Control system for loading machine, control method for loading machine, and remote operation system for loading machine

Abstract

When it is determined that automatic control is started, a control unit controls a revolving body and a work implement so that a lowest point of a work tool becomes an intermediate target height higher than a loading target and lower than a target point until the revolving body faces from a first orientation facing a start point to a second orientation in which the work implement does not interfere with the loading target in plan view from above. The control unit controls the revolving body and the work implement such that the lowest point of the work tool becomes a height of the target point until the revolving body faces from the second orientation to a third orientation facing the target point.

Description

TECHNICAL FIELD

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

[0002] The present application claims priority to Japanese Patent Application No. 2023-141696 filed in Japan on Aug. 31, 2023, the contents of which are incorporated herein by reference.BACKGROUND ART

[0003] Patent Literature 1 discloses a technique in which, in automatic control of a loading machine, a work tool is moved to an interference avoidance point so as not to come into contact with a transportation vehicle as a loading target, and then the work tool is moved to an earth removal point only by turning of a revolving body. The interference avoidance point in Patent Literature 1 is a position that has the same height as the earth removal point, has a distance from a revolving center of the revolving body equal to a distance from the revolving center to the earth removal point, and has no loading target below.PRIOR ART LITERATUREPatent Literature

[0004] Patent Literature 1: JP 2022-079773 ASUMMARY OF INVENTIONTechnical Problem

[0005] Meanwhile, in a case where the loading machine has a clam bucket, by opening a clam, earth is removed while the bucket is in an attitude of holding an article. On the other hand, when the bucket is rotated to remove the earth, a height of the lowest point of the bucket decreases with the rotation. Therefore, according to the method described in Patent Literature 1, the height of the interference avoidance point is set to be excessively higher than a height of the loading target, and a time required for turning may be long.

[0006] An object of the present disclosure is to provide a control system for a loading machine, a control method for a loading machine, and a remote operation system for a loading machine capable of shortening a time required for automatic control.Means for Solving Problem

[0007] According to one aspect of the present invention, a control system for a loading machine is a control device for a loading machine including a revolving body that revolves about a revolving center, a support unit that supports the revolving body, and a work implement having a work tool and attached to the revolving body, and the control device includes: a control point determination unit that determines, when the work tool is moved to a target point above a loading target by automatic control, a control point in an orientation lower than a height of the target point and in which the work implement does not interfere with the loading target in plan view from above as a control point related to the automatic control; and a control unit that controls the revolving body and the work implement via the control point when the automatic control is started.Effects of Invention

[0008] According to the above aspect, the control system for the loading machine can shorten a time required for the automatic control.BRIEF DESCRIPTION OF DRAWINGS

[0009] FIG. 1 A schematic view illustrating a configuration of a remote operation system according to a first embodiment.

[0010] FIG. 2 A schematic view illustrating a configuration of a loading machine according to the first embodiment.

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

[0012] FIG. 4 A diagram illustrating an example of a travel route according to the first embodiment.

[0013] FIG. 5 A schematic block diagram illustrating a configuration of a control device of the loading machine according to the first embodiment.

[0014] FIG. 6 A diagram illustrating an example of movement of the loading machine in a first turning according to the first embodiment.

[0015] FIG. 7 A diagram illustrating an example of movement of the loading machine in a second turning according to the first embodiment.

[0016] FIG. 8 A flowchart (part 1) illustrating an automatic control method for a work system according to the first embodiment.

[0017] FIG. 9 A flowchart (part 2) illustrating the automatic control method for the work system according to the first embodiment.

[0018] FIG. 10 A flowchart (part 3) illustrating the automatic control method for the work system according to the first embodiment.DESCRIPTION OF EMBODIMENTSFirst Embodiment<<Work System>>

[0019] FIG. 1 is a schematic view illustrating a configuration of a remote operation system according to a first embodiment.

[0020] A work system 1 includes a loading machine 100, one or a plurality of transportation vehicles 300 as a loading target, a control device 500, and a remote cab 700. The loading machine 100 and the transportation vehicle 300 operate at a work site (for example, a mine, a quarry). The remote cab 700 is provided at a point away from the work site (for example, a city area, in the work site).

[0021] The loading machine 100 operates in a construction site, excavates a construction object such as earth and sand, and loads the construction object on a loading platform of the transportation vehicle 300 as an article. 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 hydraulically driven. The loading machine 100 according to the first embodiment is a backhoe shovel.

[0022] The loading machine 100 is remotely operated based on an operation signal transmitted from the remote cab 700. The loading machine 100 and the remote cab 700 are connected by communication via an access point AP1. An operation device 730 in the remote cab 700 receives an operation of the loading machine 100 by an operation of an operator, and a remote control device 800 transmits an operation signal to the control device 500. The loading machine 100 operates based on the operation signal received from the remote cab 700. That is, the work system 1 includes a remote operation system including the loading machine 100 and the remote cab 700. The access point AP1 is used for communication of the remote operation system.

[0023] The transportation vehicle 300 travels unmanned on the basis of control information received from the control device 500. The transportation vehicle 300 and the control device 500 are connected by communication via an access point AP2. The control device 500 acquires a position and an orientation of the transportation vehicle 300 from the transportation vehicle 300, and generates course information used for traveling of the transportation vehicle 300 based on the acquired position and orientation. The control device 500 transmits the course information to the transportation vehicle 300. The transportation vehicle 300 travels unmanned on the basis of the received course information. That is, the work system 1 includes an unmanned carrier system including the transportation vehicle 300 and the control device 500. The access point AP2 is used for communication of the unmanned carrier system.

[0024] The control device 500 receives an instruction signal of the transportation vehicle 300 from the loading machine 100 and the remote cab 700, and transmits the instruction signal to the transportation vehicle 300. The loading machine 100 and the control device 500 are connected by communication via the access point AP2. Furthermore, the remote cab 700 and the control device 500 are connected via a network. Examples of the instruction signal of the transportation vehicle 300 received from the loading machine 100 and the remote cab 700 include an entry instruction signal and a start instruction signal. The entry instruction signal is a signal that instructs the transportation vehicle 300 to enter from a standby point Pl to a loading point P3. The start instruction signal is a signal that instructs the transportation vehicle 300 to start at the loading point P3 and exit from a loading area Al upon completion of loading.<<Transportation Vehicle>>

[0025] The transportation vehicle 300 according to the first embodiment is an unmanned dump truck that travels unmanned on a set travel route. Note that the transportation vehicle 300 according to another embodiment may be a transportation vehicle other than the dump truck.

[0026] The transportation vehicle 300 includes a position and orientation detector 310 and a transportation control device 400.

