Hereinafter, embodiments will be described in detail with reference to the drawings. 〈First Embodiment〉 《Configuration of Loading Machine》 FIG. 1 is a schematic diagram showing the configuration of a loading machine according to a first embodiment. The loading machine 100 is a working machine that loads earth and sand onto a loading point such as a transport vehicle. The loading machine 100 according to the first embodiment is a hydraulic excavator. Note that the loading machine 100 according to other embodiments may be a loading machine other than a hydraulic excavator. Also, the loading machine 100 shown in FIG. 1 is a backhoe excavator, but it may be a face shovel or a rope shovel. The loading machine 100 includes a traveling body 110, a revolving body 120 supported by the traveling body 110, and a working machine 130 that is hydraulically operated and supported by the revolving body 120. The revolving body 120 is rotatably supported around a turning center.

[0009] The working machine 130 includes a boom 131, an arm 132, a bucket 133, a boom cylinder 134, an arm cylinder 135, a bucket cylinder 136, a boom angle sensor 138, an arm angle sensor 139, and a bucket angle sensor 140.

[0010] The base end portion of the boom 131 is attached to the revolving body 120 via a pin. The arm 132 connects the boom 131 and the bucket 133. The base end portion of the arm 132 is attached to the tip end portion of the boom 131 via a pin. The bucket 133 includes a blade for excavating earth and sand and a container for transporting the excavated earth and sand. The base end portion of the bucket 133 is attached to the tip end portion of the arm 132 via a pin.

[0011] The boom cylinder 134 is a hydraulic cylinder for operating the boom 131. The base end portion of the boom cylinder 134 is attached to the revolving body 120. The tip end portion of the boom cylinder 134 is attached to the boom 131. The arm cylinder 135 is a hydraulic cylinder for driving the arm 132. The base end portion of the arm cylinder 135 is attached to the boom 131. The tip end portion of the arm cylinder 135 is attached to the arm 132. The bucket cylinder 136 is a hydraulic cylinder for driving the bucket 133. The base end portion of the bucket cylinder 136 is attached to the arm 132. The tip end portion of the bucket cylinder 136 is attached to a link mechanism that rotates the bucket 133.

[0012] The boom angle sensor 138 measures the stroke amount of the boom cylinder 134. The stroke amount of the boom cylinder 134 can be converted into the inclination angle of the boom 131 with respect to the revolving body 120. Hereinafter, the inclination angle with respect to the revolving body 120 is also referred to as the absolute angle. That is, the stroke amount of the boom cylinder 134 can be converted into the absolute angle of the boom 131. The arm angle sensor 139 measures the stroke amount of the arm cylinder 135. The stroke amount of the arm cylinder 135 can be converted into the inclination angle of the arm 132 with respect to the boom 131. Hereinafter, the inclination angle of the arm 132 with respect to the boom 131 is also referred to as the relative angle of the arm 132. The bucket angle sensor 140 measures the stroke amount of the bucket cylinder 136. The stroke amount of the bucket cylinder 136 can be converted into the inclination angle of the bucket 133 with respect to the arm 132. Hereinafter, the inclination angle of the bucket 133 with respect to the arm 132 is also referred to as the relative angle of the bucket 133. Note that the loading machine 100 according to another embodiment may include an angle sensor that detects the inclination angle with respect to the ground plane or the inclination angle with respect to the revolving body 120 instead of the boom angle sensor 138, the arm angle sensor 139, and the bucket angle sensor 140.

[0013] The revolving body 120 is provided with a driver's cab 121. Inside the driver's cab 121, there are provided a driver's seat 122 for the operator to sit on, an operating device 123 for operating the loading machine 100, and a detection device 124 for detecting the three-dimensional position of an object existing in the detection direction. The operating device 123 generates a raising operation signal and a lowering operation signal for the boom 131, a pushing operation signal and a pulling operation signal for the arm 132, a dumping operation signal and an excavation operation signal for the bucket 133, and a left-right turning operation signal for the revolving body 120 according to the operator's operation, and outputs them to the control device 128. Further, the operating device 123 generates a loading instruction signal for starting automatic loading control for the working machine 130 according to the operator's operation, and outputs it to the control device 128. The operating device 123 is composed of, for example, a lever, a switch, and a pedal. The loading instruction signal is generated by operating an automatic control switch. For example, when the switch is turned on, the loading instruction signal is output. The operating device 123 is arranged in the vicinity of the driver's seat 122. The operating device 123 is located within the operable range of the operator when the operator is sitting on the driver's seat 122. Examples of the detection device 124 include a stereo camera, a laser scanner, a UWB (Ultra Wide Band) distance measuring device, etc. The detection device 124 is provided, for example, such that the detection direction faces the front of the driver's cab 121 of the loading machine 100. The detection device 124 specifies the three-dimensional position of the object in a coordinate system based on the position of the detection device 124. Note that the loading machine 100 according to the first embodiment operates according to the operation of the operator sitting on the driver's seat 122, but is not limited to this in other embodiments. For example, the loading machine 100 according to other embodiments may operate by transmitting an operation signal and a loading instruction signal by remote operation of an operator operating outside the loading machine 100.

