Loading equipment control device, loading equipment control method, and remote-control system

Abstract

This loading equipment control device is configured so that during automatic control for moving a work tool from above a loading target to a target position outside of the loading target, the movement speed of work equipment is determined according to a target slewing angle from the direction in which the work machine faces when the automatic control starts to the direction in which the work machine faces the target position. The control device outputs a signal to move the work machine at the determined movement speed.

Description

Loading machine control device, loading machine control method, and remote operation system

[0001] This application claims priority to Japanese Patent Application No. 2023-119377, filed on July 21, 2023, the contents of which are incorporated herein by reference.

[0002] Patent Document 1 discloses a technology for automatically controlling a loading machine, in which the working implement is moved to an excavation point so as not to interfere with the loading target. According to the technology described in Patent Document 1, the working implement is lowered to a swing end position where the height of the working machine is slightly higher than the digging position during swing, and then lowered after the swing is completed, thereby preventing the working implement from scraping the ground while swinging.

[0003] Patent No. 7144252

[0004] On the other hand, because the ground is not always flat, if the working implement is rotated while being maintained at a height slightly higher than the excavation position, there is a possibility that the working implement will come into contact with a protruding part of the ground. An object of the present disclosure is to provide a loading machine control device, a loading machine control method, and a remote operation system that can reduce the possibility of the working implement coming into contact with the ground when the loading machine is automatically rotated while unloading the working implement.

[0005] According to a first aspect of the present disclosure, a control device for a loading machine is a control device for a loading machine that includes a rotating body that rotates around a rotation center and a work machine that has a work implement attached to the rotating body, and during automatic control to move the work implement from above the loading object to a target position outside the loading object, the control device determines a movement speed of the work implement according to a target rotation angle from the direction in which the work implement faces at the start of the automatic control to the direction in which the work implement faces the target position, and outputs a signal to move the work implement at the determined movement speed.

[0006] According to the above aspect, it is possible to reduce the possibility that the working implement will come into contact with the ground when the loading machine is automatically turned while the working implement is being unloaded.

[0007] 1 is a schematic diagram showing the configuration of a loading machine according to a first embodiment; FIG. 2 is a diagram showing the internal configuration of a cab according to the first embodiment; FIG. 3 is a schematic block diagram showing the configuration of a control device according to the first embodiment; FIG. 4 is a diagram showing an example of the movement of the loading machine during a first swing according to the first embodiment; FIG. 5 is a diagram showing an example of the movement of the loading machine during a second swing according to the first embodiment; FIG. 6 is a flowchart showing first swing control by a control device according to the first embodiment; FIG. 7 is a flowchart showing second swing control by a control device according to the first embodiment; FIG. 8 is a diagram showing an example of a control amount function according to the first embodiment; FIG. 9 is a diagram showing an example of an upper limit value of a control amount according to the first embodiment; FIG. 10 is a diagram showing an example of a target swing angle and a target trajectory of a work implement according to a second embodiment; FIG. 11 is a diagram showing an example of a target swing angle and a relative angle of a bucket according to the second embodiment; FIG. 12 is a diagram showing an example of a target swing angle and a timing for lowering a work implement according to a third embodiment.

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

[0009] <Configuration of Loading Machine 100> FIG. 1 is a schematic diagram showing the configuration of a loading machine 100 according to a first embodiment. The loading machine 100 operates at a construction site, excavates a construction object such as earth and sand, and loads the excavated material as load onto a loading platform such as a vessel of a loading object T such as a dump truck. Examples of the loading machine 100 include a face shovel, a backhoe shovel, and a rope shovel. The loading machine 100 may be electrically driven or 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 revolving body 120, a work implement 130, and a cab 140. Examples of the loading object T include a dump truck and a hopper.

[0010] The running body 110 supports the loading machine 100 so that it can travel. The running body 110 includes two caterpillar tracks 111 provided on the left and right sides, and two travel motors 112 for driving each caterpillar track 111. The running body 110 is an example of a support unit. The rotating body 120 is supported on the running body 110 so that it can rotate about a rotation center. The work implement 130 is hydraulically driven. The work implement 130 is supported on the front part of the rotating body 120 so that it can be driven in the vertical direction. The cab 140 is a space where an operator boards and operates the loading machine 100. The cab 140 is provided on the left front part of the rotating body 120. Here, the portion of the rotating body 120 to which the work implement 130 is attached is referred to as the front part. Furthermore, with respect to the rotating body 120, the opposite part, left part, and right part are referred to as the rear, left part, and right part, respectively, based on the front part.

[0011] <Configuration of the Swing Unit 120> The swing unit 120 includes an engine 121, a hydraulic pump 122, a control valve 123, and a swing motor 124. The engine 121 is a prime mover that drives the hydraulic pump 122. The engine 121 is an example of a power source. The hydraulic pump 122 is a variable displacement pump driven by the engine 121. The hydraulic pump 122 supplies hydraulic oil to each actuator (boom cylinder 131C, arm cylinder 132C, bucket cylinder 133C, travel motor 112, and swing motor 124) via a control valve 123. The control valve 123 controls the flow rate of hydraulic oil supplied from the hydraulic pump 122. The swing motor 124 is driven by hydraulic oil supplied from the hydraulic pump 122 via the control valve 123, causing the swing unit 120 to swing.

[0012] <Configuration of Work Machine 130> The work machine 130 includes a boom 131, an arm 132, a bucket 133 as a work implement, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the work implement include tip attachments such as a clam bucket, a tilt bucket, a tilt rotate bucket, a grapple, and a lifting magnet.

[0013] The base end of the boom 131 is rotatably attached to the revolving unit 120 via a boom pin. In the loading machine 100 shown in FIG. 1 , the boom 131 is provided at the center of the front of the revolving unit 120, but this is not limiting. The boom 131 may be attached offset in the left-right direction. In this case, the center of rotation of the revolving unit 120 is not located on the operating plane of the work implement 130. The arm 132 connects the boom 131 and the bucket 133. The base end of the arm 132 is rotatably attached to the tip of the boom 131 via an arm pin. The bucket 133 is rotatably attached to the tip of the arm 132 via a pin. The boom 131 and the arm 132 are members that support the bucket 133. The bucket 133 functions as a container for collecting excavated soil and sand. The bucket 133 is attached with its opening facing the revolving unit 120 (rearward). That is, the loading machine 100 , which is a backhoe excavator, performs excavation by pulling the bucket 133 toward the front side of the rotating body 120 .

[0014] The boom cylinder 131C is a hydraulic cylinder for operating the boom 131. A base end of the boom cylinder 131C is attached to the revolving unit 120. A tip end of the boom cylinder 131C is attached to the boom 131. The arm cylinder 132C is a hydraulic cylinder for driving the arm 132. A base end of the arm cylinder 132C is attached to the boom 131. A tip end of the arm cylinder 132C is attached to the arm 132. The bucket cylinder 133C is a hydraulic cylinder for driving the bucket 133. A base end of the bucket cylinder 133C is attached to the arm 132. A tip end of the bucket cylinder 133C is attached to a link mechanism that rotates the bucket 133.