[0027] The position and orientation detector 310 detects a position and an orientation of the transportation vehicle 300. The position and orientation detector 310 includes two receivers that receive positioning signals from artificial satellites constituting a global navigation satellite system (GNSS). The two receivers are respectively installed at different positions of the transportation vehicle 300. The position and orientation detector 310 detects a position of a representative point of the transportation vehicle 300 in a site coordinate system based on the positioning signal received by the receiver.

[0028] The position and orientation detector 310 calculates an orientation in which the transportation vehicle 300 faces as a relationship between an installation position of one receiver and an installation position of the other receiver by using the positioning signals received by the two receivers. Note that the present disclosure is not limited thereto in another embodiment, and for example, the transportation vehicle 300 may include an inertial measurement unit (IMU) and calculate the orientation on the basis of a measurement result of the inertial measurement unit. In this case, drift of the inertial measurement unit may be corrected based on a travel locus of the transportation vehicle 300. When the orientation is calculated using the inertial measurement unit, it is sufficient that the transportation vehicle 300 includes one receiver.

[0029] The transportation control device 400 transmits the position and orientation detected by the position and orientation detector 310 to the control device 500. The transportation control device 400 receives the course information and the instruction signal from the control device 500. The transportation control device 400 causes the transportation vehicle 300 to run or raises and lowers a vessel of the transportation vehicle 300 based on the received course information and instruction signal.<<Loading Machine 100>>

[0030] FIG. 2 is a schematic view illustrating a configuration of the loading machine 100 according to the first embodiment.

[0031] The loading machine 100 includes a travel body 110, a revolving body 120, and a work implement 130.

[0032] The travel body 110 supports the loading machine 100 in a travelable manner. The travel body 110 includes two endless tracks 111 provided on the left and right and two travel motors 112 for driving the endless tracks 111. The travel body 110 is an example of a support unit.

[0033] The revolving body 120 is revolvably supported by the travel body 110 so as to be revolvable about a revolving center.

[0034] The work implement 130 is driven by hydraulic pressure. The work implement 130 is supported on a front portion of the revolving body 120 so as to be drivable in a vertical direction.

[0035] Here, a portion of the revolving body 120 to which the work implement 130 is attached is referred to as the front portion. In addition, regarding the revolving body 120, with respect to the front portion, a portion on the opposite side 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.

[0036] The revolving body 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a revolving motor 124.

[0037] The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source.

[0038] The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to each actuator (a boom cylinder 131C, an arm cylinder 132C, a bucket cylinder 133C, the travel motor 112, and the revolving motor 124) via the control valve 123.

[0039] The control valve 123 controls a flow rate of the hydraulic oil supplied from the hydraulic pump 122.

[0040] The revolving motor 124 is driven by the hydraulic oil supplied from the hydraulic pump 122 via the control valve 123 to revolve the revolving body 120.

[0041] 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 tip attachments such as a tilt bucket and a tiltrotator bucket.

[0042] A proximal end portion of the boom 131 is rotatably attached to the revolving body 120 via a boom pin. Note that, in the loading machine 100 illustrated in FIG. 2, the boom 131 is provided in a front central portion of the revolving body 120, but the present disclosure is not limited thereto, and the boom 131 may be attached offset in a left-right direction. In this case, the revolving center of the revolving body 120 is not located on an operation plane of the work implement 130.

[0043] The arm 132 connects the boom 131 and the bucket 133. A proximal end portion of the arm 132 is rotatably attached to a distal end portion of the boom 131 via an arm pin.

[0044] The bucket 133 is rotatably attached to a distal end portion of the arm 132 via a pin.

[0045] As members for supporting the bucket 133, the boom 131 and the arm 132 exist. The bucket 133 functions as a container for storing excavated earth and sand. The bucket 133 is attached such that an opening faces the revolving body 120 side (rear side). That is, the loading machine 100, which is a backhoe shovel, performs excavation by pulling the bucket 133 toward the front side of the revolving body 120.

[0046] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A proximal end portion of the boom cylinder 131C is attached to the revolving body 120. A distal end portion of the boom cylinder 131C is attached to the boom 131.

[0047] The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A proximal 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.

[0048] The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133.

[0049] A proximal 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 rotates the bucket 133.

[0050] As illustrated in FIG. 2, 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, a bucket stroke sensor 155, an imaging device 156, and a loading control device 200.

[0051] The position and orientation calculator 151 calculates a position of the revolving body 120 and an orientation in which the revolving body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites constituting the GNSS. The two receivers are respectively installed at different positions of the revolving body 120. The position and orientation calculator 151 detects a position of a representative point of the revolving body 120 in a site coordinate system (an origin of a vehicle body coordinate system) based on the positioning signal received by the receiver.

[0052] The position and orientation calculator 151 calculates an orientation in which the revolving body 120 faces as a relationship between an installation position of one receiver and an installation position of the other receiver by using the positioning signals received by the two receivers. The orientation in which the revolving body 120 faces is a direction orthogonal to a front surface of the revolving body 120. The orientation in which the revolving body 120 faces 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.

[0053] The inclination measuring instrument 152 measures acceleration and angular velocity of the revolving body 120, and detects an attitude (for example, a roll angle, a pitch angle, and a yaw angle) and revolving speed of the revolving body 120 based on measurement results. The inclination measuring instrument 152 is installed, for example, on a lower surface of the revolving body 120. As the inclination measuring instrument 152, for example, an inertial measurement unit (IMU) can be used.

[0054] 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 revolving body 120.

[0055] 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.

[0056] 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.

[0057] The loading machine 100 according to the first embodiment specifies the angle of each link component of the work implement 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but the present disclosure is not limited thereto in another embodiment. For example, in the other embodiment, instead of the stroke sensor, a potentiometer that detects a relative rotation angle of the link component may be provided, or an inclination sensor that detects a ground angle of each link component may be provided.

[0058] The imaging device 156 is installed in a portion corresponding to a cab of the loading machine 100. The imaging device 156 images the front of the loading machine 100. Examples of the imaging device 156 include an imaging device using a charge coupled device (CCD) sensor and a complementary metal oxide semiconductor (CMOS) sensor. Note that, in another embodiment, the imaging device 156 is not necessarily provided in the portion corresponding to the cab, and may be provided at least at a position where a work target and the work implement 130 can be imaged.

[0059] The loading control device 200 transmits an image captured by the imaging device 156, and measurement data of a revolving speed, a position, and an orientation of the revolving body 120, a traveling speed of the travel body 110, an attitude of the revolving body 120, and inclination angles of the boom 131, the arm 132, and the bucket 133 to the remote cab 700. Note that the measurement data according to another embodiment is not limited thereto. For example, the measurement data according to the other embodiment may not include any of the revolving speed, the position, the orientation, the inclination angle, the traveling speed, and the attitude, may include a value measured by another sensor, or may include a value calculated from the measured value.

