Control device for loading machine, remote control device, and control method

Abstract

A reference identification unit (614) identifies a height of a loading target (T). A work implement position identification unit (613) identifies a height of a work tool. An operation signal output unit (617) outputs, during automatic control for moving the work tool from above the loading target (T) to outside of the loading target (T), a signal for raising a work implement (130) when the work tool is positioned above the loading target (T) and the height of the work tool is lower than the height of the loading target (T).

Description

TECHNICAL FIELD

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

[0002] This application claims the priority benefits of Japan Patent Application No. 2022-184885, filed on Nov. 18, 2022, and the contents of which are incorporated herein by reference.BACKGROUND ART

[0003] Patent Literature 1 discloses a technique related to semi-automatic control of a loading machine. The semi-automatic control according to Patent Literature 1 is control for automatically moving a bucket to an excavation position by receiving an excavation instruction from an operator after completion of loading on a loading target, such as a dump truck, and causing a control device to control rotation of the loading machine and driving of a work implement.CITATION LISTPatent LiteraturePatent Literature 1: JP 2020-041352 ASUMMARY OF INVENTIONTechnical Problem

[0005] When an operator loads a load onto a loading target, the operator may load the load from a low position in order to suppress an impact applied to the loading target. The operator may also level the load with the bucket. At this time, the bucket is positioned inside a box body that is the loading target. Accordingly, when the loading machine is rotated by the semi-automatic control or fully automatic control, there is a possibility that the bucket comes into contact with an inner wall of the loading target. Hereinafter, the semi-automatic control and the fully automatic control will be collectively referred to as automatic control.

[0006] An object of the disclosure is to provide a control device for a loading machine, a remote control device, and a control method that prevent a bucket from coming into contact with an inner wall of a loading target in automatic control of the loading machine.Solution to Problem

[0007] According to one aspect of the disclosure, a control device for a loading machine is a control device for a loading machine including a rotating body configured to rotate about a rotation center, and a work implement attached to the rotating body and including a work tool, and the control device includes: a reference identification unit, configured to identify a height of a loading target; a work implement position identification unit, configured to identify a height of the work tool; and an operation signal output unit, configured to output, during an automatic control for moving the work tool from above the loading target to the side of the loading target, a signal for raising the work implement when the work tool is positioned above the loading target and the height of the work tool is lower than the height of the loading target.Advantageous Effects of Invention

[0008] According to the aspect described above, a control device for a loading machine can prevent a bucket from coming into contact with an inner wall of a box body that is a loading target in automatic control of the loading machine.BRIEF DESCRIPTION OF DRAWINGS

[0009] FIG. 1 is a schematic view illustrating a configuration of a loading machine according to a first embodiment.

[0010] FIG. 2 is a view illustrating an internal configuration of a cab according to the first embodiment.

[0011] FIG. 3 is a schematic block diagram illustrating a configuration of a control device according to the first embodiment.

[0012] FIG. 4 is a view illustrating an example of movement of the loading machine in a first rotation according to the first embodiment.

[0013] FIG. 5 is a view illustrating an example of movement of the loading machine in a second rotation according to the first embodiment.

[0014] FIG. 6 is a view illustrating an example of movement of the loading machine in a dumping operation according to the first embodiment.

[0015] FIG. 7 is a flowchart illustrating first rotation control by the control device according to the first embodiment.

[0016] FIG. 8 is a flowchart illustrating second rotation control by the control device according to the first embodiment.DESCRIPTION OF EMBODIMENTSFirst Embodiment

[0017] Hereinafter, embodiments will be described in detail with reference to the drawings.Configuration of Loading Machine 100

[0018] FIG. 1 is a schematic view illustrating a configuration of a loading machine 100 according to a first embodiment.

[0019] The loading machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads the construction target as a load onto a loading platform such as a vessel of a loading target T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. Further, the loading machine 100 may be electrically driven or may be hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 includes a traveling body 110, a rotating body 120, a work implement 130, and a cab 140. Examples of the loading target T include a dump truck and a hopper.

[0020] The traveling body 110 supports the loading machine 100 in a manner that enables travel. The traveling body 110 includes two endless tracks 111 provided on left and right sides, and two travel motors 112 for driving the endless tracks 111. The traveling body 110 is an example of a support part.

[0021] The rotating body 120 is supported by the traveling body 110 so as to be rotatable about a rotation center.

[0022] The work implement 130 is driven by hydraulic pressure. The work implement 130 is supported at a front portion of the rotating body 120 so as to be drivable in a vertical direction.

[0023] The cab 140 is a space where an operator rides and operates the loading machine 100. The cab 140 is provided in a left front portion of the rotating body 120.

[0024] Here, a portion of the rotating body 120 where the work implement 130 is attached is referred to as a front portion. Further, in the rotating body 120, with reference to the front portion, a portion on a side opposite thereto is referred to as a rear portion, a portion on the left side is referred to as a left portion, and a portion on the right side is referred to as a right portion.Configuration of Rotating Body 120

[0025] The rotating body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a rotation motor 124.

[0026] The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source.

[0027] The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to actuators (a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, and a rotation motor 124) via the control valve 123.

[0028] The control valve 123 controls a flow rate of the hydraulic oil supplied from the hydraulic pump 122.

[0029] The rotation motor 124 is driven by the hydraulic oil supplied from the hydraulic pump 122 via the control valve 123 and rotates the rotating body 120.Configuration of Work Implement 130

[0030] The work implement 130 includes a boom 131, an arm 132, a bucket 133 as a work tool, the boom cylinder 131C, the arm cylinder 132C, and the bucket cylinder 133C. Other examples of the work tool include distal end attachments such as a clamshell bucket, a tilt bucket, a tilt rotator bucket, a grapple, and a lifting magnet.

[0031] A base end portion of the boom 131 is rotatably attached to the rotating body 120 via a boom pin. Note that, in the loading machine 100 illustrated in FIG. 1, the boom 131 is provided at a front center portion of the rotating body 120, but the position is not limited thereto, and the boom 131 may be attached offset in a left-right direction. In this case, the rotation center of the rotating body 120 is not positioned on an operation plane of the work implement 130.

[0032] The arm 132 couples the boom 131 and the bucket 133. A base end portion of the arm 132 is rotatably attached to a distal end portion of the boom 131 via an arm pin.

[0033] The bucket 133 is rotatably attached to a distal end portion of the arm 132 via a pin. The boom 131 and the arm 132 are members that support the bucket 133. The bucket 133 serves as a container for accommodating excavated earth and sand. The bucket 133 is attached with an opening thereof facing the rotating body 120 (rearward). That is, the loading machine 100, which is a backhoe shovel, performs excavation by pulling the bucket 133 in front of the rotating body 120.

[0034] The boom cylinder 131C is a hydraulic cylinder for actuating the boom 131. A base end portion of the boom cylinder 131C is attached to the rotating body 120. A distal end portion of the boom cylinder 131C is attached to the boom 131.

[0035] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end portion of the arm cylinder 132C is attached to the boom 131. A distal end portion of the arm cylinder 132C is attached to the arm 132.

[0036] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end portion of the bucket cylinder 133C is attached to the arm 132. A distal end portion of the bucket cylinder 133C is attached to a link mechanism that turns the bucket 133.Configuration of Cab 140FIG. 2 is a view illustrating an internal configuration of the cab 140 according to the first embodiment.

[0038] An operator seat 141, an operation terminal 142, and an operation device 143 are provided in the cab 140. The operation terminal 142 is provided in the vicinity of the operator seat 141 and is a user interface with a control device 160 described below. The operation terminal 142 is a display device constituted by a touch panel, for example, and may include an operation unit to be operated by an operator and an input reception unit that receives operations. Further, the display device displays measurement data of an engine water temperature gauge, a fuel gauge, and the like. Further, the operation terminal 142 may include a display unit such as a liquid crystal display (LCD). The touch panel is an example of a display unit.

[0039] The operation device 143 is a device for driving the traveling body 110, the rotating body 120, and the work implement 130 by manual operation by the operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, a rotation brake pedal 143TB, and a start switch 143SW.

[0040] The left operation lever 143LO is provided on the left side of the operator seat 141. The right operation lever 143RO is provided on the right side of the operator seat 141.

[0041] The left operation lever 143LO is an operation mechanism for performing a rotation operation of the rotating body 120 and an excavation / dumping operation of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left operation lever 143LO forward, the arm 132 performs the dumping operation. When the operator of the loading machine 100 tilts the left operation lever 143LO rearward, the arm 132 performs the excavation operation. When the operator of the loading machine 100 tilts the left operation lever 143LO rightward, the rotating body 120 rotates to the right. Further, when the operator of the loading machine 100 tilts the left operation lever 143LO leftward, the rotating body 120 rotates to the left. Note that, in another embodiment, the rotating body 120 may rotate to the right or the left when the left operation lever 143LO is tilted in a front-rear direction, and the arm 132 may perform the excavation operation or the dumping operation when the left operation lever 143LO is tilted in the left-right direction.

[0042] The right operation lever 143RO is an operation mechanism for performing the excavation / dumping operation of the bucket 133 and a raising / lowering operation of the boom 131. Specifically, when the operator of the loading machine 100 tilts the right operation lever 143RO forward, the lowering operation of the boom 131 is executed. When the operator of the loading machine 100 tilts the right operation lever 143RO rearward, the raising operation of the boom 131 is executed. When the operator of the loading machine 100 tilts the right operation lever 143RO rightward, the dumping operation of the bucket 133 is performed. Further, when the operator of the loading machine 100 tilts the right operation lever 143RO leftward, the excavation operation of the bucket 133 is performed. Note that, in another embodiment, the bucket 133 may perform the dumping operation or the excavating operation when the right operation lever 143RO is tilted in the front-rear direction, and the boom 131 may perform the raising operation or the lowering operation when the right operation lever 143RO is tilted in the left-right direction.

[0043] The left foot pedal 143LF is disposed on the left side of a floor surface in front of the operator seat 141. The right foot pedal 143RF is disposed on the right side of the floor surface in front of the operator seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF, and is configured so that the tilting of the left travel lever 143LT and a depression of the left foot pedal 143LF are interlocked with each other. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF, and is configured so that the tilting of the right travel lever 143RT and a depression of the right foot pedal 143RF are interlocked with each other.

[0044] The left foot pedal 143LF and the left travel lever 143LT correspond the rotational driving of a left crawler track of the traveling body 110. Specifically, when the operator of the loading machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler track rotates in the forward direction. Further, when the operator of the loading machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT rearward, the left crawler track rotates in a rearward direction.

[0045] The right foot pedal 143RF and the right travel lever 143RT correspond the rotational driving of a right crawler track of the traveling body 110. Specifically, when the operator of the loading machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT frontward, the right crawler track rotates in a forward direction. Further, when the operator of the loading machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT rearward, the right crawler track rotates in the rearward direction.

[0046] The start switch 143SW is provided, for example, at a handle portion of the left operation lever 143LO. Note that the start switch 143SW is disposed so as to be positioned in the vicinity of the operator seated on the operator seat 141. When the start switch 143SW is pressed, an automatic control instruction signal is output to the control device 160. The control device 160, when receiving input of the automatic control instruction signal, starts the automatic control.

[0047] The automatic control refers to the loading machine 100 autonomously controlling the driving of the work implement 130 and the rotating body 120 in order to realize a predetermined operation. The automatic control in the first embodiment is control in which the loading machine 100 autonomously performs a first rotation which is a series of operations of rotating from a state in which the bucket 133 is positioned to the side of the loading target T by excavation of the excavation target to an orientation facing the loading target T while raising the boom 131, and a second rotation which is a series of operations of rotating from a state in which the bucket 133 is positioned above the loading target T by loading to a predetermined orientation while lowering the boom 131. The side of the loading target T refers to outside of the loading platform on which a load is to be loaded, such as a vessel. Note that the automatic control according to another embodiment may perform only the second rotation. In the first embodiment, target orientations of the rotating body 120 and target postures of the bucket 133 in the first rotation and the second rotation are respectively set to orientations and postures designated in advance. Note that, typically, the excavation target is at a position lower than a height of the loading target T. Therefore, the loading machine 100 controls the driving of the work implement 130 so that the loading target T and the work implement 130 do not come into contact with each other in the first rotation and the second rotation. Details of the automatic control will be described below.