[0015] <Configuration of Cab 140> FIG. 2 is a diagram showing the internal configuration of the cab 140 according to the first embodiment. A driver's seat 141, an operation terminal 142, and an operation device 143 are provided in the cab 140. The operation terminal 142 is provided near the driver's seat 141 and serves as a user interface with the control device 160, which will be described later. The operation terminal 142 is a display device configured, for example, with a touch panel, and may have an operation unit operated by an operator and an input reception unit that receives operations. The display device also displays measurement data from an engine water temperature gauge, a fuel gauge, and the like. The operation terminal 142 may also have a display unit such as an LCD. The touch panel is an example of a display unit.

[0016] The operation device 143 is a device for driving the traveling body 110, the revolving body 120, and the work machine 130 through manual operation by an operator. The operation device 143 includes a left operation lever 143LO, a right operation lever 143RO, a left foot pedal 143LF, a right foot pedal 143RF, a left travel lever 143LT, a right travel lever 143RT, a start switch 143SW, and a teaching switch 143TC.

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

[0018] The left operation lever 143LO is an operation mechanism for performing the rotation operation of the revolving unit 120 and the excavation / dumping operation of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left operation lever 143LO forward, the arm 132 performs a dumping operation. When the operator of the loading machine 100 tilts the left operation lever 143LO rearward, the arm 132 performs an excavation operation. When the operator of the loading machine 100 tilts the left operation lever 143LO to the right, the revolving unit 120 rotates to the right. When the operator of the loading machine 100 tilts the left operation lever 143LO to the left, the revolving unit 120 rotates to the left. In other embodiments, when the left operating lever 143LO is tilted forward or backward, the rotating body 120 may rotate right or left, and when the left operating lever 143LO is tilted left or right, the arm 132 may perform an excavation or dumping operation.

[0019] The right operating lever 143RO is an operating mechanism for performing the excavation / dumping operation of the bucket 133 and the raising / lowering operation of the boom 131. Specifically, when the operator of the loading machine 100 tilts the right operating lever 143RO forward, the boom 131 is lowered. When the operator of the loading machine 100 tilts the right operating lever 143RO rearward, the boom 131 is raised. When the operator of the loading machine 100 tilts the right operating lever 143RO to the right, the bucket 133 is dumped. When the operator of the loading machine 100 tilts the right operating lever 143RO to the left, the bucket 133 is excavated. Note that in other embodiments, when the right operating lever 143RO is tilted forward or backward, the bucket 133 may be dumped or excavated, and when the right operating lever 143RO is tilted left or right, the boom 131 may be raised or lowered.

[0020] The left foot pedal 143LF is located on the left side of the floor in front of the driver's seat 141. The right foot pedal 143RF is located on the right side of the floor in front of the driver's seat 141. The left travel lever 143LT is pivotally supported by the left foot pedal 143LF, and is configured so that tilting the left travel lever 143LT and pushing down the left foot pedal 143LF are linked. The right travel lever 143RT is pivotally supported by the right foot pedal 143RF, and is configured so that tilting the right travel lever 143RT and pushing down the right foot pedal 143RF are linked.

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

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

[0023] The start switch 143SW is provided, for example, on the handle portion of the left operation lever 143LO. The start switch 143SW may be located near the operator seated in the driver's seat 141. When the start switch 143SW is operated, an automatic control instruction signal is output to the control device 160. When the control device 160 receives the input of the automatic control instruction signal, it starts automatic control. The teaching switch 143TC is provided, for example, on the handle portion of the right operation lever 143RO. The teaching switch 143TC is a switch for teaching the control point of the bucket 133. When the teaching switch 143TC is operated, a teaching signal is output to the control device 160. When the control device 160 receives the input of the teaching signal, it identifies the point where the bucket 133 is located at that time as the control point.

[0024] The automatic control refers to the loading machine 100 autonomously controlling the drive of the work implement 130 and the rotating unit 120 to achieve a predetermined operation. In the first embodiment, the automatic control is a control in which the loading machine 100 autonomously performs a first rotation, which is a series of operations in which the bucket 133 is positioned to the side of the loading target T due to excavation of the excavation target, and then swings the boom 131 upward to a direction facing the loading target T. The second rotation is a series of operations in which the bucket 133 is positioned above the loading target T due to loading, and then swings the boom 131 downward to a predetermined direction. The side of the loading target T refers to the outside of a loading platform, such as a vessel, onto which cargo is loaded. Note that automatic control in other embodiments may only perform the second rotation. In the first embodiment, the target orientation of the rotating unit 120 and the target attitude of the bucket 133 during the first rotation and the second rotation are predetermined orientations and attitudes, respectively. Note that the excavation target is typically located lower than the height of the loading target T. Therefore, the loading machine 100 controls the drive of the work machine 130 during the first and second swings so that the loading target T does not come into contact with the work machine 130. Details of the automatic control will be described later. The automatic control that is executed each time the start switch 143SW is operated switches between the first swing and the second swing. In another embodiment, the operation device 143 may be provided with two start switches 143SW, each assigned to the first swing and the second swing.

[0025] <Configuration of Measurement System> As shown in FIG. 1 , the loading machine 100 includes a position and orientation calculator 151 , an inclination measuring device 152 , a boom stroke sensor 153 , an arm stroke sensor 154 , and a bucket stroke sensor 155 .

[0026] The position and orientation calculator 151 calculates the position of the revolving unit 120 and the orientation in which the revolving unit 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from satellites that make up the GNSS. The two receivers are installed at different positions on the revolving unit 120. The position and orientation calculator 151 detects the position of a representative point of the revolving unit 120 in the site coordinate system (the origin of the excavator coordinate system) based on the positioning signals received by the receivers. The position and orientation calculator 151 uses the positioning signals received by the two receivers to calculate the orientation in which the revolving unit 120 faces as the relationship between the installation position of one receiver and the installation position of the other receiver. The orientation in which the revolving unit 120 faces is the direction perpendicular to the front of the revolving unit 120. The direction in which the rotating body 120 faces is equal to the horizontal component of the extension direction of a straight line extending from the boom 131 to the bucket 133 of the work implement 130 .

[0027] The inclinometer 152 measures the acceleration and angular velocity of the rotating unit 120, and detects the attitude (e.g., roll angle, pitch angle, yaw angle) and rotation speed of the rotating unit 120 based on the measurement results. The inclinometer 152 is installed, for example, on the underside of the rotating unit 120. The inclinometer 152 can be, for example, an inertial measurement unit (IMU).