[0014] The loading machine 100 includes a position and orientation calculator 125, an inclination measuring device 126, a hydraulic device 127, and a control device 128.

[0015] The position and orientation calculator 125 calculates the position of the slewing body 120 and the orientation that the slewing body 120 faces. The position and orientation calculator 125 includes two receivers that receive positioning signals from artificial satellites constituting GNSS. The two receivers are installed at different positions of the slewing body 120 respectively. The position and orientation calculator 125 detects the position of the representative point (the origin of the excavator coordinate system) of the slewing body 120 in the local coordinate system based on the positioning signals received by the receivers. The position and orientation calculator 125 calculates the orientation that the slewing body 120 faces by using each positioning signal received by the two receivers as the relationship of the installation position of one receiver with respect to the installation position of the other receiver. The orientation that the slewing body 120 faces is the front direction of the slewing body 120 and is equal to the horizontal component of the extending direction of the straight line extending from the boom 131 of the working machine 130 to the bucket 133.

[0016] The inclination measuring device 126 measures the acceleration and angular velocity of the slewing body 120 and detects the posture (for example, roll angle and pitch angle) of the slewing body 120 based on the measurement results. The inclination measuring device 126 is installed, for example, on the lower surface of the slewing body 120. The inclination measuring device 126 can use, for example, an inertial measurement unit (IMU).

[0017] The hydraulic device 127 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 a traveling hydraulic motor (not shown) that causes the traveling body 110 to travel, a slewing hydraulic motor (not shown) that causes the slewing body 120 to slew, a boom cylinder 134, an arm cylinder 135, and a bucket cylinder 136 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 traveling hydraulic motor, the slewing hydraulic motor, the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 according to the position of the spool. The spool is driven based on a control command received from the control device 128. That is, the amount of hydraulic oil supplied to the traveling hydraulic motor, the slewing hydraulic motor, the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 is controlled by the control device 128. As described above, the boom cylinder 134, the arm cylinder 135, and the bucket cylinder 136 are driven by the hydraulic oil supplied from the common hydraulic device 127. When the traveling hydraulic motor or the slewing hydraulic motor is an inclined plate type variable displacement motor, the control device 128 may adjust the rotation speed according to the tilt angle of the inclined plate.

[0018] The control device 128 receives an operation signal from the operation device 123. The control device 128 drives the work implement 130, the slewing body 120, or the traveling body 110 based on the received operation signal.

[0019] 《Configuration of Control Device》 FIG. 2 is a schematic block diagram showing the configuration of the control device according to the first embodiment. The control device 128 is a computer including a processor 1100, a main memory 1200, a storage 1300, and an interface 1400. The storage 1300 stores programs. The processor 1100 reads a program from the storage 1300, expands it in the main memory 1200, and executes processing according to the program.

[0020] Examples of the storage 1300 include HDDs, SSDs, magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, and the like. The storage 1300 may be an internal medium directly connected to the common communication line of the control device 128, or may be an external medium connected to the control device 128 via the interface 1400. The storage 1300 is a non-transitory tangible storage medium.

[0021] The processor 1100 includes, when executing a program, a vehicle information acquisition unit 1101, a detection information acquisition unit 1102, an operation signal input unit 1103, a bucket position specifying unit 1104, a loading position specifying unit 1105, an avoidance position specifying unit 1106, a movement processing unit 1107, a dump start azimuth calculation unit 1108, a region determination unit 1109, and an operation signal output unit 1110.

[0022] The vehicle information acquisition unit 1101 acquires the turning speed, position, and azimuth of the slewing body 120, the tilt angles of the boom 131, arm 132, and bucket 133, and the attitude of the slewing body 120. Hereinafter, the information related to the loading machine 100 acquired by the vehicle information acquisition unit 1101 is referred to as vehicle information.

[0023] The detection information acquisition unit 1102 acquires three-dimensional position information from the detection device 124 and specifies the position and shape of the loading target 200 (for example, a transport vehicle or a hopper).