[0048] The automatic control executed each time the start switch 143SW is pressed switches between the first rotation and the second rotation. Further, in another embodiment, the operation device 143 may include two of the start switches 143SW, and the first rotation and the second rotation may be respectively assigned thereto.Configuration of Measurement System

[0049] As illustrated in FIG. 1, the loading machine 100 includes a position and orientation calculator 151, an inclination measuring instrument 152, a boom stroke sensor 153, an arm stroke sensor 154, and a bucket stroke sensor 155.

[0050] The position and orientation calculator 151 calculates a position of the rotating body 120 and an orientation in which the rotating body 120 is directed. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting the global navigation satellite system (GNSS). The two receivers are installed at different positions of the rotating body 120. The position and orientation calculator 151 detects a position of a representative point (origin of shovel coordinate system) of the rotating body 120 in a site coordinate system on the basis of the positioning signals received by the receivers.

[0051] Using the positioning signals received by the two receivers, the position and orientation calculator 151 calculates the orientation in which the rotating body 120 is directed as a relationship between an installation position of one receiver and an installation position of the other receiver. The orientation in which the rotating body 120 is directed is a direction orthogonal to a front surface of the rotating body 120. The orientation in which the rotating body 120 is directed is equal to a horizontal component in an extending direction of a straight line extending from the boom 131 to the bucket 133 of the work implement 130.

[0052] The inclination measuring instrument 152 measures an acceleration and an angular velocity of the rotating body 120, and detects a posture (for example, roll angle, pitch angle, and yaw angle) and a rotation speed of the rotating body 120 on the basis of the measurement result. The inclination measuring instrument 152 is installed, for example, on a lower surface of the rotating body 120. As the inclination measuring instrument 152, an inertial measurement unit (IMU) can be used, for example.

[0053] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects a cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into a relative angle of the boom 131 with respect to the rotating body 120.

[0054] The arm stroke sensor 154 is attached to the arm cylinder 132C and detects a cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into a relative angle of the arm 132 with respect to the boom 131.

[0055] The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects a cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into a relative angle of the bucket 133 with respect to the arm 132.

[0056] The loading machine 100 according to the first embodiment identifies an angle of each link part of the work implement 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but is not limited thereto. For example, in another embodiment, a potentiometer that detects a relative rotation angle of a link part may be provided, or a tilt sensor that detects a ground angle of each link part may be provided instead of the stroke sensor.Configuration of Control Device 160

[0057] FIG. 3 is a schematic block diagram illustrating a configuration of the control device 160 according to the first embodiment.

[0058] The loading machine 100 includes the control device 160. The control device 160 may be mounted on the operation terminal 142, or may be provided separately from the operation terminal 142 and receive inputs and outputs from the operation terminal 142. The control device 160 receives operation signals from the operation device 143. The control device 160 drives the work implement 130, the rotating body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for the automatic control to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is referred to as a manual operation signal, and the operation signal generated for the automatic control is referred to as an automatic operation signal. Note that the automatic operation signal is composed of operation signals for driving the rotating body 120 and the work implement 130, and does not include an operation signal for driving the traveling body 110. When a manual operation signal from the operator is received during the automatic control, the control device 160 may stop the automatic control.

[0059] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The processor 610 reads the program from the storage 650, loads the program into the main memory 630, and executes processing according to the program.

[0060] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, and an optical disk. The storage 650 may be an internal medium directly connected to a common communication line of the control device 160, or may be an external medium connected to the control device 160 via the interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0061] With execution of the program, the processor 610 includes a measurement data acquisition unit 611, an operation signal input unit 612, a work implement position identification unit 613, a reference identification unit 614, an angle identification unit 615, a movement control unit 616, and an operation signal output unit 617.

[0062] The measurement data acquisition unit 611 acquires measurement data acquired by the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from each of the position and orientation calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155. The measurement data acquisition unit 611 calculates an angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclination measuring instrument 152.

[0063] The operation signal input unit 612 receives input of operation signals manually operated by the operator from the operation device 143. The operation signals include a drive signal for raising or lowering the boom 131, a drive signal for raising or lowering the arm 132, a drive signal for causing the bucket 133 to dump or excavate, a drive signal for rotating the rotating body 120 to the right or left, a drive signal for causing the traveling body 110 to travel, and an automatic control instruction signal for the loading machine 100.

[0064] The work implement position identification unit 613 identifies a position of a distal end P of the arm 132 (FIG. 4) and a position of the lowest point Q of the bucket 133 (FIG. 4) in a vehicle coordinate system with reference to the rotating body 120 on the basis of the measurement data acquired by the measurement data acquisition unit 611. The lowest point Q of the bucket 133 is a point of an outer shape of the bucket 133 at which a distance from a ground surface is shortest.

[0065] The work implement position identification unit 613 determines a vertical direction component and a horizontal direction component of a length of the boom 131 on the basis of an inclination angle of the boom 131 and a known length of the boom 131 (distance from the pin at the base end portion to the pin at the distal end portion). Similarly, the work implement position identification unit 613 determines a vertical component and a horizontal component of a length of the arm 132. The work implement position identification unit 613 identifies a position separated from the position of the loading machine 100 by the sum of the vertical direction components and the sum of the horizontal direction components of the lengths of the boom 131 and the arm 132 in a direction identified from the orientation and the posture of the loading machine 100 as the position of the distal end P of the arm 132. Further, the work implement position identification unit 613 identifies the position of the lowest point Q of the bucket 133 on the basis of an inclination angle of the bucket 133 and a known shape of the bucket 133. For example, the work implement position identification unit 613 calculates the position of each of a plurality of points on an outer shell of the bucket 133 on the basis of the inclination angle of the bucket 133, and identifies the point having the lowest height among the plurality of points as the lowest point Q. Further, for example, the work implement position identification unit 613 may set a point obtained by downwardly offsetting a distance between a point of the bucket 133 farthest from a bucket pin and the bucket pin in a height direction from the bucket pin as the lowest point Q. Further, for example, the work implement position identification unit 613 may set a point obtained by downwardly offsetting an amount of the maximum bucket movable range in the height direction from the bucket pin as the lowest point Q. Further, the work implement position identification unit 613 may set a point offsetting the height with a margin from the height identified above, accounting for control errors and measurement errors, as the lowest point Q.

[0066] Before execution of the automatic control, the reference identification unit 614 receives teaching of an excavation preparation position, an interference avoidance position, and a loading position of the bucket 133 from the operator as reference points of the automatic control. The teaching is performed by the following procedure, for example.

[0067] The reference identification unit 614 causes the operation terminal 142 to display an instruction for moving the bucket 133 to the excavation preparation position. The operator operates the operation device 143 to move the bucket 133 to the excavation preparation position, and inputs completion of movement to the excavation preparation position to the operation terminal 142. The reference identification unit 614 records, in the storage 650, the posture of the work implement 130 identified by the work implement position identification unit 613 as the target posture of the second rotation, the position of the distal end P of the arm 132 as the target position of the second rotation, and the orientation in which the rotating body 120 is directed as the target orientation of the second rotation.

[0068] Next, the reference identification unit 614 causes the operation terminal 142 to display an instruction for moving a cutting edge of the bucket 133 to the interference avoidance position corresponding to a position having a height of an upper end of a wall of the vessel of the loading target T and where the work implement 130 and the loading target T do not overlap in plan view from above. Note that the wall of the vessel used for teaching may be any one of a side wall, a front wall, or a rear wall of the vessel. The operator operates the operation device 143 to move the cutting edge of the bucket 133 to the interference avoidance position, and inputs completion of movement to the interference avoidance position to the operation terminal 142. The interference avoidance positions are input with respect to both a right end and a left end of the loading target T. Accordingly, the reference identification unit 614 can identify the range of the loading platform of the loading target T. Note that a height of each interference avoidance position may be a height obtained by offsetting the height with a margin in an upward direction accounting for control errors and measurement errors.

[0069] The reference identification unit 614 records, in the storage 650, the height of the lowest point Q of the bucket 133 identified by the work implement position identification unit 613 as a wall height Ht of the loading target T, and the orientation in which the rotating body 120 is directed as the interference avoidance orientation. The wall height Ht is an example of the height of the loading target T.

[0070] Next, the reference identification unit 614 causes the operation terminal 142 to display an instruction for moving the bucket 133 to the loading position above the loading target T. The operator operates the operation device 143 to move the bucket 133 to the loading position, and inputs completion of movement to the loading position to the operation terminal 142. The reference identification unit 614 records, in the storage 650, the posture of the work implement 130 as the target posture of the first rotation, the position of the distal end P of the arm 132 as the target position of the first rotation, and the orientation in which the rotating body 120 is directed identified by the work implement position identification unit 613 as the target orientation of the first rotation. Further, the height of the lowest point Q of the bucket 133 identified at the loading position may be set as the wall height Ht. Further, in another embodiment, the height of the loading target T does not necessarily need to be the wall height Ht that is the height of the side wall of the loading platform, and may be a height of a highest point of the loading target T overall.

[0071] The angle identification unit 615 identifies, as a target rotation angle, an angle between an initial orientation in which the rotating body 120 is directed when the automatic control instruction signal is input to the operation signal input unit 612 and the target orientation recorded in the storage 650. The angle identification unit 615 identifies, as an interference avoidance angle, an angle between the initial orientation in which the rotating body 120 is directed when the automatic control instruction signal is input to the operation signal input unit 612 and an interference avoidance orientation recorded in the storage 650. The interference avoidance angle is a rotation angle when the work implement 130 and the loading target T do not overlap each other in plan view from above.

[0072] When the operation signal input unit 612 receives input of the automatic control instruction signal, the movement control unit 616 generates an automatic operation signal for realizing the automatic control. When the automatic control instruction signal is input, automatic control for realizing the first rotation for moving the bucket 133 to the loading position or automatic control for realizing the second rotation for moving the bucket 133 to the excavation preparation position is executed. The movement control unit 616 determines whether to execute the first rotation or to execute the second rotation in the automatic control depending on whether the bucket 133 is within the range of the loading target T in plan view from above when the automatic control instruction signal is input. When the bucket 133 is not within the range of the loading platform of the loading target T, the movement control unit 616 executes the first rotation, and when the bucket 133 is within the range of the loading platform of the loading target T, the movement control unit 616 executes the second rotation. At this time, on the basis of the wall height Ht and the interference avoidance angle stored in the storage 650, the movement control unit 616 controls the rotating body 120 and the work implement 130 so that the loading target T and the work implement 130 do not come into contact with each other.

[0073] Specifically, in the first rotation, the movement control unit 616 causes the rotating body 120 and the work implement 130 to realize a combined operation before reaching a first interference avoidance angle θ1 (FIG. 4). In the first rotation, when the height of the bucket 133 does not reach the height of the loading position before the rotation angle of the rotating body 120 reaches the first interference avoidance angle θ1 (FIG. 4), a rotation operation signal for the rotating body 120 is not generated, and only an operation signal for the work implement 130 is generated. On the other hand, when the height of the bucket 133 reaches the height of the loading position before the rotation angle by rotation reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the work implement 130 and realizes a combined operation of the rotating body 120 and the work implement 130. After the height of the bucket 133 reaches the height of the loading position at the first interference avoidance angle θ1 (FIG. 4), the movement control unit 616 causes the rotating body 120 to rotate without moving the work implement 130.