[0028] The boom stroke sensor 153 is attached to the boom cylinder 131C and detects the cylinder length of the boom cylinder 131C. The cylinder length of the boom cylinder 131C can be converted into the relative angle of the boom 131 with respect to the revolving unit 120. The arm stroke sensor 154 is attached to the arm cylinder 132C and detects the cylinder length of the arm cylinder 132C. The cylinder length of the arm cylinder 132C can be converted into the relative angle of the arm 132 with respect to the boom 131. The bucket stroke sensor 155 is attached to the bucket cylinder 133C and detects the cylinder length of the bucket cylinder 133C. The cylinder length of the bucket cylinder 133C can be converted into the relative angle of the bucket 133 with respect to the arm 132. The loading machine 100 according to the first embodiment uses the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155 to identify the angles of the link components of the work implement 130, but this is not limited to this in other embodiments. For example, in other embodiments, instead of the stroke sensor, a potentiometer that detects the relative rotation angle of the link parts may be provided, or an inclination sensor that detects the angle of each link part relative to the ground may be provided.

[0029] <Configuration of the Control Device 160> FIG. 3 is a schematic block diagram showing the configuration of the control device 160 according to the first embodiment. The loading machine 100 includes the control device 160. The control device 160 may be implemented in the operation terminal 142, or may be provided separately from the operation terminal 142 and receive input and output from the operation terminal 142. The control device 160 receives an operation signal from the operation device 143. The control device 160 drives the work implement 130, the revolving unit 120, and the traveling unit 110 by outputting the received operation signal or an operation signal generated for automatic control to the control valve 123. Hereinafter, an operation signal received from the operation device 143 will also be referred to as a manual operation signal, and an operation signal generated for automatic control will also be referred to as an automatic operation signal. Note that the automatic operation signal includes an operation signal for driving the revolving unit 120 and the work implement 130, but does not include an operation signal for driving the traveling unit 110. If a manual operation signal from the operator is received during automatic control, the control device 160 may stop the automatic control.

[0030] The control device 160 is a computer including a processor 610, a main memory 630, a storage 650, and an interface 670. The storage 650 stores a program. The processor 610 reads the program from the storage 650, loads it into the main memory 630, and executes processing in accordance with the program.

[0031] Examples of storage 650 include semiconductor memory, magnetic disks, magneto-optical disks, optical disks, etc. Storage 650 may be an internal medium directly connected to a common communication line of control device 160, or may be an external medium connected to control device 160 via interface 670. Main memory 630 and storage 650 are non-transitory tangible storage media.

[0032] By executing a program, the processor 610 has a measurement data acquisition unit 611, an operation signal input unit 612, a work machine 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.

[0033] The measurement data acquisition unit 611 acquires measurement data from the measurement system of the loading machine 100. Specifically, the measurement data acquisition unit 611 acquires measurement data from the position and orientation calculator 151, the inclination measuring device 152, the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155. The measurement data acquisition unit 611 calculates the angle of the revolving unit 120 by integrating the angular velocity of the revolving unit 120 measured by the inclination measuring device 152.

[0034] The operation signal input unit 612 receives input of an operation signal 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 dumping or digging the bucket 133, a drive signal for turning the rotating unit 120 right or left, a drive signal for traveling the traveling unit 110, and an automatic control instruction signal for the loading machine 100.

[0035] The work implement position identifying unit 613 identifies the position of the tip P of the arm 132 ( FIG. 4 ) and the position of the lowest point Q of the bucket 133 ( FIG. 4 ) in the vehicle body coordinate system based on the revolving unit 120, based on the measurement data acquired by the measurement data acquiring unit 611. The lowest point Q of the bucket 133 refers to the point on the outer shape of the bucket 133 that is the shortest distance from the ground surface.

[0036] The work machine position identifying unit 613 determines the vertical and horizontal components of the length of the boom 131 based on the inclination angle of the boom 131 and the known length of the boom 131 (the distance from the pin at the base end to the pin at the tip end). Similarly, the work machine position identifying unit 613 determines the vertical and horizontal components of the length of the arm 132. The work machine position identifying unit 613 identifies, as the position of the tip P of the arm 132, a position that is away from the position of the loading machine 100 in a direction identified from the orientation and posture of the loading machine 100 by the sum of the vertical and horizontal components of the lengths of the boom 131 and the arm 132. In addition, the work machine position identifying unit 613 identifies the position of the lowest point Q of the bucket 133 based on the inclination angle of the bucket 133 and the known shape of the bucket 133. For example, the work implement position identifying unit 613 calculates the positions of multiple points on the outer shell of the bucket 133 based on the tilt angle of the bucket 133, and identifies the point with the lowest height among the multiple points as the lowest point Q. Furthermore, for example, the work implement position identifying unit 613 may determine the lowest point Q as a point obtained by offsetting the distance between the bucket pin and a point on the bucket 133 that is farthest from the bucket pin downward in the height direction from the bucket pin. Furthermore, for example, the work implement position identifying unit 613 may determine the lowest point Q as a point obtained by offsetting the maximum amount of the bucket movable range downward in the height direction from the bucket pin. Furthermore, the work implement position identifying unit 613 may determine the lowest point Q as a point obtained by offsetting a height that allows for a margin from the height identified above, taking into account control errors and measurement errors.

[0037] Before executing automatic control, the reference identification unit 614 receives teaching of the digging preparation position, interference avoidance position, and loading position of the bucket 133 from the operator as reference points for automatic control. Teaching is performed, for example, according to the following procedure. The reference identification unit 614 displays an instruction to move the bucket 133 to the digging preparation position on the operation terminal 142. The operator operates the operation device 143 to move the bucket 133 to the digging preparation position and operates the teaching switch 143TC to output a teaching signal to the control device 160. The reference identification unit 614 sets the attitude of the work implement 130 identified by the work implement position identification unit 613 as the target attitude for the second swing, sets the position of the tip P of the arm 132 as the target position for the second swing, and records the orientation of the swing unit 120 as the target orientation for the second swing in the storage 650. Next, the reference identification unit 614 displays on the operation terminal 142 an instruction to move the bucket 133 to an interference avoidance position that is the same height as the upper end of the vessel wall of the loading target T and where the work implement 130 and the loading target T do not overlap in a plan view from above. The vessel wall used for teaching may be any of the side, front, or rear walls of the vessel. The operator operates the operation device 143 to move the bucket 133 to the interference avoidance position and operates the teaching switch 143TC to output a teaching signal to the control device 160. The interference avoidance positions are input for both the right and left ends of the loading target T. This allows the reference identification unit 614 to identify the range of the loading platform of the loading target T. The height of the interference avoidance position may be offset upward by a certain amount to allow for control errors and measurement errors.