[0060] The loading control device 200 receives an operation signal from the remote cab 700. The loading control device 200 drives the travel body 110, the revolving body 120, or the work implement 130 based on the received operation signal.<<Control Device>>

[0061] FIG. 3 is a schematic block diagram illustrating a configuration of the control device according to the first embodiment.

[0062] The control device 500 manages traveling of the transportation vehicle 300.

[0063] The control device 500 is a computer including a processor 510, a main memory 520, a storage 530, and an interface 540. The storage 530 stores a control program. The processor 510 reads the control program from the storage 530, develops the control program in the main memory 520, and executes processing according to the control program. The control device 500 is connected to a network via the interface 540. The access point AP2 is connected to the interface 540. The control device 500 is wirelessly connected to the loading machine 100 and the transportation vehicle 300 via the access point AP2.

[0064] The storage 530 has storage areas as a travel route storage unit 531 and a position and orientation storage unit 532. Examples of the storage 530 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), a semiconductor memory, and the like. The storage 530 may be an internal medium directly connected to a common communication line of the control device 500 or an external medium connected to the control device 500 via the interface 540. The storage 530 is a non-transitory tangible storage medium.

[0065] The travel route storage unit 531 stores a travel route R for each transportation vehicle 300. FIG. 4 is a diagram illustrating an example of a travel route. The travel route R includes a predetermined connection route R1 connecting two areas A (for example, the loading area A1 and an earth removal area A2), and an entry route R2, an approach route R3, and an exit route R4 which are routes in the area A. The entry route R2 is a route that connects the standby point P1, which is one end of connection route R1, and a predetermined redirection point P2 in the area A. The approach route R3 is a route that connects the redirection point P2 and the loading point P3 or an earth removal point P4 in the area A. The exit route R4 is a route connecting the loading point P3 or the earth removal point P4 and an exit point P5, which is another end of the connection route R1, in the area A. The loading point P3 is a point set by an operation of an operator of the loading machine 100. The redirection point P2 is a point set by the control device 500 according to a position of the loading point P3.

[0066] The position and orientation storage unit 532 stores position information and orientation information of each transportation vehicle 300.

[0067] The processor 510 includes a position and orientation collecting unit 511 and a travel course generating unit 512 by executing the control program.

[0068] The position and orientation collecting unit 511 receives position information and orientation information of the transportation vehicle 300 from the transportation vehicle 300 via the access point AP2. The position and orientation collecting unit 511 stores the received position information and orientation information in the position and orientation storage unit 532.

[0069] The travel course generating unit 512 generates course information including information on an area where the transportation vehicle 300 is permitted to move based on the travel route stored in the travel route storage unit 531 and the position information and the orientation information stored in the position and orientation storage unit 532. The generated course information is transmitted to the transportation vehicle 300. The course information includes position information of points set at predetermined intervals on the travel route, target speed information at the points, and travel permitted area information that does not overlap with a travel permitted area of the other transportation vehicle 300.

[0070] The travel course generating unit 512 cannot include the entry route R2 and the approach route R3 in the area indicated by the course information until receiving an entry instruction signal from the remote cab 700. As a result, the transportation vehicle 300 waits at the standby point P1 until receiving the entry instruction signal. When receiving the entry instruction signal, the travel course generating unit 512 generates course information including the entry route R2 and the approach route R3 but not including the exit route R4. As a result, the transportation vehicle 300 starts from the standby point P1, travels to the loading point P3, and stops at the loading point P3. Upon receiving a start instruction signal, the travel course generating unit 512 generates course information including the exit route R4. Note that, in the work system 1 according to the present embodiment, the transportation vehicle 300 waits until receiving the entry instruction signal at the standby point P1, but the present disclosure is not limited thereto. For example, in another embodiment, the position where the transportation vehicle 300 waits may be the redirection point P2 or a point in the middle of the entry route R2 or the approach route R3.<<Remote Cab>>

[0071] The remote cab 700 includes a driver's seat 710, a display device 720, an operation device 730, an operation terminal 740, and a remote control device 800.

[0072] The display device 720 is disposed in front of the driver's seat 710. The display device 720 is located before eyes of the operator when the operator sits on the driver's seat 710. As illustrated in FIG. 1, the display device 720 may include a plurality of displays arranged, or may include one large display. Furthermore, the display device 720 may project an image on a curved surface or a spherical surface by a projector or the like.

[0073] The operation device 730 is an operation device for a remote operation system. The operation device 730 generates an operation signal of the boom cylinder 131C, an operation signal of the arm cylinder 132C, an operation signal of the bucket cylinder 133C, a revolving operation signal of the revolving body 120 to the left and right, and a travel operation signal for forward and backward movement of the travel body 110 according to an operation of the operator, and outputs the generated signals to the remote control device 800. The operation device 730 includes, for example, a lever, a knob switch, and a pedal. An automatic control instruction signal for instructing a start of automatic control is generated by operation of the knob switch.

[0074] The automatic control is that the loading machine 100 autonomously controls driving of the work implement 130 and the revolving 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 turning (FIG. 6) which is a series of operations of revolving from a state in which the bucket 133 is located outside the transportation vehicle 300 by excavation of an excavation target to an orientation facing the transportation vehicle 300 while the boom 131 is raised, a loading operation of loading an article on the transportation vehicle 300 by rotating the bucket 133, and a second turning (FIG. 7) which is a series of operations of revolving from a state in which the bucket 133 is located above the transportation vehicle 300 by the loading operation to a predetermined orientation while the boom 131 is lowered in order to move to the outside of the transportation vehicle 300. Note that, in examples illustrated in FIGS. 6 and 7, since a height of the transportation vehicle 300 is higher than an excavation height, the boom 131 is raised in the first turning and the boom 131 is lowered in the second turning, but the present disclosure is not limited thereto. For example, when the height of the transportation vehicle 300 is lower than the excavation height, the boom 131 is lowered in the first turning, and the boom 131 is raised in the second turning. Note that the automatic control according to another embodiment may perform only the first turning. Note that the excavation target is usually at a position lower than the height of the transportation vehicle 300. Therefore, the loading machine 100 controls driving of the work implement 130 so that the transportation vehicle 300 and the work implement 130 do not come into contact with each other in the first turning and the second turning. Details of the automatic control will be described later.

[0075] The operation terminal 740 transmits a start instruction signal to the control device 500 according to an operation of the operator. The operation terminal 740 includes, for example, a touch panel or the like.

[0076] The operation device 730 and the operation terminal 740 are disposed near the driver's seat 710.

[0077] The operation device 730 and the operation terminal 740 are located within a range operable by the operator when the operator sits on the driver's seat 710.

[0078] The remote control device 800 displays an image received from the loading machine 100 on the display device 720, and transmits an operation signal representing the operation of the operation device 730 to the loading machine 100.<<Control Device of Loading Machine 100>>

[0079] FIG. 5 is a schematic block diagram illustrating a configuration of the control device of the loading machine according to the first embodiment.