[0074] Further, the movement control unit 616 performs control so that the lowest point of the bucket 133 is not lowered before the rotation angle of the rotating body 120 reaches a second interference avoidance angle θ2 (FIG. 5) in the second rotation of a rotation opposite to the first rotation. The control in which the lowest point is not lowered may be control in which the rotating body 120 is rotated without moving the work implement 130 while maintaining the height of the lowest point, or may be control in which a gap is provided between the loading target T and the bucket 133 by making the lowest point higher than the lowest point before control. After the rotation angle reaches the second interference avoidance angle θ2, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the work implement 130 to realize a combined operation of the rotating body 120 and the work implement 130. However, if the height of the lowest point of the bucket 133 is lower than the wall height Ht of the loading target T when input of the automatic control instruction signal is received in the second rotation, the movement control unit 616 moves the bucket 133 upward before rotating the rotating body 120.

[0075] The operation signal output unit 617 outputs, to the control valve 123, the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616.Operation during Automatic Control

[0076] Here, movement of the loading machine 100 during the automatic control according to the first embodiment will be described with reference to the drawings.

[0077] FIG. 4 is a view illustrating an example of the movement of the loading machine 100 in the first rotation according to the first embodiment. FIG. 5 is a view illustrating an example of the movement of the loading machine 100 in the second rotation according to the first embodiment.

[0078] When the automatic control according to the first rotation is started, the control device 160, as illustrated in FIG. 4, first starts driving the work implement 130 (the boom 131, the arm 132, and the bucket 133), and moves the bucket 133 upward by the raising operation of the boom 131. The target position of the bucket 133 according to the first rotation is the loading position above the loading target T. After a delay, the control device 160 starts rotation of the rotating body 120. The control device 160 adjusts a rotation start timing so that the posture of the work implement 130 becomes the target posture according to the first rotation before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1. Note that, before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1, when the posture of the work implement 130 reaches the target posture in the first rotation, that is, when the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, the work implement 130 will not come into contact with the loading target T by the rotation of the rotating body 120. Note that, when the work implement 130 is driven simultaneously with the rotation and the posture of the work implement 130 becomes the target posture in the first rotation before the rotation angle is equal to the first interference avoidance angle θ1, the control device 160 may start the driving of the work implement 130 and the rotation simultaneously. Subsequently, when the bucket 133 reaches the loading position, the automatic control is ended.

[0079] Subsequently, the operator manually performs the dumping operation in which the bucket 133 is turned in a dumping direction. FIG. 6 is a view illustrating an example of the movement of the loading machine 100 in the dumping operation according to the first embodiment. In the manual dumping operation, the operator may load the load from a low position in order to suppress an impact applied to the loading target T. Further, the operator may operate the loading machine 100 to level the load loaded onto a loading platform such as a vessel. At this time, the lowest point Q of the bucket 133 may be lower than the wall of the loading target T as illustrated in FIG. 6. Accordingly, when the control device 160 rotates the loading machine 100 as is, the bucket 133 comes into contact with the inner wall of the loading target T.

[0080] When the automatic control according to the second rotation is started, the control device 160 determines whether the lowest point of the bucket 133 is higher than the wall of the loading target T. When the lowest point Q of the bucket 133 is lower than the wall height Ht as illustrated in FIG. 5, the boom 131 is raised. When the lowest point Q of the bucket 133 is higher than the wall height Ht, the control device 160 starts the rotation of the rotating body 120. Until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 rotates the rotating body 120 without moving the work implement 130 and maintains the height of the lowest point of the bucket 133. Note that, in the first embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 raises only the work implement 130 and does not rotate the rotating body 120. However, the operation is not limited thereto in other embodiments. For example, in another embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 may rotate, while raising the work implement 130, the rotating body 120 at a speed at which the bucket 133 does not come into contact with the wall of the loading target T.

[0081] When the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 may drive all of the boom 131, the arm 132, and the bucket 133 or may drive some of the boom 131, the arm 132, and the bucket 133 on the basis of the relationship between the posture at the start of rotation and the target posture. When the rotation angle of the rotating body 120 reaches the target rotation angle θ0, the control device 160 ends the driving of the rotating body 120. Further, when the posture of the work implement 130 reaches the target posture at the start of excavation, the control device 160 ends the driving of the work implement 130. In the second rotation, the control device 160 according to the first embodiment rotates the rotating body 120 without moving the work implement 130 until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, but the rotation is not limited thereto. For example, the control device 160 according to another embodiment may rotate the rotating body 120 while moving the work implement 130 so that the height of the lowest point of the bucket 133 does not change. Further, when the bucket 133 is higher than the wall height Ht, the control device 160 according to the embodiment may rotate the rotating body 120 while lowering the work implement 130 to such an extent that the height of the lowest point of the bucket 133 is not lower than the wall height Ht.

[0082] Note that FIGS. 4 and 5 illustrate an example in which a positional relationship between the excavation position and the loading target T is approximately 90 degrees about the rotating body 120, but the positional relationship is not limited thereto in other embodiments. For example, in another embodiment, the positional relationship between the excavation position and the loading target T may be another rotation angle position such as approximately 180 degrees about the rotating body 120.Operation of Control Device 160

[0083] FIG. 7 is a flowchart illustrating first rotation control by the control device 160 according to the first embodiment. FIG. 8 is a flowchart illustrating second rotation control by the control device 160 according to the first embodiment.

[0084] When the start switch 143SW is pressed by the operator, the operation signal input unit 612 of the control device 160 receives input of an automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to execute the first rotation or to execute the second rotation on the basis of whether the bucket 133 is within the range on the loading platform of the loading target T in plan view from above.

[0085] In executing the first rotation, the control device 160 executes the first rotation control illustrated in FIG. 7. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S 1). The movement control unit 616 reads the target orientation (orientation of the loading target T) of the rotating body 120, the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S2). The angle identification unit 615 identifies the target rotation angle θ0 and the first interference avoidance angle θ1 on the basis of the orientation in which the rotating body 120 is directed identified in step S1 and the target orientation and the interference avoidance orientation read in step S2 (step S3).

[0086] Next, the measurement data acquisition unit 611 acquires the measurement data of each of the position, the orientation, the inclination angle, and the rotation speed of the loading machine 100, and the measurement data of the cylinder length of each cylinder, and the work implement position identification unit 613 identifies the posture of the work implement 130 on the basis of the measurement data (step S4). The work implement position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133 (step S5).

[0087] The movement control unit 616 generates an automatic operation signal for moving the bucket 133 to above the loading target T on the basis of the target orientation, the target posture, and the wall height Ht read in step S2 and the first interference avoidance angle 01 identified in step S3. That is, a movement processing unit 1112 generates the automatic operation signal so that the lowest point Q of the bucket 133 reaches the loading position represented by the target orientation and the target posture from the position of the lowest point Q at the start of the first rotation control via the interference avoidance position represented by the wall height Ht and the first interference avoidance angle θ1. At this time, the movement control unit 616 generates an automatic 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.

[0088] Specifically, the movement control unit 616 generates the automatic operation signal by the following procedure.

[0089] First, the movement control unit 616 determines whether the posture of the work implement 130 identified in step S5 approximates the target posture acquired in step S1 (step S6). For example, when a difference between the position of the distal end of the arm 132 in the target posture and the current position of the distal end of the arm 132 is equal to or less than a predetermined value, the movement control unit 616 determines that the posture of the work implement 130 is approximate to the target posture.

[0090] When the posture of the work implement 130 is not approximate to the target posture (step S6: NO), the movement control unit 616 generates an automatic operation signal for bringing the boom 131 and the arm 132 close to the target posture (step S7). At this time, the movement control unit 616 generates the automatic operation signal on the basis of the positions and the speeds of the boom 131 and the arm 132 identified from the measurement data acquired in step S4.

[0091] Further, the movement control unit 616 calculates the sum of the driving speeds of the boom 131 and the arm 132 on the basis of the generated automatic operation signal of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the driving speeds (step S8). Thus, the movement control unit 616 can generate an operation signal for keeping the ground angle of the bucket 133.

[0092] The movement control unit 616 determines whether the work implement 130 is rotating (step S9). For example, when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed, the movement control unit 616 determines that the work implement 130 is rotating. When the work implement 130 is not rotating (step S9: NO), the movement control unit 616 calculates a completion time for the work implement 130 to reach the target posture on the basis of the speeds of the boom 131 and the arm 132 identified in step S7 (step S10). Further, the movement control unit 616 calculates an arrival time for the rotation angle to reach the first interference avoidance angle 01 identified in step S3 when the rotating body 120 started rotation (step S11). The movement control unit 616 determines whether the completion time calculated in step S10 is less than the arrival time calculated in step S11 (step S12). That is, the movement control unit 616 determines whether the work implement 130 will be in the target posture when the rotation angle reaches the first interference avoidance angle θ1.

[0093] When the completion time is equal to or longer than the arrival time (step S12: NO), that is, when the work implement 130 will not assume the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 does not generate a rotation operation signal for the rotating body 120. On the other hand, when the completion time is less than the arrival time (step S12: YES), that is, when the work implement 130 will assume the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 (step S13). As a result, the control device 160 can prevent contact with the loading target T due to rotation while the height of the work implement 130 remains low.

[0094] The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14). Thus, the loading machine 100 is driven. Then, the control device 160 returns the processing to step S4 and continues the control.

[0095] On the other hand, when the determination is made in step S9 that the work implement 130 is rotating (step S9: YES), the movement control unit 616 determines whether the rotation angle will reach the target rotation angle by rotating due to inertia when the rotation operation signal is stopped, on the basis of the rotation speed of the work implement 130 identified in step S4 (step S15). When the rotation angle will not reach the target rotation angle by rotating due to inertia (step S15: NO), the movement control unit 616 generates a rotation operation signal in step S13, and the operation signal output unit 617 outputs the rotation operation signal to the control valve 123 in step S14.

[0096] On the other hand, when the determination is made that the rotation angle will reach the target rotation angle by rotating due to inertia (step S15: YES), whether the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S16) are determined. When the rotation angle has reached the target rotation angle, but the posture of the work implement 130 is not the target posture (step S16: NO), the control device 160 returns the processing to step S4.

[0097] On the other hand, when the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S16: YES), the control device 160 ends the first rotation processing.

[0098] FIG. 8 is a flowchart illustrating the second rotation control by the control device 160 according to the first embodiment.

[0099] When the start switch 143SW is pressed by the operator, the operation signal input unit 612 of the control device 160 receives input of an automatic control instruction signal.

[0100] In executing the second rotation, the control device 160 executes the second rotation control illustrated in FIG. 8. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S21). The movement control unit 616 reads the target orientation (orientation toward the side of the loading target T) of the rotating body 120, the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S22). The angle identification unit 615 identifies the target rotation angle θ0 and the second interference avoidance angle θ2 on the basis of the orientation in which the rotating body 120 is directed identified in step S21 and the target orientation and the interference avoidance orientation read in step S22 (step S23).

[0101] Next, the measurement data acquisition unit 611 acquires the measurement data of each of the position, the orientation, the inclination angle, and the rotation speed of the loading machine 100, and the measurement data of the cylinder length of each cylinder, and the work implement position identification unit 613 identifies the posture of the work implement 130 on the basis of the measurement data (step S24). The work implement position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133 (step S25).

[0102] The movement control unit 616 the movement control unit 616 determines whether the work implement 130 is rotating (step S26). For example, when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed, the movement control unit 616 determines that the work implement 130 is rotating. When the work implement 130 is not rotating (step S26: NO), the movement control unit 616 determines whether the height of the lowest point Q identified in step S25 is higher than the wall height Ht read in step S22 (step S27). When the height of the lowest point Q is lower than the wall height Ht (step S27: NO), the movement control unit 616 generates an automatic operation signal for raising the boom 131 (step S27). Note that, in another embodiment, an automatic operation signal for raising the arm 132 or the bucket 133 instead of the boom 131 may be generated, or these may be operated in combination. At this time, the movement control unit 616 does not generate an automatic operation signal for rotating the rotating body 120. Subsequently, the control device 160 returns the processing to step S24.