[0024] The operation signal input unit 1103 receives an input of an operation signal from the operation device 123. The operation signal includes a raising operation signal and a lowering operation signal for the boom 131, a pushing operation signal and a pulling operation signal for the arm 132, a dumping operation signal and an excavation operation signal for the bucket 133, a turning operation signal for the slewing body 120, a traveling operation signal for the traveling body 110, and a loading instruction signal for the loading machine 100. The dumping operation signal for the bucket 133 is an example of a dump operation signal.

[0025] Based on the vehicle information acquired by the vehicle information acquisition unit 1101, the bucket position specifying unit 1104 specifies the position P of the tip of the arm 132 and the height Hb from the tip of the arm 132 to the lowest passing point of the bucket 133 in the excavator coordinate system. The lowest passing point of the bucket 133 refers to the point where the cutting edge is located when the distance between the cutting edge and the ground surface is the shortest during the dumping operation of the bucket 133. That is, the height Hb from the tip of the arm 132 to the lowest passing point of the bucket 133 is equal to the length from the pin at the base end of the bucket 133 to the cutting edge. Also, when the bucket position specifying unit 1104 receives the input of the loading instruction signal, it specifies the position P of the tip of the arm 132 as the excavation completion position P10. FIG. 3 is a diagram showing an example of the path of the bucket according to the first embodiment.

[0026] Specifically, the bucket position specifying unit 1104 specifies the position P of the tip of the arm 132 according to the following procedure. The bucket position specifying unit 1104 obtains the position of the tip of the boom 131 based on the absolute angle of the boom 131 obtained from the stroke amount of the boom cylinder 134 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip). The bucket position specifying unit 1104 obtains the absolute angle of the arm 132 based on the absolute angle of the boom 131 and the relative angle of the arm 132 obtained from the stroke amount of the arm cylinder 135. The bucket position specifying unit 1104 obtains the position P of the tip of the arm 132 based on the position of the tip of the boom 131, the absolute angle of the arm 132, and the known length of the arm 132 (the distance from the pin at the base end to the pin at the tip).

[0027] When a loading instruction signal is input to the operation signal input unit 1103, the loading position specifying unit 1105 specifies the loading position P13 based on the position and shape of the loading target 200 specified by the detection information acquisition unit 1102. The loading position specifying unit 1105 converts the loading point P21 indicated by the position information of the loading target 200 from the field coordinate system to the excavator coordinate system based on the position, orientation, and posture of the revolving body 120 acquired by the vehicle information acquisition unit 1101. The loading position specifying unit 1105 specifies the specified loading point P21 as the planar position of the loading position P13. That is, when the tip of the arm 132 is located at the loading position P13, the tip of the arm 132 is located above the loading point P21. Examples of the loading point P21 include the center point of the cargo bed when the loading target 200 is a dump truck, and the center point of the opening when the loading target 200 is a hopper. The loading position specifying unit 1105 specifies the height of the loading position P13 by adding the height Ht of the loading target 200, the height Hb from the tip of the arm 132 specified by the bucket position specifying unit 1104 to the lowest point of the bucket 133, and the height of the control margin of the bucket 133. In other embodiments, the loading position specifying unit 1105 may specify the loading position P13 without adding the height of the control margin. That is, the loading position specifying unit 1105 may specify the height of the loading position P13 by adding the height Hb to the height Ht. Note that the height Ht according to the first embodiment is the height from the ground to the upper surface of the cargo bed.

[0028] The avoidance position specifying unit 1106 specifies an interference avoidance position P12, which is a point where the working machine 130 and the loading target 200 do not interfere in a plan view from above, based on the loading position P13 specified by the loading position specifying unit 1105, the position of the loading machine 100 acquired by the vehicle information acquisition unit 1101, and the position and shape of the loading target 200 specified by the detection information acquisition unit 1102. The interference avoidance position P12 has the same height as the loading position P13, the distance from the turning center of the revolving body 120 is equal to the distance from the turning center to the loading position P13, and there is no loading target 200 below. The avoidance position specifying unit 1106, for example, specifies a circle centered on the turning center of the revolving body 120 with the distance between the turning center and the loading position P13 as the radius, and among the positions on the circle, the position where the outer shape of the bucket 133 does not interfere with the loading target 200 in a plan view from above and is closest to the loading position P13 is specified as the interference avoidance position P12. The avoidance position specifying unit 1106 can determine whether the loading target 200 and the bucket 133 interfere based on the position and shape of the loading target 200 and the known shape of the bucket 133. Here, "the same height" and "equal distance" do not necessarily mean that the height or distance is exactly the same, and some errors and margins are allowed.