[0080] The loading control device 200 is a computer including a processor 210, a main memory 220, a storage 230, and an interface 240. The storage 230 stores a loading control program. The processor 210 reads the loading control program from the storage 230, develops the loading control program in the main memory 220, and executes processing according to the loading control program. The loading control device 200 is connected to a network via the interface 240.

[0081] Examples of the storage 230 include an HDD, an SSD, a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. The storage 230 may be an internal medium directly connected to a common communication line of the loading control device 200 or an external medium connected to the loading control device 200 via the interface 240. The storage 230 is a non-transitory tangible storage medium.

[0082] The processor 210 includes an acquisition unit 211, a display control unit 212, an operation signal input unit 213, an attitude specifying unit 214, a control point determination unit 215, and a control unit 216 by execution of the loading control program.

[0083] The acquisition unit 211 acquires measurement data of the loading machine 100 and each transportation vehicle 300. The measurement data of each transportation vehicle 300 is acquired from the control device 500 or the remote control device 800.

[0084] The display control unit 212 generates a display signal for displaying an image acquired by the acquisition unit 211 from the imaging device 156, and transmits the display signal to the remote control device 800.

[0085] The operation signal input unit 213 receives an input of an operation signal of the operation device 730 from the remote control device 800. The operation signal includes an operation signal of the boom 131, an operation signal of the arm 132, an operation signal of the bucket 133, a revolving operation signal of the revolving body 120, a travel operation signal of the travel body 110, and an automatic control instruction signal of the loading machine 100. When receiving the automatic control instruction signal, the operation signal input unit 213 determines to perform the automatic control. That is, the operation signal input unit 213 is an example of an automatic control determination unit that determines whether or not to start the automatic control.

[0086] The attitude specifying unit 214 specifies an attitude of the loading machine 100 on the basis of the measurement data received by the acquisition unit 211. Specifically, the attitude specifying unit 214 specifies at least a position of the distal end of the arm 132 in the vehicle body coordinate system.

[0087] The attitude specifying unit 214 obtains a vertical component and a horizontal component of the length of the boom 131 based on the inclination angle of the boom 131 and the known length of the boom 131 (distance from the pin at the proximal end portion to the pin at the distal end portion). Similarly, the attitude specifying unit 214 obtains a vertical component and a horizontal component of the length of the arm 132. The attitude specifying unit 214 specifies a position separated from a position of the loading machine 100 by the sum of the vertical components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132 in a direction specified from the orientation and the attitude of the loading machine 100 as the position of the distal end of the arm 132.

[0088] When the automatic control instruction signal is input to the operation signal input unit 213, the control point determination unit 215 determines a plurality of control points related to the automatic control. The control point may be expressed in a polar coordinate system based on the attitude of the revolving body 120 when the automatic control instruction signal is input. That is, a position of the control point is represented by a deflection angle from the orientation in which the revolving body 120 faces when the automatic control instruction signal is input, a radius vector which is a distance from the revolving center of the revolving body 120, and a height. The control point determination unit 215 determines positions of a start point p1, a first interference avoidance point p2a, a second interference avoidance point p2b, and an earth removal point p3 as the control points. The start point p1 is a target point of the distal end of the arm 132 in the second turning. The first interference avoidance point p2a is a control point for controlling the work implement 130 and the transportation vehicle 300 not to come into contact with each other in the first turning. The second interference avoidance point p2b is a control point for controlling the work implement 130 and the transportation vehicle 300 not to come into contact with each other in the second turning. The earth removal point p3 is a target point of the distal end of the arm 132 in the first turning.

[0089] The control point determination unit 215 specifies the position of the distal end of the arm 132 when the automatic control instruction signal is input as the position of the start point p1.

[0090] The control point determination unit 215 specifies the position of the earth removal point p3 based on the measurement data of the position and the orientation of the transportation vehicle 300 acquired by the acquisition unit 211. The earth removal point p3 is a point located at the center of the vessel of the transportation vehicle 300 in plan view from above. A height of the earth removal point p3 is a height obtained by adding a length from the pin of the bucket 133 to the farthest point of the bucket 133 and a first margin to the height of the transportation vehicle 300. The length from the pin of the bucket 133 to the farthest point of the bucket 133 is, for example, a length from the pin of the bucket 133 to a blade edge of the bucket 133. The first margin is a constant set so that a load loaded on the transportation vehicle 300 and the bucket 133 do not interfere with each other. The first margin may be a value determined in advance according to a model of the transportation vehicle 300.

[0091] The control point determination unit 215 specifies the positions of the first interference avoidance point p2a and the second interference avoidance point p2b on the basis of the position and the orientation of the loading machine 100 and the position and the orientation of the transportation vehicle 300 acquired by the acquisition unit 211. The interference avoidance point p2 is a position where the distance from the revolving center of the revolving body 120 is equal to a distance from the revolving center to the earth removal point p3 and the transportation vehicle 300 does not exist below. For example, the control point determination unit 215 specifies a circle related to a radius vector of the earth removal point p3, and specifies, as deflection angles of the interference avoidance points p2a and p2b, an angle at which an outer shape of the bucket 133 does not interfere with the transportation vehicle 300 in plan view and is closest to the deflection angle of the earth removal point p3 in the circle. Note that radius vectors of the interference avoidance points p2a and p2b are equal to the radius vector of the earth removal point p3. The control point determination unit 215 can determine whether or not the transportation vehicle 300 and the bucket 133 interfere with each other based on the position, orientation, and a known outer shape of the transportation vehicle 300, and a known shape of the bucket 133. Here, “the same height” and “the same distance” are not necessarily limited to those having completely the same height or distance, and some errors and margins are allowed. A height of the first interference avoidance point p2a is a height obtained by adding a height of the bucket 133 when taking an attitude of holding an article and a second margin to the height of the transportation vehicle 300. The height of the bucket 133 when taking the attitude of holding the article is, for example, a length from the pin of the bucket 133 to a bottom surface of the bucket 133. The second margin is a constant set so that the transportation vehicle 300 and the bucket 133 do not interfere with each other. The second margin may be a value smaller than the first margin. A height of the second interference avoidance point p2b may be the same as the height of the earth removal point p3.

[0092] The control unit 216 generates operation signals for executing the first turning, the loading operation, and the second turning based on the positions of the control points specified by the control point determination unit 215. The control unit 216 determines a control amount of each actuator according to the operation signal input to the operation signal input unit 213 or the generated operation signal, and outputs a control signal to the control valve 123.<<Operation During Automatic Control>>

[0093] Here, movement of the loading machine 100 during automatic control according to the first embodiment will be described with reference to the drawings.

[0094] FIG. 6 is a diagram illustrating an example of movement of the loading machine 100 in the first turning according to the first embodiment. FIG. 7 is a diagram illustrating an example of movement of the loading machine 100 in the second turning according to the first embodiment.