[0038] The reference identification unit 614 sets the height of the lowest point Q of the bucket 133 identified by the work machine position identification unit 613 as the wall height Ht of the loading target T, and records the orientation of the revolving unit 120 as the interference avoidance orientation in the storage 650. Next, the reference identification unit 614 displays on the operation terminal 142 an instruction to move the bucket 133 to a loading position above the loading target T. The operator operates the operation device 143 to move the bucket 133 to the loading position and operates the teaching switch 143TC to output a teaching signal to the control device 160. The reference identification unit 614 sets the attitude of the work machine 130 as the target attitude for the first swing, sets the position of the tip P of the arm 132 as the target position for the first swing, and records the orientation of the revolving unit 120 identified by the work machine position identification unit 613 as the target orientation for the first swing in the storage 650. The height of the lowest point Q of the bucket 133 identified at the loading position may be set as the wall height Ht. In other embodiments, the height of the loading target T does not necessarily have to be the wall height Ht, which is the height of the side wall of the loading platform, but may be the height of the highest point of the entire loading target T.

[0039] The angle identification unit 615 identifies, as the target swing angle, the angle between the initial orientation to which the revolving unit 120 faces when an automatic control instruction signal is input to the operation signal input unit 612 and the target orientation recorded in the storage 650. Note that the target swing angle differs depending on the swing direction. Therefore, the angle identification unit 615 receives input of the swing direction from the operation terminal 142 and identifies the target swing angle based on the input swing direction. Alternatively, the target swing angle may be calculated for each of left and right swings, and the smallest swing angle may be identified as the target swing angle. The angle identification unit 615 identifies, as the interference avoidance angle, the angle between the initial orientation to which the revolving unit 120 faces when an automatic control instruction signal is input to the operation signal input unit 612 and the interference avoidance orientation recorded in the storage 650. The interference avoidance angle is the swing angle at which the work implement 130 and the loading target T do not overlap in a plan view from above. The target turning angles include a first target turning angle that is a target turning angle for a first turn, and a second target turning angle that is a target turning angle for a second turn.

[0040] The movement control unit 616 generates an automatic operation signal that realizes automatic control when the operation signal input unit 612 receives an input of an automatic control instruction signal. When the automatic control instruction signal is input, the movement control unit 616 executes automatic control that realizes a first swing that moves the bucket 133 to a loading position, or automatic control that realizes a second swing that moves the bucket 133 to an excavation preparation position. The movement control unit 616 determines whether to execute the first swing or the second swing in the automatic control based on whether the bucket 133 is within the range of the loading target T in a plan view from above when the automatic control instruction signal is input. If the bucket 133 is not within the range of the loading target T's bed, the movement control unit 616 executes the first swing, and if the bucket 133 is within the range of the loading target T's bed, the movement control unit 616 executes the second swing. At this time, the movement control unit 616 controls the revolving unit 120 and the work implement 130 to prevent contact between the loading target T and the work implement 130 based on the wall height Ht and the interference avoidance angle stored in the storage 650.

[0041] Specifically, the movement control unit 616 sets the first interference avoidance angle θ ａ１ In the first rotation, the rotation angle of the rotating body 120 reaches the first interference avoidance angle θ ａ１ If the height of the bucket 133 does not reach the height of the loading position by the time the bucket 133 reaches the loading position (FIG. 4), the movement control unit 616 does not output a swing operation signal for the swing body 120, but outputs only an operation signal for the work machine 130. On the other hand, if the swing angle due to the swing is equal to or greater than the first interference avoidance angle θ ａ１ When the height of the bucket 133 reaches the height of the loading position before the height of the bucket 133 reaches the height of the loading position, the movement control unit 616 outputs a swing operation signal for the rotating body 120 and an operation signal for the work machine 130, thereby realizing combined operation of the rotating body 120 and the work machine 130. ... ａ１ After the height of the loading position is reached in FIG. 4, the movement control unit 616 rotates the rotating body 120 without moving the work machine 130.

[0042] Furthermore, the movement control unit 616 determines whether the rotation angle of the rotating body 120 is equal to the second interference avoidance angle θ in the second rotation, which is the rotation opposite to the first rotation. ａ２(FIG. 5) The control to prevent the lowest point from lowering may be a control to rotate the rotating body 120 without moving the work implement 130 and maintain the height of the lowest point, or a control to set the lowest point higher than the lowest point before the control to provide a gap between the loading target T and the bucket 133. The rotation angle is set to the second interference avoidance angle θ ａ２ After reaching the position indicated by the arrows, the movement control unit 616 outputs a rotation operation signal for the revolving unit 120 and an operation signal for the work machine 130, thereby realizing combined operation of the revolving unit 120 and the work machine 130.

[0043] The operation signal output unit 617 outputs the manual operation signal input to the operation signal input unit 612 or the automatic operation signal generated by the movement control unit 616 to the control valve 123 .

[0044] <<Operation During Automatic Control>> Here, the movement of the loading machine 100 during automatic control according to the first embodiment will be described with reference to the drawings. Fig. 4 is a diagram showing an example of the movement of the loading machine 100 during a first swing according to the first embodiment. Fig. 5 is a diagram showing an example of the movement of the loading machine 100 during a second swing according to the first embodiment.

[0045] When automatic control for the first swing is initiated, as shown in Figure 4, the control device 160 first starts driving the work implement 130 (boom 131, arm 132, and bucket 133), and moves the bucket 133 upward by raising the boom 131. The target position of the bucket 133 for the first swing is a loading position above the loading target T. After a delay, the control device 160 starts swinging the swing unit 120. When the swing angle of the swing unit 120 reaches the first interference avoidance angle θ, the control device 160 ａ１ The timing of starting the swing is adjusted so that the posture of the work implement 130 reaches the target posture for the first swing by the time the swing angle of the swing unit 120 reaches the first interference avoidance angle θ ａ１If the posture of the work implement 130 reaches the target posture for the first swing before the posture of the work implement 130 coincides with the target posture, that is, if 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 due to the swing of the swing body 120. Note that the work implement 130 is driven simultaneously with the swing, and the swing angle is set to the first interference avoidance angle θ ａ１ If the attitude of the work implement 130 reaches the target attitude for the first swing before it matches the target attitude, the control device 160 may simultaneously start driving and swinging the work implement 130. Thereafter, when the bucket 133 reaches the loading position, the automatic control ends. Thereafter, the operator manually performs a dumping operation by rotating the bucket 133 in the dumping direction.