[0103] On the other hand, when the height of the lowest point Q is higher than the wall height Ht (step S27: YES), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S 29). The automatic operation signal is an operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above.

[0104] On the other hand, when the work implement 130 is rotating (step S26: YES), the movement control unit 616 determines whether the rotation angle of the work implement 130 will reach the target rotation angle by rotating due to inertia when the rotation operation signal is stopped, on the basis of the measurement data of the rotation speed of the work implement 130 identified in step S24 (step S30). When the rotation angle of the work implement 130 will not reach the target rotation angle by rotating due to inertia (step S30: NO), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S29). When the rotation angle of the work implement 130 will reach the target rotation angle by rotating due to inertia (step S30: YES), the movement control unit 616 does not generate an automatic operation signal for rotating the rotating body 120.

[0105] Next, the movement control unit 616 determines whether the rotation angle of the rotating body 120 from the start of the automatic control to the current time is less than the second interference avoidance angle θ2 (step S31). When the rotation angle is less than the second interference avoidance angle θ2 (step S31: YES), the movement control unit 616 generates an operation signal (neutral signal) for maintaining the posture of the work implement 130.

[0106] In step S31, when the rotation angle is equal to or greater than the second interference avoidance angle θ2 (step S31: NO), the movement control unit 616 determines whether the posture of the work implement 130 identified in step S24 approximates the target posture identified in step S22 (step S32). When the posture of the work implement 130 is not approximate to the target posture (step S32: NO), the movement control unit 616 generates an automatic operation signal for bringing the boom 131, the arm 132, and the bucket 133 close to the target posture (step S33). When the posture of the work implement 130 is approximate to the target posture (step S32: YES), the movement control unit 616 generates a neutral signal for maintaining the posture of the work implement 130.

[0107] Then, the operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S35). When the rotation angle has not reached the target rotation angle or the posture of the work implement 130 is not in the target posture (step S35: NO), the control device 160 returns the processing to step S24. On the other hand, when the rotation angle has reached the target rotation angle and the posture of the work implement 130 is in the target posture (step S35: YES), the automatic control processing is ended.Actions and Effects

[0108] As described above, when the height of the lowest point of the bucket 133 is higher than the height of the wall of the loading target T at the start of the automatic control according to the second rotation for moving the bucket 133 from above the loading target T to the side of the loading target T, the control device 160 according to the first embodiment outputs an automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above. On the other hand, when the height of the lowest point is lower than the height of the wall at the start of the automatic control, the automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above is not immediately output. Accordingly, even when the operator positions the bucket 133 inside the loading target T as illustrated in FIG. 6, it is possible to prevent the bucket 133 from coming into contact with the inner wall of the loading target T in the automatic control of the loading machine 100.

[0109] Further, when the height of the lowest point of the bucket 133 is lower than the height of the wall of the loading target T at the start of the automatic control, the control device 160 according to the first embodiment outputs an automatic operation signal for raising the work implement 130 and, once the height of the lowest point is higher than the height of the wall, outputs an automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T. Accordingly, in the automatic control of the loading machine 100, the control device 160 can move the bucket 133 to the side of the loading target T without bringing the bucket 133 into contact with the inner wall of the loading target T.

[0110] Note that, in another embodiment, the operation is not limited thereto and, when the start switch 143SW is pressed and the height of the lowest point is lower than the height of the wall at the start of the automatic control, the second rotation may not be executed and the operation terminal 142 may be caused to output an alert. The alert may be, for example, an alert issuing a warning sound or may be an alert displaying a warning screen on the display of the operation terminal 142. In this case, the operator who confirms the alert raises the bucket 133 and then presses the start switch 143SW again, whereby the second rotation is executed.Other Embodiments

[0111] An embodiment has been described above in detail with reference to the drawings, but a specific configuration is not limited to that described above, and various design changes and the like can be made. That is, in other embodiments, the order of the processing described above may be changed as appropriate. Further, some processing may be executed in parallel.

[0112] The control device 160 according to the embodiment described above may be constituted by a single computer. The configuration of the control device 160 may be divided into a plurality of computers, and the plurality of computers may cooperate with each other and serve as the control device 160. At this time, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and the other computers may be provided outside of the loading machine 100.

[0113] The target posture, the target orientation, the interference avoidance orientation, and the wall height Ht according to the embodiment described above are recorded in the storage 650 by teaching, but are not limited thereto. For example, the loading machine 100 according to another embodiment may recognize the position and a shape of the loading target T by being provided with a three-dimensional measurement device such as a stereo camera or light detection and ranging (LiDAR), and may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of the position and the shape. That is, the reference identification unit 614 may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of shape data of the loading target T. Further, in another embodiment, the position, the posture, and the orientation of the loading target T may be received through communication with the loading target T, and the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht may be identified on the basis of the position, the posture, and the orientation of the loading target T and the known shape of the loading target T. In another embodiment, when the loading target T automatically travels by communication with the control apparatus, the position and the orientation of the loading target T may be received from the control apparatus, and the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht may be identified on the basis of the position and the orientation of the loading target T and the known shape of the loading target T. Further, in another embodiment, the reference identification unit 614 may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of inputs to the operation terminal 142 by the operator. Further, the loading machine 100 according to another embodiment may identify the target posture, the target orientation, and the interference avoidance orientation separately from identification of the wall height Ht. That is, in another embodiment, the control device 160 may separately include a first reference identification unit that identifies the target posture, the target orientation, and the interference avoidance orientation, and a second reference identification unit that identifies the wall height Ht. For example, the loading machine 100 may identify the target posture, the target orientation, and the interference avoidance orientation by teaching, and identify the wall height Ht by an input by the operator. Further, the operator may identify the wall height that is the height of the loading target by inputting the vehicle type of the loading machine. That is, the control device 160 identifies the wall height Ht by reading the height associated with the input vehicle type from a table in which the vehicle types and the wall heights are associated with one another in advance.

[0114] Further, the control device 160 according to the embodiment described above identifies the posture of the work implement 130 on the basis of the measurement data of the sensor that measures the posture of the work implement 130, but is not limited thereto. For example, in another embodiment, when the loading machine 100 includes a three-dimensional measurement device such as a stereo camera or a LiDAR, the posture of the work implement 130, in particular, the height of the lowest point Q of the bucket 133, may be recognized on the basis of the measurement data of the three-dimensional measurement device, and the automatic control may be performed on the basis of the recognized posture.

[0115] The control device 160 according to the embodiment described above calculates the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclination measuring instrument 152, but is not limited thereto. For example, the control device 160 according to another embodiment may calculate the angle of the rotating body 120 on the basis of a difference in orientation measured by the position and orientation calculator 151. Further, in another embodiment, the angle of the rotating body 120 may be identified using a detection value of a rotation angle sensor provided in the rotation motor 124.

[0116] The control device 160 according to the embodiment described above performs the automatic control on the basis of the comparison between the rotation angle and the interference avoidance angle, but is not limited thereto. For example, the control device 160 according to another embodiment may perform the automatic control on the basis of a comparison between the position of the bucket 133 and a rearmost point of the outer shape of the loading target T in the rotation direction of the rotating body 120. For example, the control device 160 according to another embodiment may adjust the rotation start timing so that the bucket 133 is positioned in a region in the vicinity of the rearmost point in the rotation direction of the rotating body 120.

[0117] Further, in another embodiment, the control device 160 may generate an automatic control signal for each link part and the rotating body 120 so that the bucket 133 passes through a predetermined trajectory. For example, the trajectory may be determined by fitting with a predetermined curve function, or may be determined by teaching by a manual operation. The trajectory may be represented by a time-series arrangement of the postures of the bucket 133, the postures of the link parts and the rotating body 120, or the operation signals.

[0118] The loading machine 100 according to the embodiment described above is directly operated by the operator riding in the cab 140, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by remote control. That is, in another embodiment, an operation signal may be transmitted to the control device 160 by communication from the operation device 143 remotely provided. Further, the control device 160 may be constituted by a computer provided in a remote location, or may be constituted by a control system in which functions are divided between computers provided in the loading machine 100 and the remote location.

[0119] In the automatic control according to the embodiment described above, the first rotation in which the bucket 133 is moved from the position at the time of completion of excavation to the loading point and the second rotation in which the bucket 133 is moved to the position for starting the next excavation are respectively executed, but the automatic control is not limited thereto. For example, in another embodiment, the control device 160 may perform the fully automatic control for automatically executing a series of operations of the first rotation, earth disposal, and the second rotation. Further, for example, in another embodiment, the control device 160 may execute only the second rotation without executing the first rotation.

[0120] Further, the automatic control according to the embodiment described above is started by the pressing of the start switch 143SW by the operator, but is not limited thereto. For example, in another embodiment, the control device 160 may autonomously determine the start timing of the automatic control and start the automatic control regardless of the pressing of the start switch 143SW.REFERENCE SIGNS LIST100 Loading machine, 110 Traveling body, 111 Endless track, 112 Travel motor, 120 Rotating body, 121 Engine, 122 Hydraulic pump, 123 Control valve, 124 Rotation motor, 130 Work implement, 131 Boom, 131C Boom cylinder, 132 Arm, 132C Arm cylinder, 133 Bucket, 133C Bucket cylinder, 140 Cab, 141 Operator seat, 142 Operation terminal, 143 Operation device, 151 Position and orientation calculator, 152 Inclination measuring instrument, 153 Boom stroke sensor, 154 Arm stroke sensor, 155 Bucket stroke sensor, 160 Control device, 610 Processor, 611 Measurement data acquisition unit, 612 Operation signal input unit, 613 Work implement position identification unit, 614 Reference identification unit, 615 Angle identification unit, 616 Movement control unit, 617 Operation signal output unit, 630 Main memory, 650 Storage, 670 Interface, T Loading target

Examples

first embodiment

[0017]Hereinafter, embodiments will be described in detail with reference to the drawings.

Configuration of Loading Machine 100

[0018]FIG. 1 is a schematic view illustrating a configuration of a loading machine 100 according to a first embodiment.

[0019]The loading machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads the construction target as a load onto a loading platform such as a vessel of a loading target T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. Further, the loading machine 100 may be electrically driven or may be hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 includes a traveling body 110, a rotating body 120, a work implement 130, and a cab 140. Examples of the loading target T include a dump truck and a hopper.

[0020]The traveling body 110 supports the loading machine...

TECHNICAL FIELD

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

[0002] This application claims the priority benefits of Japan Patent Application No. 2022-184885, filed on Nov. 18, 2022, and the contents of which are incorporated herein by reference.BACKGROUND ART

[0003] Patent Literature 1 discloses a technique related to semi-automatic control of a loading machine. The semi-automatic control according to Patent Literature 1 is control for automatically moving a bucket to an excavation position by receiving an excavation instruction from an operator after completion of loading on a loading target, such as a dump truck, and causing a control device to control rotation of the loading machine and driving of a work implement.CITATION LISTPatent LiteraturePatent Literature 1: JP 2020-041352 ASUMMARY OF INVENTIONTechnical Problem

[0005] When an operator loads a load onto a loading target, the operator may load the load from a low position in order to suppress an impact applied to the loading target. The operator may also level the load with the bucket. At this time, the bucket is positioned inside a box body that is the loading target. Accordingly, when the loading machine is rotated by the semi-automatic control or fully automatic control, there is a possibility that the bucket comes into contact with an inner wall of the loading target. Hereinafter, the semi-automatic control and the fully automatic control will be collectively referred to as automatic control.