[0095] When the automatic control is started, the control unit 216 first causes the loading machine 100 to execute the first turning. As illustrated in FIG. 6, the loading machine 100 first starts driving of the work implement 130 (the boom 131, the arm 132, and the bucket 133), and moves the bucket 133 upward by a raising operation of the boom 131. The loading control device 200 starts turning of the revolving body 120 with a delay. The loading control device 200 adjusts a turning start timing such that a height of the distal end of the arm 132 becomes a height of the first interference avoidance point p2 (intermediate target height related to the first turning) and a distance from the revolving center to the distal end of the arm 132 becomes equal to the distance from the revolving center to the first interference avoidance point p2 until the revolving angle of the revolving body 120 coincides with a first interference avoidance angle θ1 (deflection angle of the first interference avoidance point p2a). Note that, when the height of the work implement 130 is the intermediate target height in the first turning until the revolving angle of the revolving body 120 coincides with the first interference avoidance angle θ1, that is, when the lowest point of the bucket 133 is higher than an upper end of a wall of the vessel of the transportation vehicle 300, the work implement 130 does not come into contact with the transportation vehicle 300 due to the turning of the revolving body 120. When the revolving angle of the revolving body 120 becomes the first interference avoidance angle θ1, the loading control device 200 drives the revolving body 120 and the work implement 130 so that the position of the distal end of the arm 132 coincides with the earth removal point p3.

[0096] When the distal end of the arm 132 reaches the earth removal point p3, the loading control device 200 rotates the bucket 133 in a dumping direction. Note that, in order to increase work efficiency, the loading control device 200 may rotate the bucket 133 in the dumping direction at a timing before a timing of reaching a point before the earth removal point p3 by a certain angle by a response delay time until earth falls from an earth removal control command. When a certain period of time elapses after the bucket 133 is rotated in the dumping direction, the control unit 216 causes the loading machine 100 to execute the second turning. As illustrated in FIG. 7, the loading control device 200 revolves the revolving body 120 without moving the work implement 130 until the revolving angle of the revolving body 120 exceeds a second interference avoidance angle θ2 (difference between the deflection angle of the second interference avoidance point p2b and the deflection angle of the earth removal point p3), and maintains a height of the lowest point of the bucket 133. When the revolving angle of the revolving body 120 exceeds the second interference avoidance angle θ2, the loading control device 200 drives the boom 131, the arm 132, and the bucket 133. At this time, the loading control device 200 may drive all of the boom 131, the arm 132, and the bucket 133 or may drive a part of the boom 131, the arm 132, and the bucket 133 from a relationship between an attitude at the start of turning and a target attitude. When the position of the distal end of the arm 132 reaches the start point p1, the loading control device 200 ends the automatic control of the loading machine 100. Note that, in another embodiment, an attitude of the work implement 130 at the end of the second turning may not coincide with the attitude at the start of the automatic control. That is, in another embodiment, the position of the distal end of the arm 132 may not coincide with the start point p1. For example, the attitude of the work implement 130 at the end of the second turning may be a predetermined attitude so that excavation can be easily started.

[0097] Note that FIGS. 6 and 7 illustrate an example in which a positional relationship between an excavation position and the transportation vehicle 300 is about 90 degrees about the revolving body 120, but the present disclosure is not limited thereto in another embodiment. For example, in another embodiment, the excavation position and the transportation vehicle 300 may be at other turning angular positions, such as about 180 degrees about the revolving body 120.<<Operation of Loading Control Device 200>>

[0098] The transportation vehicle 300 runs along the travel route R according to course information generated by the control device 500 and stops at the standby point P1. The operator of the loading machine 100 inputs an entry instruction signal to the operation terminal 740 by operating the operation terminal 740 (for example, by pressing a predetermined button). The entry instruction signal is transmitted from the operation terminal 740 to the control device 500. As a result, the control device 500 generates course information indicating the area of the entry route R2 and the approach route R3. The transportation vehicle 300 runs along the approach route R3 and stops at the loading point P3. The operator operates the operation device 730 to scoop earth and sand with the bucket 133 of the loading machine 100, and operates the knob switch of the operation device 730 to generate and output an automatic control instruction signal.

[0099] FIG. 8 is a flowchart (part 1) illustrating an automatic control method for the work system 1 according to the first embodiment. FIG. 9 is a flowchart (part 2) illustrating the automatic control method for the work system 1 according to the first embodiment. FIG. 10 is a flowchart (part 3) illustrating the automatic control method for the work system 1 according to the first embodiment. When receiving an input of the automatic control instruction signal from the remote control device 800 by the operation of the operator, the loading control device 200 executes the automatic control illustrated in FIGS. 8 to 10.

[0100] The acquisition unit 211 acquires measurement data of the loading machine 100 and the transportation vehicle 300 (step S1). Specifically, the acquisition unit 211 acquires measurement data from the position and orientation calculator 151, the inclination measuring instrument 152, the boom stroke sensor 153, the arm stroke sensor 154, the bucket stroke sensor 155, and the imaging device 156. That is, the acquisition unit 211 acquires measurement data of a position and an orientation of the revolving body 120, inclination angles of the boom 131, the arm 132, and the bucket 133, and an attitude of the revolving body 120. In addition, the acquisition unit 211 acquires measurement data of a position and an orientation of the transportation vehicle 300 from the control device 500.

[0101] The attitude specifying unit 214 specifies a position of the distal end of the arm 132 at the time of inputting the automatic control instruction signal based on the measurement data acquired by the acquisition unit 211 (step S2). The control point determination unit 215 specifies the position of the distal end of the arm 132 specified in step S2 as a position of the start point p1 (step S3).

[0102] The control point determination unit 215 specifies a position of the earth removal point p3 on the basis of the position information and the orientation information of the transportation vehicle 300 acquired by the acquisition unit 211 and a known shape of the transportation vehicle 300 (step S4). The control point determination unit 215 specifies a planar position (deflection angle and radius vector) of the earth removal point p3 on the basis of the position information and the orientation information of the transportation vehicle 300 and the known shape of the transportation vehicle 300. In addition, the control point determination unit 215 specifies a height of the earth removal point p3 by adding a length from the pin to the blade edge of the bucket 133 and a first margin to a known height of the transportation vehicle 300.

[0103] The control point determination unit 215 specifies positions of the interference avoidance points p2a and p2b on the basis of the position information and the orientation information of the transportation vehicle 300 acquired by the acquisition unit 211, the known shape of the transportation vehicle 300, and the position of the earth removal point p3 (step S5). The control point determination unit 215 specifies a radius vector of the earth removal point p3 as radius vectors of the interference avoidance points p2a and p2b. The control point determination unit 215 specifies, as deflection angles of the interference avoidance points p2a and p2b, a deflection angle at which the outer shape of the bucket 133 does not interfere with the transportation vehicle 300 in plan view and is closest to the earth removal point p3. The control point determination unit 215 specifies a height of the first interference avoidance point p2a by adding a length from the pin to the bottom surface of the bucket 133 and a second margin to the known height of the transportation vehicle 300. The control point determination unit 215 specifies the height of the earth removal point p3 as a height of the second interference avoidance point p2b.