[0046] When the automatic control for the second rotation is started, the control device 160 starts the rotation of the rotating body 120. The control device 160 controls the rotation angle of the rotating body 120 to be equal to the second interference avoidance angle θ ａ２ The rotating body 120 is rotated without moving the work implement 130, and the height of the lowest point of the bucket 133 is maintained until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ ａ２ When the rotation speed of the boom 131, the arm 132, and the bucket 133 exceeds the second target rotation angle θ, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 controls the movement speed of the boom 131, the arm 132, and the bucket 133 to be equal to or greater than the second target rotation angle θ ｔ２ The movement speed of the work implement 130 determined by the control device 160 is the movement speed of the work implement 130 in the driving plane. Note that the control device according to this embodiment determines the second target turning angle θ ｔ２ However, in other embodiments, the present invention is not limited to this. For example, a control device according to another embodiment may determine the travel speed according to a target turning angle between the interference avoidance orientation and the initial orientation. The target turning angle between the interference avoidance orientation and the initial orientation is determined based on the second interference avoidance angle θ ａ２ and the second target turning angle θ ｔ２ The difference between (θ ｔ２ -θ ａ２ ), so in this case too, the control device determines the second target turning angle θ ｔ２In addition, the control device determines the moving speed in accordance with the second target turning angle θ ｔ２ Determining the travel speed in accordance with the second target turning angle θ is equivalent to determining the travel speed in accordance with the target turning angle between the interference avoidance orientation and the initial orientation. ｔ２ The larger the second target rotation angle θ, the slower the movement speed of the boom 131, the arm 132, and the bucket 133. ｔ２ When the attitude of the work implement 130 reaches the target attitude at the start of excavation, the control device 160 ends the drive of the work implement 130. The control device 160 according to the first embodiment controls the second swing so that the swing angle of the swing implement 120 is equal to the second interference avoidance angle θ ａ２ However, the present invention is not limited to this. 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. Furthermore, 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 does not fall below the wall height Ht.

[0047] 4 and 5 show an example in which the positional relationship between the excavation position and the loading target T is approximately 90 degrees around the rotating unit 120, but this is not limited to this in other embodiments. For example, in other embodiments, the positional relationship between the excavation position and the loading target T may be another rotation angle position, such as approximately 180 degrees around the rotating unit 120.

[0048] <<Operation of Control Device 160>> Figure 6 is a flowchart showing first swing control by the control device 160 according to the first embodiment. Figure 7 is a flowchart showing second swing control by the control device 160 according to the first embodiment. When the operator operates the start switch 143SW, the operation signal input unit 612 of the control device 160 accepts input of an automatic control instruction signal. When the automatic loading instruction signal is input, the control device 160 determines whether to perform the first swing or the second swing based on whether the bucket 133 is within a range above the loading platform of the loading target T in a plan view from above.

[0049] When the first swing is performed, the control device 160 executes the first swing control shown in Fig. 6. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machine 100 (step S1). The movement control unit 616 reads out the target orientation (orientation toward the loading target T), target posture, wall height Ht of the loading target T, and interference avoidance orientation of the swing unit 120 from the storage 650 (step S2). The angle identification unit 615 determines a first target swing angle θ based on the orientation toward which the swing unit 120 is facing identified in step S1 and the target orientation and interference avoidance orientation read out in step S2. ｔ１ and the first interference avoidance angle θ ａ１ (Step S3).

[0050] Next, the measurement data acquisition unit 611 acquires measurement data on the position and orientation, tilt angle, swing speed, and cylinder length of each cylinder of the loading machine 100 (step S4). The work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S5). That is, the work machine position identification unit 613 identifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0051] The movement control unit 616 calculates the target direction, target posture, and wall height Ht read out in step S2, and the first interference avoidance angle θ ａ１Based on this, the movement control unit 616 generates an automatic operation signal for moving the bucket 133 to above the loading target T. That is, the movement control unit 616 determines whether the lowest point Q of the bucket 133 is moved from the position of the lowest point Q at the start of the first swing control to the position corresponding to the wall height Ht and the first interference avoidance angle θ ａ１ At this time, the movement control unit 616 generates an automatic operation signal for the bucket 133 so that the angle of the bucket 133 with respect to the ground does not change even when the boom 131 and the arm 132 are driven.

[0052] Specifically, the movement control unit 616 generates an automatic operation signal in the following procedure. First, the movement control unit 616 determines whether the posture of the work implement 130 identified in step S5 is similar to the target posture acquired in step S1 (step S6). For example, the movement control unit 616 determines that the posture of the work implement 130 is similar to the target posture if the difference between the position of the tip of the arm 132 in the target posture and the current position of the tip of the arm 132 is equal to or smaller than a predetermined value. If the posture of the work implement 130 is not similar to the target posture (step S6: NO), the movement control unit 616 generates an automatic operation signal that moves the boom 131 and the arm 132 closer to the target posture (step S7).

[0053] At this time, the movement control unit 616 generates an automatic operation signal based on the relative angle of the boom 131 and the arm 132 identified from the measurement data acquired in step S4. Specifically, the movement control unit 616 determines the control amount, i.e., the angular velocity, of the automatic operation signal for the boom 131 by substituting the difference between the measured value of the relative angle of the boom 131 and the value of the relative angle of the boom 131 related to the target posture into a predetermined control amount function. FIG. 8 is a diagram showing an example of the control amount function according to the first embodiment. According to FIG. 8, the larger the difference in the relative angles, the larger the control amount. In the graph shown in FIG. 8, the right side indicates the angle difference when the angle related to the measured value is smaller than the angle of the target posture, and the left side indicates the angle difference when the angle related to the measured value is larger than the angle of the target posture. In the graph shown in FIG. 8, the upper side indicates the control amount in the raising direction, and the lower side indicates the control amount in the lowering direction. For example, if the angle difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 related to the target posture is equal to or greater than zero, the movement control unit 616 identifies the control amount for moving the boom 131 in the raising direction. Furthermore, when the angle difference obtained by subtracting the measured value of the relative angle of the boom 131 from the relative angle of the boom 131 related to the target posture is equal to or less than 0, the movement control unit 616 determines the control amount for moving the boom 131 in the downward direction. Similarly to the boom 131, the movement control unit 616 also determines the control amount of the automatic operation signal for the arm 132 based on the measured value of the relative angle of the arm 132 and a control amount function. Note that in other embodiments, the movement control unit 616 may calculate the control amount by substituting the difference between the target cylinder length and the actual cylinder length into a predetermined control amount function. The control amount may also be a cylinder speed or a spool stroke command value. The form of the control amount function is not limited to that shown in FIG. 8 . For example, the control amount function may have a dead zone near the point where the explanatory variables (angle difference, difference between the target cylinder length and the actual cylinder length) are zero.

[0054] The movement control unit 616 also calculates the sum of the drive speeds of the boom 131 and the arm 132 based on the generated automatic operation signals for 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 drive speeds (step S8). This allows the movement control unit 616 to generate an operation signal that maintains the ground angle of the bucket 133.