[0006] An object of the disclosure is to provide a control device for a loading machine, a remote control device, and a control method that prevent a bucket from coming into contact with an inner wall of a loading target in automatic control of the loading machine.Solution to Problem

[0007] According to one aspect of the disclosure, a control device for a loading machine is a control device for a loading machine including a rotating body configured to rotate about a rotation center, and a work implement attached to the rotating body and including a work tool, and the control device includes: a reference identification unit, configured to identify a height of a loading target; a work implement position identification unit, configured to identify a height of the work tool; and an operation signal output unit, configured to output, during an automatic control for moving the work tool from above the loading target to the side of the loading target, a signal for raising the work implement when the work tool is positioned above the loading target and the height of the work tool is lower than the height of the loading target.Advantageous Effects of Invention

[0008] According to the aspect described above, a control device for a loading machine can prevent a bucket from coming into contact with an inner wall of a box body that is a loading target in automatic control of the loading machine.BRIEF DESCRIPTION OF DRAWINGS

[0009] FIG. 1 is a schematic view illustrating a configuration of a loading machine according to a first embodiment.

[0010] FIG. 2 is a view illustrating an internal configuration of a cab according to the first embodiment.

[0011] FIG. 3 is a schematic block diagram illustrating a configuration of a control device according to the first embodiment.

[0012] FIG. 4 is a view illustrating an example of movement of the loading machine in a first rotation according to the first embodiment.

[0013] FIG. 5 is a view illustrating an example of movement of the loading machine in a second rotation according to the first embodiment.

[0014] FIG. 6 is a view illustrating an example of movement of the loading machine in a dumping operation according to the first embodiment.

[0015] FIG. 7 is a flowchart illustrating first rotation control by the control device according to the first embodiment.

[0016] FIG. 8 is a flowchart illustrating second rotation control by the control device according to the first embodiment.DESCRIPTION OF EMBODIMENTSFirst Embodiment

[0017] Hereinafter, embodiments will be described in detail with reference to the drawings.Configuration of Loading Machine 100

[0018] FIG. 1 is a schematic view illustrating a configuration of a loading machine 100 according to a first embodiment.

[0019] The loading machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads the construction target as a load onto a loading platform such as a vessel of a loading target T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. Further, the loading machine 100 may be electrically driven or may be hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 includes a traveling body 110, a rotating body 120, a work implement 130, and a cab 140. Examples of the loading target T include a dump truck and a hopper.

[0020] The traveling body 110 supports the loading machine 100 in a manner that enables travel. The traveling body 110 includes two endless tracks 111 provided on left and right sides, and two travel motors 112 for driving the endless tracks 111. The traveling body 110 is an example of a support part.

[0021] The rotating body 120 is supported by the traveling body 110 so as to be rotatable about a rotation center.

[0022] The work implement 130 is driven by hydraulic pressure. The work implement 130 is supported at a front portion of the rotating body 120 so as to be drivable in a vertical direction.

[0023] The cab 140 is a space where an operator rides and operates the loading machine 100. The cab 140 is provided in a left front portion of the rotating body 120.

[0024] Here, a portion of the rotating body 120 where the work implement 130 is attached is referred to as a front portion. Further, in the rotating body 120, with reference to the front portion, a portion on a side opposite thereto is referred to as a rear portion, a portion on the left side is referred to as a left portion, and a portion on the right side is referred to as a right portion.Configuration of Rotating Body 120

[0025] The rotating body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a rotation motor 124.

[0026] The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source.

[0027] The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to actuators (a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, a travel motor 112, and a rotation motor 124) via the control valve 123.

[0028] The control valve 123 controls a flow rate of the hydraulic oil supplied from the hydraulic pump 122.

[0029] The rotation motor 124 is driven by the hydraulic oil supplied from the hydraulic pump 122 via the control valve 123 and rotates the rotating body 120.Configuration of Work Implement 130

[0030] The work implement 130 includes a boom 131, an arm 132, a bucket 133 as a work tool, the boom cylinder 131C, the arm cylinder 132C, and the bucket cylinder 133C. Other examples of the work tool include distal end attachments such as a clamshell bucket, a tilt bucket, a tilt rotator bucket, a grapple, and a lifting magnet.

[0031] A base end portion of the boom 131 is rotatably attached to the rotating body 120 via a boom pin. Note that, in the loading machine 100 illustrated in FIG. 1, the boom 131 is provided at a front center portion of the rotating body 120, but the position is not limited thereto, and the boom 131 may be attached offset in a left-right direction. In this case, the rotation center of the rotating body 120 is not positioned on an operation plane of the work implement 130.

[0032] The arm 132 couples the boom 131 and the bucket 133. A base end portion of the arm 132 is rotatably attached to a distal end portion of the boom 131 via an arm pin.

[0033] The bucket 133 is rotatably attached to a distal end portion of the arm 132 via a pin. The boom 131 and the arm 132 are members that support the bucket 133. The bucket 133 serves as a container for accommodating excavated earth and sand. The bucket 133 is attached with an opening thereof facing the rotating body 120 (rearward). That is, the loading machine 100, which is a backhoe shovel, performs excavation by pulling the bucket 133 in front of the rotating body 120.

[0034] The boom cylinder 131C is a hydraulic cylinder for actuating the boom 131. A base end portion of the boom cylinder 131C is attached to the rotating body 120. A distal end portion of the boom cylinder 131C is attached to the boom 131.

[0035] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end portion of the arm cylinder 132C is attached to the boom 131. A distal end portion of the arm cylinder 132C is attached to the arm 132.

[0036] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end portion of the bucket cylinder 133C is attached to the arm 132. A distal end portion of the bucket cylinder 133C is attached to a link mechanism that turns the bucket 133.Configuration of Cab 140FIG. 2 is a view illustrating an internal configuration of the cab 140 according to the first embodiment.

[0038] An operator seat 141, an operation terminal 142, and an operation device 143 are provided in the cab 140. The operation terminal 142 is provided in the vicinity of the operator seat 141 and is a user interface with a control device 160 described below. The operation terminal 142 is a display device constituted by a touch panel, for example, and may include an operation unit to be operated by an operator and an input reception unit that receives operations. Further, the display device displays measurement data of an engine water temperature gauge, a fuel gauge, and the like. Further, the operation terminal 142 may include a display unit such as a liquid crystal display (LCD). The touch panel is an example of a display unit.

[0039] The operation device 143 is a device for driving the traveling body 110, the rotating body 120, and the work implement 130 by manual operation by the operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, a rotation brake pedal 143TB, and a start switch 143SW.

[0040] The left operation lever 143LO is provided on the left side of the operator seat 141. The right operation lever 143RO is provided on the right side of the operator seat 141.

[0041] The left operation lever 143LO is an operation mechanism for performing a rotation operation of the rotating body 120 and an excavation / dumping operation of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left operation lever 143LO forward, the arm 132 performs the dumping operation. When the operator of the loading machine 100 tilts the left operation lever 143LO rearward, the arm 132 performs the excavation operation. When the operator of the loading machine 100 tilts the left operation lever 143LO rightward, the rotating body 120 rotates to the right. Further, when the operator of the loading machine 100 tilts the left operation lever 143LO leftward, the rotating body 120 rotates to the left. Note that, in another embodiment, the rotating body 120 may rotate to the right or the left when the left operation lever 143LO is tilted in a front-rear direction, and the arm 132 may perform the excavation operation or the dumping operation when the left operation lever 143LO is tilted in the left-right direction.

[0042] The right operation lever 143RO is an operation mechanism for performing the excavation / dumping operation of the bucket 133 and a raising / lowering operation of the boom 131. Specifically, when the operator of the loading machine 100 tilts the right operation lever 143RO forward, the lowering operation of the boom 131 is executed. When the operator of the loading machine 100 tilts the right operation lever 143RO rearward, the raising operation of the boom 131 is executed. When the operator of the loading machine 100 tilts the right operation lever 143RO rightward, the dumping operation of the bucket 133 is performed. Further, when the operator of the loading machine 100 tilts the right operation lever 143RO leftward, the excavation operation of the bucket 133 is performed. Note that, in another embodiment, the bucket 133 may perform the dumping operation or the excavating operation when the right operation lever 143RO is tilted in the front-rear direction, and the boom 131 may perform the raising operation or the lowering operation when the right operation lever 143RO is tilted in the left-right direction.

[0043] The left foot pedal 143LF is disposed on the left side of a floor surface in front of the operator seat 141. The right foot pedal 143RF is disposed on the right side of the floor surface in front of the operator seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF, and is configured so that the tilting of the left travel lever 143LT and a depression of the left foot pedal 143LF are interlocked with each other. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF, and is configured so that the tilting of the right travel lever 143RT and a depression of the right foot pedal 143RF are interlocked with each other.

[0044] The left foot pedal 143LF and the left travel lever 143LT correspond the rotational driving of a left crawler track of the traveling body 110. Specifically, when the operator of the loading machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT forward, the left crawler track rotates in the forward direction. Further, when the operator of the loading machine 100 tilts the left foot pedal 143LF or the left travel lever 143LT rearward, the left crawler track rotates in a rearward direction.

[0045] The right foot pedal 143RF and the right travel lever 143RT correspond the rotational driving of a right crawler track of the traveling body 110. Specifically, when the operator of the loading machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT frontward, the right crawler track rotates in a forward direction. Further, when the operator of the loading machine 100 tilts the right foot pedal 143RF or the right travel lever 143RT rearward, the right crawler track rotates in the rearward direction.

[0046] The start switch 143SW is provided, for example, at a handle portion of the left operation lever 143LO. Note that the start switch 143SW is disposed so as to be positioned in the vicinity of the operator seated on the operator seat 141. When the start switch 143SW is pressed, an automatic control instruction signal is output to the control device 160. The control device 160, when receiving input of the automatic control instruction signal, starts the automatic control.

[0047] The automatic control refers to the loading machine 100 autonomously controlling the driving of the work implement 130 and the rotating body 120 in order to realize a predetermined operation. The automatic control in the first embodiment is control in which the loading machine 100 autonomously performs a first rotation which is a series of operations of rotating from a state in which the bucket 133 is positioned to the side of the loading target T by excavation of the excavation target to an orientation facing the loading target T while raising the boom 131, and a second rotation which is a series of operations of rotating from a state in which the bucket 133 is positioned above the loading target T by loading to a predetermined orientation while lowering the boom 131. The side of the loading target T refers to outside of the loading platform on which a load is to be loaded, such as a vessel. Note that the automatic control according to another embodiment may perform only the second rotation. In the first embodiment, target orientations of the rotating body 120 and target postures of the bucket 133 in the first rotation and the second rotation are respectively set to orientations and postures designated in advance. Note that, typically, the excavation target is at a position lower than a height of the loading target T. Therefore, the loading machine 100 controls the driving of the work implement 130 so that the loading target T and the work implement 130 do not come into contact with each other in the first rotation and the second rotation. Details of the automatic control will be described below.

[0048] The automatic control executed each time the start switch 143SW is pressed switches between the first rotation and the second rotation. Further, in another embodiment, the operation device 143 may include two of the start switches 143SW, and the first rotation and the second rotation may be respectively assigned thereto.Configuration of Measurement System

[0049] As illustrated in FIG. 1, the loading machine 100 includes a position and orientation calculator 151, an inclination measuring instrument 152, a boom stroke sensor 153, an arm stroke sensor 154, and a bucket stroke sensor 155.

[0050] The position and orientation calculator 151 calculates a position of the rotating body 120 and an orientation in which the rotating body 120 is directed. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting the global navigation satellite system (GNSS). The two receivers are installed at different positions of the rotating body 120. The position and orientation calculator 151 detects a position of a representative point (origin of shovel coordinate system) of the rotating body 120 in a site coordinate system on the basis of the positioning signals received by the receivers.

[0051] Using the positioning signals received by the two receivers, the position and orientation calculator 151 calculates the orientation in which the rotating body 120 is directed as a relationship between an installation position of one receiver and an installation position of the other receiver. The orientation in which the rotating body 120 is directed is a direction orthogonal to a front surface of the rotating body 120. The orientation in which the rotating body 120 is directed is equal to a horizontal component in an extending direction of a straight line extending from the boom 131 to the bucket 133 of the work implement 130.