[0104] The loading control device 200 first executes first turning control of the loading machine 100 (FIG. 9). The acquisition unit 211 acquires the position and orientation of the revolving body 120, the inclination angles of the boom 131, the arm 132, and the bucket 133, and the attitude of the revolving body 120 (step S6). The attitude specifying unit 214 specifies the position of the distal end of the arm 132 based on the measurement data (step S7).

[0105] The control unit 216 determines whether or not a revolving angle of the loading machine 100 is smaller than the deflection angle of the first interference avoidance point p2a determined in step S5 (step S8). The revolving angle of the loading machine 100 is an angle of a difference between an orientation (initial orientation) in which the revolving body 120 faces when the automatic control instruction signal is input and an orientation in which the revolving body 120 faces currently.

[0106] When the revolving angle of the loading machine 100 is smaller than the deflection angle of the first interference avoidance point p2a (step S8: YES), that is, when the revolving body 120 faces the outside of the transportation vehicle 300, the control unit 216 determines whether or not a difference between a radius vector and a height when the distal end of the arm 132 specified in step S7 is expressed in a polar coordinate system and a radius vector and a height of the first interference avoidance point p2a is smaller than a predetermined threshold (step S9).

[0107] When the difference between the radius vector and the height of the distal end of the arm 132 and the radius vector and the height of the first interference avoidance point p2a is equal to or larger than the threshold (step S9: NO), the control unit 216 generates automatic operation signals of the boom 131 and the arm 132 so as to bring the distal end of the arm 132 close to the radius vector and the height of the first interference avoidance point p2a (step S10). At this time, the control unit 216 generates the automatic operation signals on the basis of the positions and speeds of the boom 131 and the arm 132 specified from the measurement data acquired in step S6.

[0108] Further, the control unit 216 calculates the sum of driving speeds of the boom 131 and the arm 132 based on the generated automatic operation signals of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the driving speeds (step S11). As a result, the control unit 216 can generate an operation signal for holding a ground angle of the bucket 133. That is, the control unit 216 holds a state in which the bottom surface of the bucket 133 is at the lowest point in the first turning. Note that, in another embodiment, the control unit 216 may generate the automatic operation signal of the bucket 133 by feedback control based on a difference between a target ground angle of the bucket 133 (for example, a ground angle of the bucket 133 at the start of the automatic control) and the actual ground angle of the bucket 133 specified from the measurement data acquired in step S6.

[0109] The control unit 216 determines whether or not the work implement 130 is revolving (step S12). For example, the control unit 216 determines that the turning is performed when a revolving speed of the revolving body 120 is equal to or higher than a predetermined speed. When the work implement 130 is not revolving (step S12: NO), the control unit 216 calculates a completion time until the difference between the radius vector and height of the distal end of the arm 132 and the radius vector and height of the first interference avoidance point p2a becomes equal based on the speeds of the boom 131 and the arm 132 (step S13). In addition, the control unit 216 calculates an arrival time until the revolving angle reaches the deflection angle of the first interference avoidance point p2a specified in step S5 when the revolving body 120 starts turning (step S14). The control unit 216 determines whether or not the completion time calculated in step S13 is less than the arrival time calculated in step S14 (step S15). That is, the control unit 216 determines whether or not the radius vector and the height of the distal end of the arm 132 match the radius vector and the height of the first interference avoidance point p2a when the revolving angle reaches the deflection angle of the first interference avoidance point p2a.

[0110] When the completion time is equal to or longer than the arrival time (step S15: NO), that is, when the radius vector and the height of the distal end of the arm 132 do not coincide with the radius vector and the height of the first interference avoidance point p2a until the revolving angle reaches the deflection angle of the first interference avoidance point p2a, the control unit 216 does not generate a revolving operation signal of the revolving body 120. On the other hand, when the completion time is less than the arrival time (step S15: YES), that is, when the radius vector and the height of the distal end of the arm 132 match the radius vector and the height of the first interference avoidance point p2a until the revolving angle reaches the deflection angle of the first interference avoidance point p2a, the control unit 216 generates the revolving operation signal of the revolving body 120 (step S16). As a result, the loading control device 200 can prevent contact with the transportation vehicle 300 due to revolving while the height of the work implement 130 is low. In addition, since the height of the first interference avoidance point p2a is lower than the height of the earth removal point p3, it is possible to shorten the time for driving only the work implement 130 without turning in the first turning.

[0111] The control unit 216 outputs the generated automatic operation signal to the control valve 123 (step S17). As a result, the loading machine 100 is driven. Then, the loading control device 200 returns the processing to step S6 and continues the control.

[0112] On the other hand, when it is determined in step S12 that the work implement 130 is revolving (step S12: YES), the control unit 216 generates the revolving operation signal in step S16, and outputs the revolving operation signal to the control valve 123 in step S17. Then, the loading control device 200 returns the processing to step S6 and continues the control.

[0113] On the other hand, when the revolving angle is equal to or larger than the deflection angle of the first interference avoidance point p2a (step S8: NO), that is, when the revolving body 120 faces the transportation vehicle 300, the control unit 216 determines whether or not a difference between the height when the distal end of the arm 132 specified in step S7 is expressed in the polar coordinate system and the height of the earth removal point p3 is smaller than a predetermined threshold (step S18).

[0114] When the difference between the height of the distal end of the arm 132 and the height of the earth removal point p3 is equal to or larger than the threshold (step S18: NO), the control unit 216 generates automatic operation signals of the boom 131 and the arm 132 so as to bring the height of the distal end of the arm 132 close to the height of the earth removal point p3 (step S19). Further, the control unit 216 calculates the sum of the driving speeds of the boom 131 and the arm 132 based on the generated automatic operation signals of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the driving speeds (step S20). Note that, in another embodiment, the control unit 216 may generate the automatic operation signal of the bucket 133 by feedback control based on the difference between the target ground angle of the bucket 133 and the actual ground angle of the bucket 133 specified from the measurement data acquired in step S6.

[0115] Next, when the revolving operation signal is stopped, the control unit 216 determines whether or not the revolving angle reaches the deflection angle of the earth removal point p3 by turning by inertia on the basis of the revolving speed of the revolving body 120 (step S21). When the revolving angle does not reach the deflection angle of the earth removal point p3 in the turning by the inertia (step S21: NO), the control unit 216 generates the revolving operation signal (step S22). When the revolving angle reaches the deflection angle of the earth removal point p3 in the turning by the inertia (step S21: YES), the control unit 216 does not generate the revolving operation signal and sets the signal as a neutral signal. The control unit 216 outputs the generated operation signal of the work implement 130 and / or revolving operation signal to the control valve 123 (step S23).