[0029] When the operation signal input unit 1103 receives an input of a loading instruction signal, the movement processing unit 1107 generates a rotation operation signal for moving the bucket 133 to the loading position P13 based on the loading position P13 specified by the loading position specifying unit 1105 and the interference avoidance position P12 specified by the interference avoidance position specifying unit 1106. That is, the movement processing unit 1107 generates a rotation operation signal so as to reach the loading position P13 from the excavation completion position P10 via the turning start position P11 and the interference avoidance position P12. Further, the movement processing unit 1107 generates a rotation operation signal for the bucket 133 so that the ground angle of the bucket 133 does not change even when the boom 131 and the arm 132 are driven. The operation signal generated by the movement processing unit 1107 is a signal instructing driving at a driving amount corresponding to the operation signal input to the operation signal input unit 1103 when the lever or pedal of the operating device 123 is operated with the maximum operation amount. The driving amount is, for example, the amount of hydraulic oil or the opening degree of the spool. When the loading machine 100 is driven by remote operation, the operation signal generated by the movement processing unit 1107 may be a signal instructing driving at a driving amount larger than the driving amount corresponding to the maximum operation amount. This is because the maximum operation amount of the operating device 123 is limited for the comfort of the operator in the case of the manned loading machine 100, while there is no restriction due to the comfort of the operator in the case of the remotely operated loading machine 100.

[0030] The dump start azimuth calculation unit 1108 calculates the dump start azimuth D0 based on the position of the loading target 200, the turning speed of the slewing body 120, and the dump delay time from the output time of the dump operation instruction of the bucket 133 until the time when the earth and sand starts to be discharged. The dump start azimuth D0 is the azimuth at which, when the slewing body 120 faces the azimuth during the turning of the slewing body 120 and a dump operation instruction is output, the earth and sand is discharged to the loading target 200 without spilling. Note that the dump delay time of the bucket 133 is known for each model of the loading machine 100. For example, the dump start azimuth calculation unit 1108 calculates the dump start azimuth D0 according to the following procedure. The dump start azimuth calculation unit 1108 calculates the earth and sand arrival time until the earth and sand reaches the loading target 200 from the bucket 133 based on the distance from the lowest point of the bucket 133 to the loading target 200. The dump start azimuth calculation unit 1108 calculates the dump turning angle θ by multiplying the turning speed by the sum of the dump delay time and the earth and sand arrival time. The dump start azimuth calculation unit 1108 calculates, as the dump start azimuth D0, the azimuth obtained by rotating the azimuth D1 at which the swivel body 120 faces when the entire width of the cutting edge of the bucket 133 overlaps the loading target 200 in a plan view from above by the dump turning angle θ toward the front side in the turning direction.

[0031] The area determination unit 1109 determines whether the azimuth at which the swivel body 120 faces is in either the first area R1 where no dumping operation is performed or the second area R2 where the dumping operation is performed. The first area R1 is the area from the azimuth (starting azimuth) at which the swivel body 120 faces when receiving the loading instruction signal to the dump start azimuth D0. The second area R2 is the area from the dump start azimuth D0 to the azimuth (ending azimuth) at which the swivel body 120 faces when the working machine 130 is positioned at the loading position P13. Note that the dump start azimuth D0 is always located closer to the front side in the turning direction than the ending azimuth.

[0032] The operation signal output unit 1110 outputs the operation signal input to the operation signal input unit 1103 or the operation signal generated by the movement processing unit 1107. Specifically, the operation signal output unit 1110 outputs the operation signal related to the automatic control generated by the movement processing unit 1107 when the automatic loading control is in progress, and outputs the operation signal related to the manual operation of the operator input to the operation signal input unit 1103 when the automatic loading control is not in progress.

[0033] 《Operation》 When the operator of the loading machine 100 determines that the loading machine 100 and the loading target 200 are in a position relationship where loading processing is possible, the operator turns on the automatic control switch of the operating device 123. Thereby, the operating device 123 generates and outputs a loading instruction signal.

[0034] FIG. 4 - FIG. 5 are flowcharts showing the automatic loading control method according to the first embodiment. When the control device 128 receives an input of a loading instruction signal from the operator, it executes the automatic loading control shown in FIGS. 4 - 5.

[0035] The vehicle information acquisition unit 1101 acquires the position and orientation of the slewing body 120, the tilt angles of the boom 131, the arm 132, and the bucket 133, and the posture of the slewing body 120 (step S1). The vehicle information acquisition unit 1101 specifies the position of the center of rotation of the slewing body 120 based on the acquired position and orientation of the slewing body 120 (step S2). Further, the detection information acquisition unit 1102 acquires the three-dimensional position information of the loading target 200 from the detection device 124, and specifies the position and shape of the loading target 200 from the three-dimensional position information (step S3).