[0055] The movement control unit 616 determines whether the work machine 130 is swinging (step S9). The movement control unit 616 determines that the work machine 130 is swinging, for example, when the swing speed of the swing unit 120 is equal to or greater than a predetermined speed. If the work machine 130 is not swinging (step S9: NO), the movement control unit 616 calculates the completion time until the work machine 130 reaches the target posture based on the speeds of the boom 131 and arm 132 identified in step S7 (step S10). Furthermore, the movement control unit 616 calculates the completion time until the swing angle of the swing unit 120 reaches the first interference avoidance angle θ identified in step S3 when the swing unit 120 starts swinging. ａ１ (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 turning angle is equal to the first interference avoidance angle θ ａ１ It is determined whether the work implement 130 will be in the target posture when it reaches the target posture.

[0056] If the completion time is equal to or longer than the arrival time (step S12: NO), that is, if the turning angle is equal to the first interference avoidance angle θ ａ１ If the work implement 130 does not reach the target posture by the time the work implement 130 reaches the target posture, the movement control unit 616 does not generate a swing operation signal for the swing structure 120. On the other hand, if the completion time is shorter than the arrival time (step S12: YES), that is, if the swing angle is equal to or smaller than the first interference avoidance angle θ ａ１ If the work implement 130 reaches the target attitude before reaching the target position, the movement control unit 616 generates a swing operation signal for the swing unit 120 (step S13). This allows the control device 160 to prevent the work implement 130 from swinging while the height is still low, resulting in contact with the loading target T.

[0057] The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14), thereby driving the loading machine 100. Then, the control device 160 returns the process to step S4 and continues control.

[0058] On the other hand, if it is determined in step S9 that the work implement 130 is swinging (step S9: YES), the movement control unit 616 determines whether or not the swing angle will reach the first target swing angle by inertia when the swing operation signal is stopped, based on the swing speed of the work implement 130 identified in step S4 (step S15). If the swing angle does not reach the first target swing angle by inertia (step S15: NO), the movement control unit 616 generates a swing operation signal in step S13, and the operation signal output unit 617 outputs the swing operation signal to the control valve 123 in step S14.

[0059] On the other hand, if it is determined that the swing angle will reach the first target swing angle due to the swing caused by inertia (step S15: YES), the movement control unit 616 determines whether the swing angle has reached the target swing angle and the attitude of the work machine 130 has become the target attitude (step S16). If the swing angle has reached the first target swing angle and the attitude of the work machine 130 has not become the target attitude (step S16: NO), the control device 160 returns the process to step S4.

[0060] On the other hand, if the swing angle reaches the target swing angle and the attitude of the work implement 130 becomes the target attitude (step S16: YES), the control device 160 ends the first swing process.

[0061] 7 is a flowchart showing the second swing control of the control device 160 according to the first embodiment. When the start switch 143SW is operated by the operator, the operation signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal.

[0062] When the second swing is performed, the control device 160 executes the second swing control shown in Fig. 7. First, the measurement data acquisition unit 611 acquires measurement data of the orientation of the loading machine 100 (step S21). The movement control unit 616 reads out the target orientation of the swing unit 120 (orientation facing the side of the loading target T), 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 determines a second target swing angle θ based on the orientation of the swing unit 120 identified in step S21 and the target orientation and interference avoidance orientation read out in step S22. ｔ２ and the second interference avoidance angle θ ａ２ (Step S23).

[0063] The movement control unit 616 determines the specified second target turning angle θ ｔ２ Based on this, the movement control unit 616 determines an upper limit value of the control amount (absolute value of the control amount) of the work implement 130 in the second swing control (step S24). Fig. 9 is a diagram showing an example of the upper limit value of the control amount according to the first embodiment. Specifically, the movement control unit 616 determines the upper limit value of the control amount (absolute value of the control amount) of the work implement 130 in the second swing control based on the second target swing angle θ ｔ２ 9, for example, the second target turning angle θ ｔ２ When the upper limit value of the control amount when the second target turning angle θ is 90 degrees is th1, ｔ２ The upper limit of the control amount when the second target turning angle θ is 180 degrees is th2, which is closer to zero than th1. ｔ２ The upper limit value of the controlled variable is determined according to a predetermined table that associates the upper limit value with the second target swing angle θ. The table is created by observing the operation of a skilled operator and determining whether the swing angle of the swing unit 120 is equal to the second target swing angle θ. ｔ２ The second target swing angle θ may be created by examining the control amount of the work implement 130 such that the timing at which the second target swing angle θ reaches the target posture is approximately the same as the timing at which the posture of the work implement 130 reaches the target posture. ｔ２ The larger the value, the slower the work machine 130 will be driven.

[0064] Next, the measurement data acquisition unit 611 acquires measurement data on the position and orientation, tilt angle, swing speed, and cylinder length of each cylinder of the loading machine 100 (step S25). The work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S25). That is, the work machine position identification unit 613 identifies the position of the tip P of the arm 132, the position of the lowest point Q of the bucket 133, and the posture of the bucket 133.

[0065] The movement control unit 616 determines whether the work machine 130 is rotating (step S27). The movement control unit 616 determines that the work machine 130 is rotating, for example, when the rotation speed of the rotating unit 120 is equal to or greater than a predetermined speed. If the work machine 130 is not rotating (step S27: NO), the movement control unit 616 generates an automatic operation signal to rotate the rotating unit 120 (step S29). The automatic operation signal is an operation signal to rotate the rotating unit 120 from the inside to the outside of the loading target T in a plan view from above.

[0066] On the other hand, if the work implement 130 is swinging (step S27: YES), the movement control unit 616 determines, based on the measurement data of the swing speed of the work implement 130 identified in step S25, whether the swing angle of the work implement 130 will reach the target swing angle by inertia when the swing operation signal is stopped (step S28). If the swing angle of the work implement 130 does not reach the target swing angle by inertia (step S28: NO), the movement control unit 616 generates an automatic operation signal to swing the swing unit 120 (step S29). If the swing angle of the work implement 130 reaches the second target swing angle by inertia (step S28: YES), the movement control unit 616 does not generate an automatic operation signal to swing the swing unit 120.

[0067] Next, the movement control unit 616 calculates the second interference avoidance angle θ as the rotation angle of the rotating body 120 from the start of automatic control to the present time. ａ２ It is determined whether the turning angle is less than the second interference avoidance angle θ (step S30). ａ２ If it is less than this (step S30: YES), the movement control unit 616 generates an operation signal (neutral signal) that maintains the attitude of the work machine 130.

[0068] In step S30, the turning angle is the second interference avoidance angle θ ａ２ If this is the case (step S30: NO), the movement control unit 616 determines whether the posture of the work implement 130 identified in step S25 is similar to the target posture identified in step S22 (step S31). If the posture of the work implement 130 is not similar to the target posture (step S31: NO), the movement control unit 616 calculates the control amount of the automatic operation signal for each of the boom 131, arm 132, and bucket 133 based on the angle difference between the measured angle and the target posture and the control amount function shown in FIG. 8 (step S32). Next, the movement control unit 616 generates an automatic operation signal that limits the control amount so that it does not exceed the upper limit value of the control amount based on the upper limit value of the control amount determined in step S24 (step S33). If the posture of the work implement 130 is similar to the target posture (step S31: YES), the movement control unit 616 generates a neutral signal that maintains the posture of the work implement 130.