[0116] The control unit 216 determines whether or not the distal end of the arm 132 has reached the earth removal point p3 (step S24). When the distal end of the arm 132 has not reached the earth removal point p3 (step S24: NO), the processing returns to step S6 and the first turning control is continued.

[0117] When the distal end of the arm 132 has reached the earth removal point p3 (step S24: YES), the control unit 216 generates an operation signal for rotating the bucket 133 in the dumping direction (step S25), and outputs the operation signal to the control valve 123 (step S26). Note that, in order to increase work efficiency, the control unit 216 may output the operation signal for rotating the bucket 133 in the dumping direction at a timing before a timing of reaching a point before the earth removal point p3 by a certain angle by a response delay time until earth falls from an earth removal control command. When the loading operation onto the transportation vehicle 300 is finished, the loading control device 200 executes second turning control of the loading machine 100 (FIG. 10).

[0118] The acquisition unit 211 acquires the measurement data of the loading machine 100 (step S27). The attitude specifying unit 214 specifies the position of the distal end of the arm 132 based on the measurement data (step S28).

[0119] The control unit 216 determines whether or not the revolving angle of the loading machine 100 is larger than the deflection angle of the second interference avoidance point p2b determined in step S5 (step S29). The revolving angle of the loading machine 100 at the start of the second turning is larger than the deflection angle of the second interference avoidance point p2b.

[0120] When the revolving angle of the loading machine 100 is larger than the deflection angle of the second interference avoidance point p2b (step S29: YES), that is, when the revolving body 120 faces the transportation vehicle 300, the control unit 216 generates a revolving operation signal of the revolving body 120 (step S30), and outputs the generated automatic operation signal to the control valve 123 (step S31). The loading control device 200 returns the processing to step S27 and continues the control.

[0121] On the other hand, when the revolving angle is equal to or smaller than the deflection angle of the second interference avoidance point p2b (step S29: NO), that is, when the revolving body 120 faces the outside of the transportation vehicle 300, the control unit 216 determines whether or not a difference between the radius vector and height when the distal end of the arm 132 specified in step S28 is expressed in the polar coordinate system and a radius vector and a height of the start point p1 is smaller than a predetermined threshold (step S32).

[0122] When the difference between the radius vector and the height of the distal end of the arm 132 and the radius vector and the height of the start point p1 is equal to or larger than the threshold (step S32: NO), the control unit 216 generates automatic operation signals of the boom 131 and the arm 132 so as to bring the height of the distal end of the arm 132 close to the height of start point p1 (step S33). Further, the control unit 216 calculates the sum of the driving speeds of the boom 131 and the arm 132 based on the generated automatic operation signals of the boom 131 and the arm 132, and generates an automatic operation signal for driving the bucket 133 at the same speed as the sum of the driving speeds (step S34). Note that, in another embodiment, the control unit 216 may generate the automatic operation signal of the bucket 133 by feedback control based on a difference between a target ground angle of the bucket 133 (for example, a ground angle of the bucket 133 at the start of the second turning) and the actual ground angle of the bucket 133 specified from the measurement data acquired in step S27.

[0123] Next, when the revolving operation signal is stopped, the control unit 216 determines whether or not the revolving angle reaches a deflection angle of the start point p1 by turning by inertia on the basis of the revolving speed of the revolving body 120 (step S35). When the revolving angle does not reach the deflection angle of the start point p1 in the turning by the inertia (step S35: NO), the control unit 216 generates the revolving operation signal (step S36). When the revolving angle reaches the deflection angle of the start point p1 in the turning by the inertia (step S36: YES), the control unit 216 does not generate the revolving operation signal and sets the signal as a neutral signal. The control unit 216 outputs the generated operation signal of the work implement 130 and / or revolving operation signal to the control valve 123 (step S37).

[0124] The control unit 216 determines whether or not the distal end of the arm 132 has reached the start point p1 (step S38). Note that, in another embodiment, the attitude of the work implement 130 at the end of the second turning may be a predetermined attitude so that excavation can be easily started. In this case, the control unit 216 determines whether or not the distal end of the arm 132 has reached a point represented by the revolving angle having the deflection angle of the start point p1 and the radius vector when the work implement 130 takes a predetermined attitude. When the distal end of the arm 132 has not reached the start point p1 (step S38: NO), the loading control device 200 returns the processing to step S27 and continues the second turning control. On the other hand, when the distal end of the arm 132 has reached the start point p1 (step S38: YES), the loading control device 200 ends the automatic control.

[0125] With the automatic control described above, the loading machine 100 can automatically remove the earth and sand scooped by the bucket 133 to the transportation vehicle 300. The operator repeatedly performs the excavation by the work implement 130 and the automatic control by the input of the automatic control instruction signal to such an extent that a loading amount of the transportation vehicle 300 does not exceed the maximum loading amount. Then, the operator inputs a start instruction signal to the operation terminal 740 by operating the operation terminal 740. The start instruction signal is transmitted from the operation terminal 740 to the control device 500. As a result, the control device 500 generates course information including the area of the exit route R4. The transportation vehicle 300 starts from the loading point P3, travels along the exit route R4, and exits from the loading area A1.<<Action and Effects>>

[0126] According to the first embodiment, in the automatic control, the loading control device 200 controls the revolving body 120 and the work implement 130 so that the lowest point of the bucket 133 becomes the intermediate target height higher than the transportation vehicle 300 and lower than the earth removal point p3 until the revolving body 120 faces from a first orientation to a second orientation in which the work implement 130 does not interfere with the transportation vehicle 300 in plan view from above. Thereafter, the loading control device 200 controls the revolving body 120 and the work implement 130 such that the lowest point of the bucket 133 becomes the height of the earth removal point p3 until the revolving body 120 faces from the second orientation to a third orientation. Note that an orientation related to the deflection angle of the start point p1 is an example of the first orientation, an orientation related to the deflection angle of the first interference avoidance point p2a is an example of the second orientation, and an orientation related to the deflection angle of the earth removal point p3 is an example of the third orientation. As a result, the loading control device 200 can shorten a time related to the automatic control by suppressing a time required for the revolving body 120 to face from the first orientation to the second orientation.Other Embodiments

[0127] Although the embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above-described configuration, and various design changes and the like can be made. That is, in other embodiments, the order of the above-described processing may be appropriately changed. Furthermore, some processing may be executed in parallel.