[0036] The bucket position specifying unit 1104 specifies the position P of the tip of the arm 132 at the time of input of the loading instruction signal and the height Hb from the tip of the arm 132 to the lowest passing point of the bucket 133 based on the vehicle information acquired by the vehicle information acquisition unit 1101 (step S4). The bucket position specifying unit 1104 specifies the position P as the excavation completion position P10.

[0037] The loading position specifying unit 1105 converts the position information of the loading target 200 acquired by the detection information acquisition unit 1102 from the field coordinate system to the excavator coordinate system based on the position, orientation, and posture of the slewing body 120 acquired in step S1. The loading position specifying unit 1105 specifies the planar position of the loading position P13 based on the position and shape of the loading target 200 specified by the detection information acquisition unit 1102 (step S5). At this time, the loading position specifying unit 1105 specifies the height of the loading position P13 by adding the height Ht of the loading target 200, the height Hb from the tip of the arm 132 specified in step S4 to the lowest point of the bucket 133, and the height of the control margin of the bucket 133 (step S6).

[0038] The avoidance position specifying unit 1106 specifies the planar distance from the position of the turning center of the turning body 120 specified in step S2 to the planar position of the loading position P13 (step S7). The avoidance position specifying unit 1106 specifies, as the interference avoidance position P12, the position that is separated from the turning center by the specified planar distance and where the outer shape of the bucket 133 does not interfere with the object to be loaded 200 in a plan view and that is closest to the loading position P13 (step S8).

[0039] The movement processing unit 1107 determines whether or not the position P of the tip of the arm 132 has reached the loading position P13 (step S9). When the position P of the tip of the arm 132 has not reached the loading position P13 (step S9: NO), the movement processing unit 1107 determines whether or not the position P of the tip of the arm 132 is in the vicinity of the interference avoidance position P12 (step S10). For example, the movement processing unit 1107 determines whether or not the difference between the height of the tip of the arm 132 and the height of the interference avoidance position P12 is less than a predetermined threshold value, or whether or not the difference between the planar distance from the turning center of the turning body 120 to the tip of the arm 132 and the planar distance from the turning center to the interference avoidance position P12 is less than a predetermined threshold value (step S10). When the position P of the tip of the arm 132 is not in the vicinity of the interference avoidance position P12 (step S10: NO), the movement processing unit 1107 generates an operation signal for raising the boom 131 and the arm 132 to the height of the interference avoidance position P12 (step S11). At this time, the movement processing unit 1107 generates the operation signal based on the positions and speeds of the boom 131 and the arm 132.

[0040] Also, the movement processing unit 1107 calculates the sum of the angular velocities of the boom 131 and the arm 132 based on the generated operation signals of the boom 131 and the arm 132, and generates an operation signal for rotating the bucket 133 at the same speed as the sum of the angular velocities (step S12). Thereby, the movement processing unit 1107 can generate an operation signal for holding the ground angle of the bucket 133. In other embodiments, the movement processing unit 1107 may generate an operation signal for rotating the bucket 133 so that the ground angle of the bucket 133 calculated from the detection values of the boom angle sensor 138, the arm angle sensor 139, and the bucket angle sensor 140 is equal to the ground angle at the start of automatic control.

[0041] When the position P of the tip of the arm 132 is near the interference avoidance position P12 (step S10: YES), the movement processing unit 1107 does not generate operation signals for the boom 131, the arm 132, and the bucket 133. That is, when the position P of the tip of the arm 132 is near the interference avoidance position P12, the movement processing unit 1107 prohibits the output of the operation signal of the working machine 130 for moving the working machine 130 to the loading point.

[0042] The movement processing unit 1107 determines whether or not the turning speed of the slewing body 120 is less than a predetermined speed based on the vehicle information acquired by the vehicle information acquisition unit 1101 (step S13). That is, the movement processing unit 1107 determines whether or not the slewing body 120 is turning. When the turning speed of the turning body 120 is less than the predetermined speed (step S13: YES), the movement processing unit 1107 specifies the rising time, which is the time from the height of the bucket 133 at the excavation completion position P10 to the height of the interference avoidance position P12 (step S14). Based on the rising time of the bucket 133, the movement processing unit 1107 determines whether the tip of the arm 132 will pass through the interference avoidance position P12 or a point higher than the interference avoidance position P12 when a turning operation signal is output from the current time (step S15). When the tip of the arm 132 will pass through the interference avoidance position P12 or a point higher than the interference avoidance position P12 when a turning operation signal is output from the current time (step S15: YES), the movement processing unit 1107 generates a turning operation signal (step S16). When the tip of the arm 132 will pass through a point lower than the interference avoidance position P12 when a turning operation signal is output from the current time (step S15: NO), the movement processing unit 1107 does not generate a turning operation signal. That is, when the tip of the arm 132 will pass through a point lower than the interference avoidance position P12, the movement processing unit 1107 prohibits the output of the turning operation signal.