[0052] The inclination measuring instrument 152 measures an acceleration and an angular velocity of the rotating body 120, and detects a posture (for example, roll angle, pitch angle, and yaw angle) and a rotation speed of the rotating body 120 on the basis of the measurement result. The inclination measuring instrument 152 is installed, for example, on a lower surface of the rotating body 120. As the inclination measuring instrument 152, an inertial measurement unit (IMU) can be used, for example.

[0053] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects a cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into a relative angle of the boom 131 with respect to the rotating body 120.

[0054] The arm stroke sensor 154 is attached to the arm cylinder 132C and detects a cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into a relative angle of the arm 132 with respect to the boom 131.

[0055] The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects a cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into a relative angle of the bucket 133 with respect to the arm 132.

[0056] The loading machine 100 according to the first embodiment identifies an angle of each link part of the work implement 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but is not limited thereto. For example, in another embodiment, a potentiometer that detects a relative rotation angle of a link part may be provided, or a tilt sensor that detects a ground angle of each link part may be provided instead of the stroke sensor.Configuration of Control Device 160

[0057] FIG. 3 is a schematic block diagram illustrating a configuration of the control device 160 according to the first embodiment.

[0058] The loading machine 100 includes the control device 160. The control device 160 may be mounted on the operation terminal 142, or may be provided separately from the operation terminal 142 and receive inputs and outputs from the operation terminal 142. The control device 160 receives operation signals from the operation device 143. The control device 160 drives the work implement 130, the rotating body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for the automatic control to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is referred to as a manual operation signal, and the operation signal generated for the automatic control is referred to as an automatic operation signal. Note that the automatic operation signal is composed of operation signals for driving the rotating body 120 and the work implement 130, and does not include an operation signal for driving the traveling body 110. When a manual operation signal from the operator is received during the automatic control, the control device 160 may stop the automatic control.

[0059] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The processor 610 reads the program from the storage 650, loads the program into the main memory 630, and executes processing according to the program.

[0060] Examples of the storage 650 include a semiconductor memory, a magnetic disk, a magneto-optical disk, and an optical disk. The storage 650 may be an internal medium directly connected to a common communication line of the control device 160, or may be an external medium connected to the control device 160 via the interface 670. The main memory 630 and the storage 650 are non-transitory tangible storage media.

[0061] With execution of the program, the processor 610 includes a measurement data acquisition unit 611, an operation signal input unit 612, a work implement position identification unit 613, a reference identification unit 614, an angle identification unit 615, a movement control unit 616, and an operation signal output unit 617.

[0062] The measurement data acquisition unit 611 acquires measurement data acquired by the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from each of the position and orientation calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155. The measurement data acquisition unit 611 calculates an angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclination measuring instrument 152.

[0063] The operation signal input unit 612 receives input of operation signals manually operated by the operator from the operation device 143. The operation signals include a drive signal for raising or lowering the boom 131, a drive signal for raising or lowering the arm 132, a drive signal for causing the bucket 133 to dump or excavate, a drive signal for rotating the rotating body 120 to the right or left, a drive signal for causing the traveling body 110 to travel, and an automatic control instruction signal for the loading machine 100.

[0064] The work implement position identification unit 613 identifies a position of a distal end P of the arm 132 (FIG. 4) and a position of the lowest point Q of the bucket 133 (FIG. 4) in a vehicle coordinate system with reference to the rotating body 120 on the basis of the measurement data acquired by the measurement data acquisition unit 611. The lowest point Q of the bucket 133 is a point of an outer shape of the bucket 133 at which a distance from a ground surface is shortest.

[0065] The work implement position identification unit 613 determines a vertical direction component and a horizontal direction component of a length of the boom 131 on the basis of an inclination angle of the boom 131 and a known length of the boom 131 (distance from the pin at the base end portion to the pin at the distal end portion). Similarly, the work implement position identification unit 613 determines a vertical component and a horizontal component of a length of the arm 132. The work implement position identification unit 613 identifies a position separated from the position of the loading machine 100 by the sum of the vertical direction components and the sum of the horizontal direction components of the lengths of the boom 131 and the arm 132 in a direction identified from the orientation and the posture of the loading machine 100 as the position of the distal end P of the arm 132. Further, the work implement position identification unit 613 identifies the position of the lowest point Q of the bucket 133 on the basis of an inclination angle of the bucket 133 and a known shape of the bucket 133. For example, the work implement position identification unit 613 calculates the position of each of a plurality of points on an outer shell of the bucket 133 on the basis of the inclination angle of the bucket 133, and identifies the point having the lowest height among the plurality of points as the lowest point Q. Further, for example, the work implement position identification unit 613 may set a point obtained by downwardly offsetting a distance between a point of the bucket 133 farthest from a bucket pin and the bucket pin in a height direction from the bucket pin as the lowest point Q. Further, for example, the work implement position identification unit 613 may set a point obtained by downwardly offsetting an amount of the maximum bucket movable range in the height direction from the bucket pin as the lowest point Q. Further, the work implement position identification unit 613 may set a point offsetting the height with a margin from the height identified above, accounting for control errors and measurement errors, as the lowest point Q.

[0066] Before execution of the automatic control, the reference identification unit 614 receives teaching of an excavation preparation position, an interference avoidance position, and a loading position of the bucket 133 from the operator as reference points of the automatic control. The teaching is performed by the following procedure, for example.

[0067] The reference identification unit 614 causes the operation terminal 142 to display an instruction for moving the bucket 133 to the excavation preparation position. The operator operates the operation device 143 to move the bucket 133 to the excavation preparation position, and inputs completion of movement to the excavation preparation position to the operation terminal 142. The reference identification unit 614 records, in the storage 650, the posture of the work implement 130 identified by the work implement position identification unit 613 as the target posture of the second rotation, the position of the distal end P of the arm 132 as the target position of the second rotation, and the orientation in which the rotating body 120 is directed as the target orientation of the second rotation.

[0068] Next, the reference identification unit 614 causes the operation terminal 142 to display an instruction for moving a cutting edge of the bucket 133 to the interference avoidance position corresponding to a position having a height of an upper end of a wall of the vessel of the loading target T and where the work implement 130 and the loading target T do not overlap in plan view from above. Note that the wall of the vessel used for teaching may be any one of a side wall, a front wall, or a rear wall of the vessel. The operator operates the operation device 143 to move the cutting edge of the bucket 133 to the interference avoidance position, and inputs completion of movement to the interference avoidance position to the operation terminal 142. The interference avoidance positions are input with respect to both a right end and a left end of the loading target T. Accordingly, the reference identification unit 614 can identify the range of the loading platform of the loading target T. Note that a height of each interference avoidance position may be a height obtained by offsetting the height with a margin in an upward direction accounting for control errors and measurement errors.

[0069] The reference identification unit 614 records, in the storage 650, the height of the lowest point Q of the bucket 133 identified by the work implement position identification unit 613 as a wall height Ht of the loading target T, and the orientation in which the rotating body 120 is directed as the interference avoidance orientation. The wall height Ht is an example of the height of the loading target T.

[0070] Next, the reference identification unit 614 causes the operation terminal 142 to display an instruction for moving the bucket 133 to the loading position above the loading target T. The operator operates the operation device 143 to move the bucket 133 to the loading position, and inputs completion of movement to the loading position to the operation terminal 142. The reference identification unit 614 records, in the storage 650, the posture of the work implement 130 as the target posture of the first rotation, the position of the distal end P of the arm 132 as the target position of the first rotation, and the orientation in which the rotating body 120 is directed identified by the work implement position identification unit 613 as the target orientation of the first rotation. Further, the height of the lowest point Q of the bucket 133 identified at the loading position may be set as the wall height Ht. Further, in another embodiment, the height of the loading target T does not necessarily need to be the wall height Ht that is the height of the side wall of the loading platform, and may be a height of a highest point of the loading target T overall.

[0071] The angle identification unit 615 identifies, as a target rotation angle, an angle between an initial orientation in which the rotating body 120 is directed when the automatic control instruction signal is input to the operation signal input unit 612 and the target orientation recorded in the storage 650. The angle identification unit 615 identifies, as an interference avoidance angle, an angle between the initial orientation in which the rotating body 120 is directed when the automatic control instruction signal is input to the operation signal input unit 612 and an interference avoidance orientation recorded in the storage 650. The interference avoidance angle is a rotation angle when the work implement 130 and the loading target T do not overlap each other in plan view from above.

[0072] When the operation signal input unit 612 receives input of the automatic control instruction signal, the movement control unit 616 generates an automatic operation signal for realizing the automatic control. When the automatic control instruction signal is input, automatic control for realizing the first rotation for moving the bucket 133 to the loading position or automatic control for realizing the second rotation for moving the bucket 133 to the excavation preparation position is executed. The movement control unit 616 determines whether to execute the first rotation or to execute the second rotation in the automatic control depending on whether the bucket 133 is within the range of the loading target T in plan view from above when the automatic control instruction signal is input. When the bucket 133 is not within the range of the loading platform of the loading target T, the movement control unit 616 executes the first rotation, and when the bucket 133 is within the range of the loading platform of the loading target T, the movement control unit 616 executes the second rotation. At this time, on the basis of the wall height Ht and the interference avoidance angle stored in the storage 650, the movement control unit 616 controls the rotating body 120 and the work implement 130 so that the loading target T and the work implement 130 do not come into contact with each other.

[0073] Specifically, in the first rotation, the movement control unit 616 causes the rotating body 120 and the work implement 130 to realize a combined operation before reaching a first interference avoidance angle θ1 (FIG. 4). In the first rotation, when the height of the bucket 133 does not reach the height of the loading position before the rotation angle of the rotating body 120 reaches the first interference avoidance angle θ1 (FIG. 4), a rotation operation signal for the rotating body 120 is not generated, and only an operation signal for the work implement 130 is generated. On the other hand, when the height of the bucket 133 reaches the height of the loading position before the rotation angle by rotation reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the work implement 130 and realizes a combined operation of the rotating body 120 and the work implement 130. After the height of the bucket 133 reaches the height of the loading position at the first interference avoidance angle θ1 (FIG. 4), the movement control unit 616 causes the rotating body 120 to rotate without moving the work implement 130.

[0074] Further, the movement control unit 616 performs control so that the lowest point of the bucket 133 is not lowered before the rotation angle of the rotating body 120 reaches a second interference avoidance angle θ2 (FIG. 5) in the second rotation of a rotation opposite to the first rotation. The control in which the lowest point is not lowered may be control in which the rotating body 120 is rotated without moving the work implement 130 while maintaining the height of the lowest point, or may be control in which a gap is provided between the loading target T and the bucket 133 by making the lowest point higher than the lowest point before control. After the rotation angle reaches the second interference avoidance angle θ2, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the work implement 130 to realize a combined operation of the rotating body 120 and the work implement 130. However, if the height of the lowest point of the bucket 133 is lower than the wall height Ht of the loading target T when input of the automatic control instruction signal is received in the second rotation, the movement control unit 616 moves the bucket 133 upward before rotating the rotating body 120.

[0075] The operation signal output unit 617 outputs, to the control valve 123, the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616.Operation during Automatic Control

[0076] Here, movement of the loading machine 100 during the automatic control according to the first embodiment will be described with reference to the drawings.

[0077] FIG. 4 is a view illustrating an example of the movement of the loading machine 100 in the first rotation according to the first embodiment. FIG. 5 is a view illustrating an example of the movement of the loading machine 100 in the second rotation according to the first embodiment.

[0078] When the automatic control according to the first rotation is started, the control device 160, as illustrated in FIG. 4, first starts driving the work implement 130 (the boom 131, the arm 132, and the bucket 133), and moves the bucket 133 upward by the raising operation of the boom 131. The target position of the bucket 133 according to the first rotation is the loading position above the loading target T. After a delay, the control device 160 starts rotation of the rotating body 120. The control device 160 adjusts a rotation start timing so that the posture of the work implement 130 becomes the target posture according to the first rotation before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1. Note that, before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1, when the posture of the work implement 130 reaches the target posture in the first rotation, that is, when the height of the lowest point Q of the bucket 133 is higher than the wall height Ht of the loading target T, the work implement 130 will not come into contact with the loading target T by the rotation of the rotating body 120. Note that, when the work implement 130 is driven simultaneously with the rotation and the posture of the work implement 130 becomes the target posture in the first rotation before the rotation angle is equal to the first interference avoidance angle θ1, the control device 160 may start the driving of the work implement 130 and the rotation simultaneously. Subsequently, when the bucket 133 reaches the loading position, the automatic control is ended.