[0069] The operation signal output unit 617 then outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the swing angle has reached the target swing angle and the attitude of the work implement 130 has become the target attitude (step S35). If the swing angle has not reached the target swing angle or the attitude of the work implement 130 has not become the target attitude (step S35: NO), the control device 160 returns the process to step S25. On the other hand, if the swing angle has reached the target swing angle and the attitude of the work implement 130 has become the target attitude (step S35: YES), the automatic control process ends.

[0070] <<Actions and Effects>> In this way, the control device 160 according to the first embodiment, during automatic control to move the bucket 133 from above the loading target T to a target position outside the loading target T, adjusts the second target swing angle θ from the direction in which the work implement 130 faces at the start of automatic control to the direction in which the work implement 130 faces the target position. ｔ２The control device 160 determines the movement speed of the work machine 130 in accordance with the determined movement speed. This makes it possible to prevent the bucket 133 from coming into contact with a protruding portion of the ground in the automatic control of the loading machine 100.

[0071] In the first embodiment, the control device 160 determines the second target turning angle θ ｔ２ However, the upper limit value of the control amount of the work implement 130 is determined based on the second target swing angle θ ｔ２ That is, the control device 160 according to another embodiment may determine the gain of the control amount function based on the second target turning angle θ ｔ２ For example, the slope of the control amount function may be determined based on the second target turning angle θ ｔ２ The larger the gain, the smaller the gain, i.e., the smaller the slope of the control amount function. The gain is a value greater than 0 and equal to or less than 1.

[0072] Second Embodiment The control device 160 according to the first embodiment calculates the difference between the measured value of the angle of the work implement 130 and the target attitude, and the second target swing angle θ ｔ２ In contrast to this, the control device 160 according to the second embodiment determines the control amount based on the second target turning angle θ ｔ２ and the target attitude of the work implement 130, a target trajectory of the work implement 130 is generated, and the work implement 130 is moved according to the target trajectory.

[0073] FIG. 10 shows the second target turning angle θ according to the second embodiment. ｔ２ 10 is a diagram showing an example of a target trajectory of the work implement 130. The movement control unit 616 of the control device 160 according to the second embodiment is configured to calculate the second target swing angle θ ｔ２ The target trajectory of the work implement 130 is generated based on the above equation. The target trajectory is expressed as a function of the rotation angle of the rotating body 120, the height of the tip P of the arm 132, and the distance in the depth direction from the center of rotation to the tip P (the radius of the arm 132). Note that the following description will focus on the relationship between the rotation angle and the height of the target trajectory. In the target trajectory, the rotation angle from zero to the second interference avoidance angle θ ａ２The height of the tip P up to the target trajectory is a height Ht+L which is higher than the wall height Ht by the bucket length L. ａ２ to the second target turning angle θ ｔ２ The height of the tip P up to the second interference avoidance angle θ is expressed by a linear function in which the height monotonically decreases with respect to the turning angle. ａ２ to the second target turning angle θ ｔ２ The function that represents the height of the tip P up to the second interference avoidance angle θ is called the down function. ａ２ The height of the tip P is Ht+L, and the turning angle is the second target turning angle θ ｔ２ and the height of the tip P is the height of the tip P when the work implement 130 assumes the target posture. Note that the down function according to other embodiments is not limited to a linear function, and may be other functions such as an elliptic function or a cubic function. The down function is a function in which the height of the lowest point Q monotonically decreases with respect to the swing angle. The down function may be a concave function. When the down function is a concave function, the time that the bucket 133 is positioned near the ground during swing can be shortened. Note that when the down function is a cubic function, good tracking performance in control is achieved. The down function is a function that indicates the relationship between the swing angle of the swing unit 120 and the height of the bucket 133, and is set such that the swing angle is equal to or greater than the second target swing angle θ ｔ２ is a function that makes the height of the bucket 133 equal to the height of the target position when it matches the target trajectory. The relationship between the swing angle on the target trajectory and the radius of the arm 132 is similar to that of the above-mentioned down function. The movement control unit 616 determines the radius of the arm 132 based on the target trajectory and the swing angle.

[0074] FIG. 11 shows the second target turning angle θ ｔ２ and the bucket 133. The movement control unit 616 of the control device 160 according to the second embodiment is configured to determine the second target turning angle θ ｔ２ A bucket function is generated based on the above equation, which is a function of the turning angle and the target value of the relative angle of the bucket 133. In the bucket function, the turning angle from zero to the second interference avoidance angle θ ａ２The relative angle of the bucket 133 from the turning angle of zero to the second interference avoidance angle θ ａ２ In the bucket function, the second interference avoidance angle θ ａ２ to the second target turning angle θ ｔ２ The relative angle of the bucket 133 from the turning angle to the second interference avoidance angle θ is expressed by a linear function in which the angle changes monotonically with respect to the turning angle. ａ２ The relative angle of the bucket 133 is the relative angle at the start of the second swing, and the swing angle is the second target swing angle θ ｔ２ and the point where the relative angle of the bucket 133 is the relative angle of the bucket 133 when the work machine 130 assumes the target attitude.

[0075] The movement control unit 616 determines whether the turning angle is equal to the second interference avoidance angle θ ａ２ When this is reached, an automatic operation signal is generated in the following procedure.

[0076] The movement control unit 616 determines a provisional target height and provisional target radius for the lowest point of the tip P of the arm 132 and a provisional target speed for the tip P of the arm 132 based on the current swing angle, swing speed, and down function. The provisional target height is a height in the down function that corresponds to the swing angle at the next control timing. The provisional target speed is the slope of a tangent at a point represented by the provisional target height and provisional target radius in the down function. The movement control unit 616 determines a provisional target angle for the boom 131 and the arm 132 from the provisional target height and provisional target radius. The movement control unit 616 also determines a provisional target angular velocity for the boom 131 and the arm 132 from the provisional target speed. The movement control unit 616 determines the control amounts for the boom 131 and the arm 132 by PID control based on the provisional target angle and provisional target angular velocity. Here, the provisional target angle is a feedback term of the PID control, and the provisional target angular velocity is a feedforward term of the PID control.

[0077] A provisional target angle and a provisional target angular velocity of the bucket 133 are determined based on the current swing angle, swing speed, and bucket function. The provisional target angle is an angle in the bucket function that corresponds to the swing angle at the next control timing. The provisional target angular velocity is the slope of the tangent at the point represented by the provisional target angle in the bucket function. The movement control unit 616 determines the control amount of the bucket 133 by PID control based on the provisional target angle and the provisional target angular velocity. Here, the provisional target angle is a feedback term of the PID control, and the provisional target angular velocity is a feedforward term of the PID control.