[0043] When the turning speed of the turning body 120 is equal to or higher than the predetermined speed (step S13: NO), the movement processing unit 1107 determines whether the tip of the arm 132 will reach the loading position P13 when the output of the turning operation signal is stopped from the current time (step S17). Note that after the output of the turning operation signal is stopped, the turning body 120 continues to turn due to inertia while decelerating and then stops. When the tip of the arm 132 will reach the loading position P13 when the output of the turning operation signal is stopped from the current time (step S17: YES), the movement processing unit 1107 does not generate a turning operation signal. That is, when the tip of the arm 132 will reach the loading position P13 when the output of the turning operation signal is stopped from the current time, the movement processing unit 1107 prohibits the output of the turning operation signal. Thereby, the turning body 120 starts to decelerate. When the other party stops outputting the turning operation signal from the current time and the tip of the arm 132 will stop in front of the loading position P13 (step S17: NO), the movement processing unit 1107 generates a turning operation signal (step S18).

[0044] When at least one of the turning operation signals of the boom 131, the arm 132, and the bucket 133 and the turning operation signal of the slewing body 120 is generated in the processes from step S9 to step S18, the operation signal output unit 1110 outputs the generated operation signal to the hydraulic device 127 (step S19).

[0045] Next, the soil discharge start azimuth calculation unit 1108 calculates the soil discharge start azimuth D0 based on the position of the loading target 200, the turning speed of the slewing body 120, and the soil discharge delay time (step S20). The area determination unit 1109 determines whether the azimuth in which the slewing body 120 faces is included in the second area R2 from the soil discharge start azimuth D0 to the end azimuth (step S21). When the azimuth in which the slewing body 120 faces is included in the first area R1 (step S21: NO), the operation signal output unit 1110 does not output the dump operation signal of the bucket 133 to the hydraulic device 127. On the other hand, when the azimuth in which the slewing body 120 faces is included in the second area R2 (step S21: YES), the operation signal output unit 1110 outputs the dump operation signal of the bucket 133 to the hydraulic device 127 (step S22).

[0046] Note that when the azimuth in which the slewing body 120 faces is included in the second area R2, the height of the tip of the arm 132 is equal to or higher than the interference avoidance position P12. This is because in steps S15 - S16, the movement processing unit 1107 generates a turning operation signal so that when the tip of the arm 132 is located at the interference avoidance position P12 in a plan view from above, the height of the tip of the arm 132 becomes equal to or higher than the interference avoidance position P12. The azimuth in which the slewing body 120 faces when the tip of the arm 132 is located at the interference avoidance position P12 in a plan view from above is located on the side closer to the turning direction than the soil discharge start azimuth D0. Further, even when the azimuth in which the revolving body 120 faces is included in the first region R1, the height of the tip of the arm 132 is not necessarily less than the interference avoidance position. For example, when the time required to raise the height of the arm 132 to a height equal to or greater than the interference avoidance position P12 is shorter than the time required to turn the revolving body 120 until the tip of the arm 132 is positioned at the interference avoidance position P12 in a plan view from above, when the height of the tip of the arm 132 rises to a height equal to or greater than the interference avoidance position P12, the azimuth in which the revolving body 120 faces may be included in the first region R1.

[0047] Then, the vehicle information acquisition unit 1101 acquires vehicle information (step S23). As a result, the vehicle information acquisition unit 1101 can acquire the vehicle information after being operated by the output operation signal. The control device 128 returns the process to step S9 and repeatedly executes the generation of the operation signal.

[0048] On the other hand, in step S9, when the position P of the tip of the arm 132 reaches the loading position P13 (step S9: YES), the control device 128 ends the automatic loading control.

[0049] Here, with reference to FIG. 3, the operation of the loading machine 100 during automatic loading control will be described. When the automatic loading control is started, the boom 131 and the arm 132 rise from the excavation completion position P10 toward the turning start position P11. At this time, the bucket 133 is driven to maintain the ground angle at the end of excavation.