[0079] Subsequently, the operator manually performs the dumping operation in which the bucket 133 is turned in a dumping direction. FIG. 6 is a view illustrating an example of the movement of the loading machine 100 in the dumping operation according to the first embodiment. In the manual dumping operation, the operator may load the load from a low position in order to suppress an impact applied to the loading target T. Further, the operator may operate the loading machine 100 to level the load loaded onto a loading platform such as a vessel. At this time, the lowest point Q of the bucket 133 may be lower than the wall of the loading target T as illustrated in FIG. 6. Accordingly, when the control device 160 rotates the loading machine 100 as is, the bucket 133 comes into contact with the inner wall of the loading target T.

[0080] When the automatic control according to the second rotation is started, the control device 160 determines whether the lowest point of the bucket 133 is higher than the wall of the loading target T. When the lowest point Q of the bucket 133 is lower than the wall height Ht as illustrated in FIG. 5, the boom 131 is raised. When the lowest point Q of the bucket 133 is higher than the wall height Ht, the control device 160 starts the rotation of the rotating body 120. Until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 rotates the rotating body 120 without moving the work implement 130 and maintains the height of the lowest point of the bucket 133. Note that, in the first embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 raises only the work implement 130 and does not rotate the rotating body 120. However, the operation is not limited thereto in other embodiments. For example, in another embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 may rotate, while raising the work implement 130, the rotating body 120 at a speed at which the bucket 133 does not come into contact with the wall of the loading target T.

[0081] When the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 may drive all of the boom 131, the arm 132, and the bucket 133 or may drive some of the boom 131, the arm 132, and the bucket 133 on the basis of the relationship between the posture at the start of rotation and the target posture. When the rotation angle of the rotating body 120 reaches the target rotation angle θ0, the control device 160 ends the driving of the rotating body 120. Further, when the posture of the work implement 130 reaches the target posture at the start of excavation, the control device 160 ends the driving of the work implement 130. In the second rotation, the control device 160 according to the first embodiment rotates the rotating body 120 without moving the work implement 130 until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, but the rotation is not limited thereto. For example, the control device 160 according to another embodiment may rotate the rotating body 120 while moving the work implement 130 so that the height of the lowest point of the bucket 133 does not change. Further, when the bucket 133 is higher than the wall height Ht, the control device 160 according to the embodiment may rotate the rotating body 120 while lowering the work implement 130 to such an extent that the height of the lowest point of the bucket 133 is not lower than the wall height Ht.

[0082] Note that FIGS. 4 and 5 illustrate an example in which a positional relationship between the excavation position and the loading target T is approximately 90 degrees about the rotating body 120, but the positional relationship is not limited thereto in other embodiments. For example, in another embodiment, the positional relationship between the excavation position and the loading target T may be another rotation angle position such as approximately 180 degrees about the rotating body 120.Operation of Control Device 160

[0083] FIG. 7 is a flowchart illustrating first rotation control by the control device 160 according to the first embodiment. FIG. 8 is a flowchart illustrating second rotation control by the control device 160 according to the first embodiment.

[0084] When the start switch 143SW is pressed by the operator, the operation signal input unit 612 of the control device 160 receives input of an automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to execute the first rotation or to execute the second rotation on the basis of whether the bucket 133 is within the range on the loading platform of the loading target T in plan view from above.

[0085] In executing the first rotation, the control device 160 executes the first rotation control illustrated in FIG. 7. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S 1). The movement control unit 616 reads the target orientation (orientation of the loading target T) of the rotating body 120, the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S2). The angle identification unit 615 identifies the target rotation angle θ0 and the first interference avoidance angle θ1 on the basis of the orientation in which the rotating body 120 is directed identified in step S1 and the target orientation and the interference avoidance orientation read in step S2 (step S3).

[0086] Next, the measurement data acquisition unit 611 acquires the measurement data of each of the position, the orientation, the inclination angle, and the rotation speed of the loading machine 100, and the measurement data of the cylinder length of each cylinder, and the work implement position identification unit 613 identifies the posture of the work implement 130 on the basis of the measurement data (step S4). The work implement position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133 (step S5).

[0087] The movement control unit 616 generates an automatic operation signal for moving the bucket 133 to above the loading target T on the basis of the target orientation, the target posture, and the wall height Ht read in step S2 and the first interference avoidance angle 01 identified in step S3. That is, a movement processing unit 1112 generates the automatic operation signal so that the lowest point Q of the bucket 133 reaches the loading position represented by the target orientation and the target posture from the position of the lowest point Q at the start of the first rotation control via the interference avoidance position represented by the wall height Ht and the first interference avoidance angle θ1. At this time, the movement control unit 616 generates an automatic 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.

[0088] Specifically, the movement control unit 616 generates the automatic operation signal by the following procedure.

[0089] First, the movement control unit 616 determines whether the posture of the work implement 130 identified in step S5 approximates the target posture acquired in step S1 (step S6). For example, when a difference between the position of the distal end of the arm 132 in the target posture and the current position of the distal end of the arm 132 is equal to or less than a predetermined value, the movement control unit 616 determines that the posture of the work implement 130 is approximate to the target posture.

[0090] When the posture of the work implement 130 is not approximate to the target posture (step S6: NO), the movement control unit 616 generates an automatic operation signal for bringing the boom 131 and the arm 132 close to the target posture (step S7). At this time, the movement control unit 616 generates the automatic operation signal on the basis of the positions and the speeds of the boom 131 and the arm 132 identified from the measurement data acquired in step S4.

[0091] Further, the movement control unit 616 calculates the sum of the driving speeds of the boom 131 and the arm 132 on the basis of the generated automatic operation signal of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the driving speeds (step S8). Thus, the movement control unit 616 can generate an operation signal for keeping the ground angle of the bucket 133.

[0092] The movement control unit 616 determines whether the work implement 130 is rotating (step S9). For example, when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed, the movement control unit 616 determines that the work implement 130 is rotating. When the work implement 130 is not rotating (step S9: NO), the movement control unit 616 calculates a completion time for the work implement 130 to reach the target posture on the basis of the speeds of the boom 131 and the arm 132 identified in step S7 (step S10). Further, the movement control unit 616 calculates an arrival time for the rotation angle to reach the first interference avoidance angle 01 identified in step S3 when the rotating body 120 started rotation (step S11). The movement control unit 616 determines whether the completion time calculated in step S10 is less than the arrival time calculated in step S11 (step S12). That is, the movement control unit 616 determines whether the work implement 130 will be in the target posture when the rotation angle reaches the first interference avoidance angle θ1.

[0093] When the completion time is equal to or longer than the arrival time (step S12: NO), that is, when the work implement 130 will not assume the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 does not generate a rotation operation signal for the rotating body 120. On the other hand, when the completion time is less than the arrival time (step S12: YES), that is, when the work implement 130 will assume the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 (step S13). As a result, the control device 160 can prevent contact with the loading target T due to rotation while the height of the work implement 130 remains low.

[0094] The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14). Thus, the loading machine 100 is driven. Then, the control device 160 returns the processing to step S4 and continues the control.

[0095] On the other hand, when the determination is made in step S9 that the work implement 130 is rotating (step S9: YES), the movement control unit 616 determines whether the rotation angle will reach the target rotation angle by rotating due to inertia when the rotation operation signal is stopped, on the basis of the rotation speed of the work implement 130 identified in step S4 (step S15). When the rotation angle will not reach the target rotation angle by rotating due to inertia (step S15: NO), the movement control unit 616 generates a rotation operation signal in step S13, and the operation signal output unit 617 outputs the rotation operation signal to the control valve 123 in step S14.

[0096] On the other hand, when the determination is made that the rotation angle will reach the target rotation angle by rotating due to inertia (step S15: YES), whether the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S16) are determined. When the rotation angle has reached the target rotation angle, but the posture of the work implement 130 is not the target posture (step S16: NO), the control device 160 returns the processing to step S4.

[0097] On the other hand, when the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S16: YES), the control device 160 ends the first rotation processing.

[0098] FIG. 8 is a flowchart illustrating the second rotation control by the control device 160 according to the first embodiment.

[0099] When the start switch 143SW is pressed by the operator, the operation signal input unit 612 of the control device 160 receives input of an automatic control instruction signal.

[0100] In executing the second rotation, the control device 160 executes the second rotation control illustrated in FIG. 8. First, the measurement data acquisition unit 611 acquires the measurement data of the orientation of the loading machine 100 (step S21). The movement control unit 616 reads the target orientation (orientation toward the side of the loading target T) of the rotating body 120, the target posture, the wall height Ht of the loading target T, and the interference avoidance orientation from the storage 650 (step S22). The angle identification unit 615 identifies the target rotation angle θ0 and the second interference avoidance angle θ2 on the basis of the orientation in which the rotating body 120 is directed identified in step S21 and the target orientation and the interference avoidance orientation read in step S22 (step S23).

[0101] Next, the measurement data acquisition unit 611 acquires the measurement data of each of the position, the orientation, the inclination angle, and the rotation speed of the loading machine 100, and the measurement data of the cylinder length of each cylinder, and the work implement position identification unit 613 identifies the posture of the work implement 130 on the basis of the measurement data (step S24). The work implement position identification unit 613 identifies the position of the distal end P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133 (step S25).

[0102] The movement control unit 616 the movement control unit 616 determines whether the work implement 130 is rotating (step S26). For example, when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed, the movement control unit 616 determines that the work implement 130 is rotating. When the work implement 130 is not rotating (step S26: NO), the movement control unit 616 determines whether the height of the lowest point Q identified in step S25 is higher than the wall height Ht read in step S22 (step S27). When the height of the lowest point Q is lower than the wall height Ht (step S27: NO), the movement control unit 616 generates an automatic operation signal for raising the boom 131 (step S27). Note that, in another embodiment, an automatic operation signal for raising the arm 132 or the bucket 133 instead of the boom 131 may be generated, or these may be operated in combination. At this time, the movement control unit 616 does not generate an automatic operation signal for rotating the rotating body 120. Subsequently, the control device 160 returns the processing to step S24.

[0103] On the other hand, when the height of the lowest point Q is higher than the wall height Ht (step S27: YES), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S 29). The automatic operation signal is an operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above.

[0104] On the other hand, when the work implement 130 is rotating (step S26: YES), the movement control unit 616 determines whether the rotation angle of the work implement 130 will reach the target rotation angle by rotating due to inertia when the rotation operation signal is stopped, on the basis of the measurement data of the rotation speed of the work implement 130 identified in step S24 (step S30). When the rotation angle of the work implement 130 will not reach the target rotation angle by rotating due to inertia (step S30: NO), the movement control unit 616 generates an automatic operation signal for rotating the rotating body 120 (step S29). When the rotation angle of the work implement 130 will reach the target rotation angle by rotating due to inertia (step S30: YES), the movement control unit 616 does not generate an automatic operation signal for rotating the rotating body 120.

[0105] Next, the movement control unit 616 determines whether the rotation angle of the rotating body 120 from the start of the automatic control to the current time is less than the second interference avoidance angle θ2 (step S31). When the rotation angle is less than the second interference avoidance angle θ2 (step S31: YES), the movement control unit 616 generates an operation signal (neutral signal) for maintaining the posture of the work implement 130.