[0128] The loading control device 200 according to the above-described embodiment determines the start point p1, the interference avoidance point p2, and the earth removal point p3, and controls the revolving body 120 and the work implement 130 so as to pass therethrough, but the present disclosure is not limited thereto in another embodiment. For example, in another embodiment, the loading control device 200 may include a locus generation unit that generates a locus passing through the start point p1, the interference avoidance point p2, and the earth removal point p3, and the control unit 216 may control the revolving body 120 and the work implement 130 so as to follow the generated locus.

[0129] The loading machine 100 according to the above-described embodiment acquires the position information and the orientation information of the transportation vehicle 300 from the control device 500, but the present disclosure is not limited thereto. For example, the loading machine 100 according to another embodiment includes a detection device that detects a spatial position of an object existing in a detection direction, and acquires position information and orientation information of the transportation vehicle 300 on the basis of a detection result of the detection device. As a result, the loading machine 100 may acquire the position information and the orientation information of the transportation vehicle 300 without depending on the control device 500.

[0130] In the embodiment described above, the loading machine 100 is remotely controlled via the remote control device 800, but the present disclosure is not limited thereto. For example, the loading machine 100 according to another embodiment may be operated by a boarded operator. In this case, the loading control device 200 of the loading machine 100 controls the loading machine 100 by an operation signal of an operation device (not illustrated) provided in a driver's seat. The operator may output an automatic excavation and loading instruction to the loading control device 200 by pressing an automatic excavation and loading button (not illustrated) provided in the driver's seat. Furthermore, in another embodiment, the loading machine 100 may transmit and receive signals by vehicle-to-vehicle communication instead of communication via the access point.

[0131] The control device (for example, the loading control device 200) according to the above-described embodiment may be configured by a single computer, or the configuration of the control device may be divided into a plurality of computers and arranged, and the plurality of computers may function as the control device in cooperation with each other. At this time, a part of the control device may be realized by the loading control device 200, the control device 500, the remote control device 800, and the like.Industrial Applicability

[0132] According to the above aspect, the control system for the loading machine can shorten a time required for the automatic control.REFERENCE SIGNS LIST1 . . . Work system 100 . . . Loading machine 110 . . . Travel body 111 . . . Endless track 112 . . . Travel motor 120 . . . Revolving body 121 . . . Engine 122 . . . Hydraulic pump 123 . . . Control valve 124 . . . Revolving motor 130 . . . Work implement 131 . . . Boom 131C . . . Boom cylinder 132 . . . . Arm 132C . . . Arm cylinder 133 . . . Bucket 133C . . . Bucket cylinder 151 . . . Position and orientation calculator 152 . . . Inclination measuring instrument 153 . . . Boom stroke sensor 154 . . . Arm stroke sensor 155 . . . Bucket stroke sensor 156 . . . Imaging device 200 . . . Loading control device 300 . . . Transportation vehicle 310 . . . Position and orientation detector 400 . . . Transportation control device 500 . . . Control device 510 . . . PROCESSOR 511 . . . POSITION AND ORIENTATION COLLECTING UNIT 512 . . . TRAVEL COURSE GENERATING UNIT 520 . . . MAIN MEMORY 530 . . . STORAGE 531 . . . TRAVEL ROUTE STORAGE UNIT 532 . . . POSITION AND ORIENTATION STORAGE UNIT 540 . . . INTERFACE 700 . . . Remote cab 710 . . . Driver's seat 720 . . . Display device 730 . . . Operation device 740 . . . Operation terminal 800 . . . Remote control device 210 . . . PROCESSOR 211 . . . ACQUISITION UNIT 212 . . . DISPLAY CONTROL UNIT 213 . . . OPERATION SIGNAL INPUT UNIT 214 . . . ATTITUDE SPECIFYING UNIT 215 . . . Control point determination unit 216 . . . CONTROL UNIT 220 . . . MAIN MEMORY 230 . . . STORAGE 240 . . . Interface

Claims

1. A control system for a loading machine including a revolving body that revolves about a revolving center, a travel body that supports the revolving body, and a work implement having a work tool and attached to the revolving body, wherein the control system comprising a processor configured to:determine, when the work tool is moved to a target point above a loading target by automatic control, a control point related to the automatic control, wherein the control point is in an orientation lower than a height of the target point and in which the work implement does not interfere with the loading target in plan view from above; andcontrol the revolving body and the work implement via the control point when the automatic control is started.

2. The control system for the loading machine according to claim 1, whereinwhen the automatic control is started, the processor is configured to control the revolving body and the work implement such that a lowest point of the work tool becomes a height of the control point until the revolving body faces from a first orientation in which the revolving body facing at a start of the automatic control to a second orientation facing the control point, and to control the revolving body and the work implement such that the lowest point of the work tool becomes the height of the target point until the revolving body faces from the second orientation to a third orientation facing the target point.

3. The control system for the loading machine according to claim 1, whereinthe work tool is provided at a distal end of the work implement so as to be rotatable about a rotation axis,the processor is configured to control the revolving body and the work implement such that a position of the rotation axis of the work implement moves to the target point via the control point, andthe height of the target point is higher than a height obtained by adding, to a height of the loading target, a length from the rotation axis to a farthest point.

4. The control system for the loading machine according to claim 3, whereinthe height of the target point is a height obtained by adding the height of the loading target, the length from the rotation axis to the farthest point of the work tool, and a predetermined margin value.

5. The control system for the loading machine according to claim 1, whereina height of the control point is higher than a height obtained by adding, to a height of the loading target, a height of the work tool when the work tool taking an attitude of holding an article.

6. The control system for the loading machine according to claim 1, wherein the processor is configured to:acquire measurement data indicating a position and an attitude of the loading target, anddetermine the control point based on the measurement data.

7. The control system for the loading machine according to claim 1, wherein the processor is configured to:generate a locus passing through the control point and the target point, whereincontrol the revolving body and the work implement such that the work tool moves according to the locus.

8. A control method for a loading machine including a revolving body that revolves about a revolving center, a travel body that supports the revolving body, and a work implement having a work tool and attached to the revolving body, the control method comprising:a step of determining, when the work tool is moved to a target point above a loading target by automatic control, a control point related to the automatic control, wherein the control point is in an orientation lower than a height of the target point and in which the work implement does not interfere with the loading target in plan view from above; anda step of controlling the revolving body and the work implement via the control point when the automatic control is started.

9. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 1; anda display device and an operation device provided remotely from the control system for the loading machine.

10. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 2; anda display device and an operation device provided remotely from the control system for the loading machine.

11. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 3; anda display device and an operation device provided remotely from the control system for the loading machine.

12. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 4; anda display device and an operation device provided remotely from the control system for the loading machine.

13. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 5; anda display device and an operation device provided remotely from the control system for the loading machine.

14. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 6; anda display device and an operation device provided remotely from the control system for the loading machine.

15. A remote operation system for a loading machine comprising:the control system for the loading machine according to claim 7; anda display device and an operation device provided remotely from the control system for the loading machine.

Images