[0050] When the tip of the arm 132 reaches the turning start position P11, the control device 128 starts turning the revolving body 120 toward the loading position P13. At this time, since the tip of the arm 132 has not reached the height of the interference avoidance position P12, the raising of the boom 131 and the arm 132 continues. While the tip of the arm 132 moves from the turning start position P11 to the interference avoidance position P12, the boom 131, the arm 132, and the bucket 133 decelerate so that the height of the tip of the arm 132 becomes equal to the interference avoidance position P12.

[0051] When the tip of the arm 132 reaches the interference avoidance position P12, the driving of the boom 131 and the arm 132 stops. On the other hand, the revolving body 120 continues to revolve. That is, between the interference avoidance position P12 and the loading position P13, the tip of the arm 132 moves only by the revolution of the revolving body 120 without being driven by the boom 131 and the arm 132. When the tip of the arm 132 moves from the revolution start position P11 to the loading position P13, the revolving body 120 decelerates so that the position P of the tip of the arm 132 becomes equal to the loading position P13.

[0052] When the tip of the arm 132 moves from the revolution start position P11 to the loading position P13, the revolving body 120 faces the soil discharging start azimuth D0. At this time, the control device 128 starts to output a dump operation signal to the bucket 133. The revolving body 120 continues to revolve, and when the soil discharging delay time has elapsed since the output time of the dump operation signal, the bucket 133 starts to rotate in the dump direction, and the soil and sand start to be discharged from the bucket 133. When the soil and sand start to be discharged, the azimuth that the revolving body 120 faces is on the front side in the revolving direction from the azimuth D1 where the width of the cutting edge of the bucket 133 overlaps with the loading target 200. The soil and sand discharged from the bucket reach the height of the loading target 200 after the soil and sand arrival time. Since the loading machine 100 discharges the soil and sand while revolving, the soil and sand discharged from the bucket 133 draw a parabola with a horizontal velocity component in the tangential direction due to the inertia according to the revolving speed, and fall to the rear side in the revolving direction from the soil discharging start point. That is, although the soil discharging start azimuth D0 is the azimuth where the bucket 133 deviates from directly above the loading target 200, when the control device 128 starts to output a dump operation signal when the revolving body 120 faces the soil discharging start azimuth D0, due to the soil discharging delay time and the horizontal velocity component of the soil and sand, the soil and sand are contained within the loading target 200. Therefore, the control device 128 can load the soil and sand into the loading target 200 without spilling by starting to output a dump operation signal to the bucket 133 when the revolving body 120 faces the soil discharging start azimuth D0.

[0053] When the tip of the arm 132 reaches the loading position P13 and the dump operation of the bucket 133 is completed, the driving of the working machine 130 and the revolving body 120 stops.

[0054] By the above-described automatic loading control, the loading machine 100 can load the earth and sand scooped up by the bucket 133 onto the loading target 200. The operator repeatedly executes the excavation by the working machine 130 and the automatic loading control by inputting a loading instruction signal to such an extent that the loading amount of the loading target 200 does not exceed the maximum loading amount.

[0055] 《Function and Effect》 As described above, when the revolving body 120 faces the earth discharge start azimuth D0 on the front side in the turning direction from the end azimuth during the automatic loading control, the control device 128 of the loading machine 100 according to the first embodiment outputs a dump operation signal of the bucket 133 to the hydraulic device 127. Thereby, the control device 128 can start earth discharge before the bucket 133 reaches the loading position P13, and can shorten the cycle time of the loading process. Note that the control device 128 according to the first embodiment determines whether or not to output a dump operation signal based on whether the azimuth of the revolving body is included in the first region or the second region, but is not limited thereto. For example, the control device 128 according to another embodiment may determine whether or not to output a dump operation signal based on whether the azimuth of the revolving body has exceeded the earth discharge start azimuth D0.

[0056] Further, the earth discharge start azimuth D0 according to the first embodiment is an azimuth on the front side in the turning direction from the azimuth D1 that the revolving body 120 faces when the width of the cutting edge of the bucket 133 and the loading target 200 overlap in a plan view from above. Thereby, the control device 128 can advance the output start timing of the dump operation signal and shorten the cycle time. On the other hand, in other embodiments, the present invention is not limited thereto, and the control device 128 may start outputting a dump operation signal when the width of the cutting edge of the bucket 133 and the loading target 200 overlap in a plan view from above. In this case, the control device 128 can surely prevent the earth and sand from spilling from the loading target 200.