[0106] In step S31, when the rotation angle is equal to or greater than the second interference avoidance angle θ2 (step S31: NO), the movement control unit 616 determines whether the posture of the work implement 130 identified in step S24 approximates the target posture identified in step S22 (step S32). When the posture of the work implement 130 is not approximate to the target posture (step S32: NO), the movement control unit 616 generates an automatic operation signal for bringing the boom 131, the arm 132, and the bucket 133 close to the target posture (step S33). When the posture of the work implement 130 is approximate to the target posture (step S32: YES), the movement control unit 616 generates a neutral signal for maintaining the posture of the work implement 130.

[0107] Then, the operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the rotation angle has reached the target rotation angle and the posture of the work implement 130 is the target posture (step S35). When the rotation angle has not reached the target rotation angle or the posture of the work implement 130 is not in the target posture (step S35: NO), the control device 160 returns the processing to step S24. On the other hand, when the rotation angle has reached the target rotation angle and the posture of the work implement 130 is in the target posture (step S35: YES), the automatic control processing is ended.Actions and Effects

[0108] As described above, when the height of the lowest point of the bucket 133 is higher than the height of the wall of the loading target T at the start of the automatic control according to the second rotation for moving the bucket 133 from above the loading target T to the side of the loading target T, the control device 160 according to the first embodiment outputs an automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above. On the other hand, when the height of the lowest point is lower than the height of the wall at the start of the automatic control, the automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T in plan view from above is not immediately output. Accordingly, even when the operator positions the bucket 133 inside the loading target T as illustrated in FIG. 6, it is possible to prevent the bucket 133 from coming into contact with the inner wall of the loading target T in the automatic control of the loading machine 100.

[0109] Further, when the height of the lowest point of the bucket 133 is lower than the height of the wall of the loading target T at the start of the automatic control, the control device 160 according to the first embodiment outputs an automatic operation signal for raising the work implement 130 and, once the height of the lowest point is higher than the height of the wall, outputs an automatic operation signal for rotating the rotating body 120 from the inside of the loading target T toward the outside of the loading target T. Accordingly, in the automatic control of the loading machine 100, the control device 160 can move the bucket 133 to the side of the loading target T without bringing the bucket 133 into contact with the inner wall of the loading target T.

[0110] Note that, in another embodiment, the operation is not limited thereto and, when the start switch 143SW is pressed and the height of the lowest point is lower than the height of the wall at the start of the automatic control, the second rotation may not be executed and the operation terminal 142 may be caused to output an alert. The alert may be, for example, an alert issuing a warning sound or may be an alert displaying a warning screen on the display of the operation terminal 142. In this case, the operator who confirms the alert raises the bucket 133 and then presses the start switch 143SW again, whereby the second rotation is executed.Other Embodiments

[0111] An embodiment has been described above in detail with reference to the drawings, but a specific configuration is not limited to that described above, and various design changes and the like can be made. That is, in other embodiments, the order of the processing described above may be changed as appropriate. Further, some processing may be executed in parallel.

[0112] The control device 160 according to the embodiment described above may be constituted by a single computer. The configuration of the control device 160 may be divided into a plurality of computers, and the plurality of computers may cooperate with each other and serve as the control device 160. At this time, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and the other computers may be provided outside of the loading machine 100.

[0113] The target posture, the target orientation, the interference avoidance orientation, and the wall height Ht according to the embodiment described above are recorded in the storage 650 by teaching, but are not limited thereto. For example, the loading machine 100 according to another embodiment may recognize the position and a shape of the loading target T by being provided with a three-dimensional measurement device such as a stereo camera or light detection and ranging (LiDAR), and may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of the position and the shape. That is, the reference identification unit 614 may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of shape data of the loading target T. Further, in another embodiment, the position, the posture, and the orientation of the loading target T may be received through communication with the loading target T, and the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht may be identified on the basis of the position, the posture, and the orientation of the loading target T and the known shape of the loading target T. In another embodiment, when the loading target T automatically travels by communication with the control apparatus, the position and the orientation of the loading target T may be received from the control apparatus, and the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht may be identified on the basis of the position and the orientation of the loading target T and the known shape of the loading target T. Further, in another embodiment, the reference identification unit 614 may identify the target posture, the target orientation, the interference avoidance orientation, and the wall height Ht on the basis of inputs to the operation terminal 142 by the operator. Further, the loading machine 100 according to another embodiment may identify the target posture, the target orientation, and the interference avoidance orientation separately from identification of the wall height Ht. That is, in another embodiment, the control device 160 may separately include a first reference identification unit that identifies the target posture, the target orientation, and the interference avoidance orientation, and a second reference identification unit that identifies the wall height Ht. For example, the loading machine 100 may identify the target posture, the target orientation, and the interference avoidance orientation by teaching, and identify the wall height Ht by an input by the operator. Further, the operator may identify the wall height that is the height of the loading target by inputting the vehicle type of the loading machine. That is, the control device 160 identifies the wall height Ht by reading the height associated with the input vehicle type from a table in which the vehicle types and the wall heights are associated with one another in advance.

[0114] Further, the control device 160 according to the embodiment described above identifies the posture of the work implement 130 on the basis of the measurement data of the sensor that measures the posture of the work implement 130, but is not limited thereto. For example, in another embodiment, when the loading machine 100 includes a three-dimensional measurement device such as a stereo camera or a LiDAR, the posture of the work implement 130, in particular, the height of the lowest point Q of the bucket 133, may be recognized on the basis of the measurement data of the three-dimensional measurement device, and the automatic control may be performed on the basis of the recognized posture.

[0115] The control device 160 according to the embodiment described above calculates the angle of the rotating body 120 by integrating the angular velocity of the rotating body 120 measured by the inclination measuring instrument 152, but is not limited thereto. For example, the control device 160 according to another embodiment may calculate the angle of the rotating body 120 on the basis of a difference in orientation measured by the position and orientation calculator 151. Further, in another embodiment, the angle of the rotating body 120 may be identified using a detection value of a rotation angle sensor provided in the rotation motor 124.

[0116] The control device 160 according to the embodiment described above performs the automatic control on the basis of the comparison between the rotation angle and the interference avoidance angle, but is not limited thereto. For example, the control device 160 according to another embodiment may perform the automatic control on the basis of a comparison between the position of the bucket 133 and a rearmost point of the outer shape of the loading target T in the rotation direction of the rotating body 120. For example, the control device 160 according to another embodiment may adjust the rotation start timing so that the bucket 133 is positioned in a region in the vicinity of the rearmost point in the rotation direction of the rotating body 120.

[0117] Further, in another embodiment, the control device 160 may generate an automatic control signal for each link part and the rotating body 120 so that the bucket 133 passes through a predetermined trajectory. For example, the trajectory may be determined by fitting with a predetermined curve function, or may be determined by teaching by a manual operation. The trajectory may be represented by a time-series arrangement of the postures of the bucket 133, the postures of the link parts and the rotating body 120, or the operation signals.

[0118] The loading machine 100 according to the embodiment described above is directly operated by the operator riding in the cab 140, but is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by remote control. That is, in another embodiment, an operation signal may be transmitted to the control device 160 by communication from the operation device 143 remotely provided. Further, the control device 160 may be constituted by a computer provided in a remote location, or may be constituted by a control system in which functions are divided between computers provided in the loading machine 100 and the remote location.

[0119] In the automatic control according to the embodiment described above, the first rotation in which the bucket 133 is moved from the position at the time of completion of excavation to the loading point and the second rotation in which the bucket 133 is moved to the position for starting the next excavation are respectively executed, but the automatic control is not limited thereto. For example, in another embodiment, the control device 160 may perform the fully automatic control for automatically executing a series of operations of the first rotation, earth disposal, and the second rotation. Further, for example, in another embodiment, the control device 160 may execute only the second rotation without executing the first rotation.

[0120] Further, the automatic control according to the embodiment described above is started by the pressing of the start switch 143SW by the operator, but is not limited thereto. For example, in another embodiment, the control device 160 may autonomously determine the start timing of the automatic control and start the automatic control regardless of the pressing of the start switch 143SW.REFERENCE SIGNS LIST100 Loading machine, 110 Traveling body, 111 Endless track, 112 Travel motor, 120 Rotating body, 121 Engine, 122 Hydraulic pump, 123 Control valve, 124 Rotation motor, 130 Work implement, 131 Boom, 131C Boom cylinder, 132 Arm, 132C Arm cylinder, 133 Bucket, 133C Bucket cylinder, 140 Cab, 141 Operator seat, 142 Operation terminal, 143 Operation device, 151 Position and orientation calculator, 152 Inclination measuring instrument, 153 Boom stroke sensor, 154 Arm stroke sensor, 155 Bucket stroke sensor, 160 Control device, 610 Processor, 611 Measurement data acquisition unit, 612 Operation signal input unit, 613 Work implement position identification unit, 614 Reference identification unit, 615 Angle identification unit, 616 Movement control unit, 617 Operation signal output unit, 630 Main memory, 650 Storage, 670 Interface, T Loading target

Examples

first embodiment

[0017]Hereinafter, embodiments will be described in detail with reference to the drawings.

Configuration of Loading Machine 100

[0018]FIG. 1 is a schematic view illustrating a configuration of a loading machine 100 according to a first embodiment.

[0019]The loading machine 100 operates at a construction site, excavates a construction target such as earth and sand, and loads the construction target as a load onto a loading platform such as a vessel of a loading target T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. Further, the loading machine 100 may be electrically driven or may be hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel. The loading machine 100 includes a traveling body 110, a rotating body 120, a work implement 130, and a cab 140. Examples of the loading target T include a dump truck and a hopper.

[0020]The traveling body 110 supports the loading machine...

Claims

1. A control device for a loading machine including a rotating body configured to rotate about a rotation center, and a work implement attached to the rotating body and including a work tool, the control device comprising:a reference identification unit, configured to identify a height of a loading target;a work implement position identification unit, configured to identify a height of the work tool; andan operation signal output unit, configured to output, during an automatic control for moving the work tool from above the loading target to an outside of the loading target, a signal for raising the work implement when the work tool is positioned above the loading target and the height of the work tool is lower than the height of the loading target.

2. The control device for a loading machine according to claim 1, whereinthe operation signal output unit is configured to:output an operation signal for rotating the rotating body toward the outside of the loading target, after the height of the work tool becomes higher than a height of the loading machine in response to the operation signal for raising the work implement.

3. The control device for a loading machine according to claim 1, whereinthe operation signal output unit is configured to:output an operation signal for raising a member of the work implement that supports the work tool, as the signal for raising the work implement, when the height of the work tool is lower than the height of the loading machine.

4. The control device for a loading machine according to claim 1, whereinthe operation signal output unit is configured to:output an operation signal for rotating the rotating body toward the outside of the loading target, when the height of the work tool is higher than the height of the loading machine.

5. The control device for a loading machine according to claim 4, whereinthe operation signal output unit is configured to:not output a signal for rotation, when the height of the work tool is lower than the height of the loading machine.

6. The control device for a loading machine according to claim 1, whereinthe work implement position identification unit is configured to:identify, as the height of the work tool, a height of a lowest point of the work tool or a lowest point of an operation range of the work tool.

7. The control device for a loading machine according to claim 1, further comprising:an input unit, configured to receive an input of a start instruction of the automatic control from an operator.

8. A control method for a loading machine including a rotating body configured to rotate about a rotation center, and a work implement attached to the rotating body and including a work tool, the control method comprising:identifying a height of a loading target;identifying a height of the work tool; andoutputting, during an automatic control for moving the work tool from above the loading target to an outside of the loading target, a signal for raising the work implement when the work tool is positioned above the loading target and the height of the work tool is lower than the height of the loading target.

9. A remote control device configured to remotely control a loading machine including a rotating body configured to rotate about a rotation center, and a work implement attached to the rotating body and including a work tool, the remote control device comprising:a reference identification unit, configured to identify a height of a loading target;a work implement position identification unit, configured to identify a height of the work tool; andan operation signal output unit, configured to output, during an automatic control for moving the work tool from above the loading target to an outside of the loading target, a signal for raising the work implement when the work tool is positioned above the loading target and the height of the work tool is lower than the height of the loading target to the loading machine.

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