[0057] In addition, the control device 128 according to the first embodiment calculates the dump start azimuth D0 based on the position of the loading target 200 and the turning speed of the slewing body 120. Thereby, the control device 128 can appropriately determine the output start timing of the dump operation signal according to the turning speed of the slewing body 120. Note that the present invention is not limited to this in other embodiments, and the control device 128 may start outputting the dump operation signal based on a predetermined dump start azimuth D0.

[0058] As described above, one embodiment has been described in detail with reference to the drawings. However, the specific configuration is not limited to the above, and various design changes and the like are possible. For example, in the first embodiment, the dump start azimuth D0 is set to the position calculated based on the position of the loading target 200, the turning speed of the slewing body 120, the dump delay time, and the earth and sand arrival time. However, the present invention is not limited to this. For example, in other embodiments, the dump start azimuth D0 may be calculated without considering the dump delay time or the earth and sand arrival time. Further, in other embodiments, the dump start azimuth D0 may be the azimuth closest to the starting azimuth among the azimuths at which the tip of the arm 132 interferes with the loading target 200 in a plan view from above. Further, in other embodiments, the dump start azimuth D0 may be set to any azimuth on the starting azimuth side among the azimuths at which the tip of the arm 132 interferes with the loading target 200 in a plan view from above. Further, in other embodiments, the dump start azimuth D0 may be set to any azimuth on the end point azimuth side among the azimuths at which the tip of the arm 132 does not interfere with the loading target 200 in a plan view from above. Further, in other embodiments, the dump start azimuth D0 may be set to the azimuth at which the slewing body faces when the tip of the arm 132 is located at the interference avoidance position P12.

[0059] In addition, the loading machine 100 according to the first embodiment includes the bucket 133, but is not limited to this. For example, the loading machine 100 according to other embodiments may include a clam bucket that can open and close a backhoe and a clam shell. In this case, the dump operation signal is an operation signal for rotating the clam shell.

[0060] Also, the loading machine 100 according to the first embodiment is an attended vehicle on which an operator rides and operates, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be a remotely operated vehicle that is operated by an operation signal acquired through communication from a remote operation device that an operator in a remote office operates while viewing a monitor screen. In this case, some functions of the control device 128 may be provided in the remote operation device. Further, the loading machine 100 according to the first embodiment performs the control shown in FIGS. 4 and 5 in automatic loading control, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be subjected to the control shown in FIGS. 4 and 5 in automatic excavation and loading control that repeatedly performs excavation work and loading work automatically.

Description of Reference Numerals

[0061] 100... Loading machine 110... Traveling body 120... Slewing body 130... Working machine 131... Boom 132... Arm 133... Bucket 134... Boom cylinder 135... Arm cylinder 136... Bucket cylinder 128... Control device 1101... Vehicle information acquisition unit 1102... Detection information acquisition unit 1103... Operation signal input unit 1104... Bucket position specifying unit 1105... Loading position specifying unit 1106... Avoidance position specifying unit 1107... Movement processing unit 1108... Dumping start azimuth calculation unit 1109... Region determination unit 1110... Operation signal output unit 200... Loading target P10... Excavation completion position P11... Slewing start position P12... Interference avoidance position P13... Loading position R1... First region R2... Second region D0... Dumping start azimuth θ... Dumping slewing angle

Claims

1. A control device for a loading machine comprising a revolving body that revolves around a center of revolution and a working machine having a bucket and attached to the revolving body, in an automatic loading control for moving the bucket to a loading position above an object to be loaded, an operation signal output unit that outputs an operation signal instructing driving at a driving amount equal to or greater than a driving amount related to a maximum operation amount of an operation device for operating the working machine, A control device for a loading machine comprising the same.

2. The driving amount is an amount of hydraulic oil or a spool opening degree of a flow control valve that adjusts a flow rate of hydraulic oil supplied to the working machine The control device for a loading machine according to Claim 1.

3. In the automatic loading control during remote operation of the loading machine, the operation signal that instructs driving at a driving amount greater than the driving amount related to the maximum operation amount is output The control device for a loading machine according to Claim 1 or Claim 2.

4. The driving amount related to the automatic loading control during remote operation is greater than the driving amount related to the automatic loading control during manned operation, The control device for a loading machine according to Claim 3.

5. A control method for a loading machine comprising a revolving body that revolves around a center of revolution and a working machine having a bucket and attached to the revolving body, in an automatic loading control for moving the bucket to a loading position above an object to be loaded, a step of outputting an operation signal instructing driving at a driving amount equal to or greater than a driving amount related to a maximum operation amount of an operation device for operating the working machine, A control method for a loading machine comprising the same.

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