[0078] In this way, similarly to the first embodiment, the control device 160 according to the second embodiment controls the bucket 133 to move from above the loading target T to a target position outside the loading target T, and calculates the second target swing angle θ from the direction in which the work machine 130 faces at the start of the automatic control to the direction in which the work machine 130 faces the target position. ｔ２ The control device 160 determines the movement speed of the work machine 130 according to the position of the work machine 130 and the down function. The control device 160 outputs a signal to move the work machine 130 at the determined movement speed. This makes it possible to prevent the bucket 133 from coming into contact with a protruding portion of the ground in the automatic control of the loading machine 100.

[0079] Third Embodiment The control device 160 according to the first embodiment calculates the difference between the measured value of the angle of the work implement 130 and the target attitude, and the second target swing angle θ ｔ２ In contrast to this, the control device 160 according to the third embodiment determines the control amount based on the second target turning angle θ ｔ２ The timing for lowering the work implement 130 is determined based on the above, and the work implement 130 is moved in accordance with this timing.

[0080] FIG. 12 shows the second target turning angle θ according to the third embodiment. ｔ２8 is a diagram showing the timing for lowering the work implement 130. The movement control unit 616 of the control device 160 according to the third embodiment calculates the time t1 until the work implement 130 reaches the target posture when the boom 131, arm 132, and bucket 133 are driven at a predetermined angular velocity, based on the difference between the posture of the work implement 130 at the start of the second swing and the target posture. For example, the movement control unit 616 calculates the time t1 until the work implement 130 reaches the target posture when the boom 131, arm 132, and bucket 133 are driven at a predetermined angular velocity, in accordance with the control amount function shown in FIG. The movement control unit 616 moves the revolving unit 120 at the second target swing angle θ ｔ２ The movement control unit 616 calculates the swing time t2 required to swing the work implement 130 to the target attitude. The movement control unit 616 determines the timing (t2-t1) to lower the work implement 130 by subtracting the time t1 required to bring the work implement 130 into the target attitude from the swing time t2 required for the calculated swing. The movement control unit 616 converts the determined timing (t2-t1) into a swing angle to determine the lowering start angle θ at which the movement of the work implement 130 begins. ｂ Determine.

[0081] The movement control unit 616 determines whether the turning angle is equal to the second interference avoidance angle θ ａ２ When this is reached, an automatic operation signal is generated in the following procedure.

[0082] The movement control unit 616 determines whether the current turning angle is the lowering start angle θ ｂ It is determined whether the current turning angle reaches the lowering start angle θ ｂ If the current turning angle does not reach the lowering start angle θ , the movement control unit 616 generates an operation signal (neutral signal) to maintain the attitude of the work machine 130. On the other hand, if the current turning angle does not reach the lowering start angle θ , the movement control unit 616 generates an operation signal (neutral signal) to maintain the attitude of the work machine 130. ｂ , the movement control unit 616 generates automatic operation signals for the boom 131, the arm 132, and the bucket 133 with control amounts according to the control amount function shown in FIG.

[0083] In this way, similar to the first embodiment, the control device 160 according to the third embodiment, when automatically controlling the bucket 133 to move from above the loading target T to a target position outside the loading target T, calculates the second target swing angle θ from the direction in which the work machine 130 faces at the start of automatic control to the direction in which the work machine 130 faces the target position. ｔ２The control device 160 then outputs a signal to move the work device 130 at the determined timing to start the lowering movement. This makes it possible to prevent the bucket 133 from coming into contact with a protruding portion on the ground in automatic control of the loading machine 100. Note that the second target swing angle θ ｔ２ Determining the timing to lower the work implement 130 based on the second target swing angle θ ｔ２ This is equivalent to determining whether to set the movement speed of the work implement 130 to zero based on the control amount function shown in FIG. 8 or to set the movement speed in accordance with the control amount function shown in FIG.

[0084] As shown in FIG. 12, the second target turning angle θ ｔ２ The timing for lowering the work implement 130 based on the second target swing angle θ is determined based on a function indicating the relationship between the swing angle of the swing body 120 and the height of the bucket 133. ｔ２ 12 is equivalent to determining a function that makes the height of the bucket 133 equal to the height of the target position when the height of the bucket 133 coincides with the target position. ｂ ) and a second section (θ ｂ From θ ｔ２ (up to).

[0085] Other Embodiments Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design modifications are possible. That is, in other embodiments, the order of the above-described processes may be changed as appropriate. Furthermore, some processes may be executed in parallel.

[0086] The control device 160 according to the above-described embodiment may be configured by a single computer, or the configuration of the control device 160 may be divided into a plurality of computers that cooperate with each other to function as the control device 160. In this case, some of the computers that configure the control device 160 may be installed inside the loading machine 100, and other computers may be provided outside the loading machine 100.

[0087] The target posture, target orientation, interference avoidance orientation, and wall height Ht according to the above-described embodiment are recorded in the storage 650 by teaching, but this is not limited to this. For example, the loading machine 100 according to other embodiments may be equipped with a three-dimensional measurement device such as a stereo camera or LiDAR to recognize the position and shape of the loading target T, and determine the target posture, target orientation, interference avoidance orientation, and wall height Ht based on this. That is, the reference identification unit 614 may identify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on shape data of the loading target T. Furthermore, in other embodiments, the position, posture, and orientation of the loading target T may be received by communication with the loading target T, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be determined based on this and the known shape of the loading target T. In another embodiment, when the loading target T travels autonomously through communication with a control device, the loading target T may receive the position and orientation of the loading target T from the control device and determine the target posture, target orientation, interference avoidance orientation, and wall height Ht based on this and the known shape of the loading target T. In another embodiment, the reference specification unit 614 may specify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on input from the operator to the operation terminal 142. In another embodiment, the loading machine 100 may specify the target posture, target orientation, and interference avoidance orientation and the wall height Ht separately. That is, in another embodiment, the control device 160 may separately include a first reference specification unit that specifies the target posture, target orientation, and interference avoidance orientation, and a second reference specification unit that specifies the wall height Ht. For example, the loading machine 100 may specify the target posture, target orientation, and interference avoidance orientation through teaching, and the wall height Ht through input from the operator. The operator may also specify the wall height, which is the height of the loading target, by inputting the model of the loading machine. That is, the control device 160 specifies the wall height Ht by reading the height associated with the input model from a table that associates the model with the wall height in advance.

[0088] Furthermore, the control device 160 according to the embodiment described above identifies the posture of the work machine 130 based on measurement data from a sensor that measures the posture of the work machine 130, but is not limited to this. For example, in another embodiment, if the loading machine 100 is equipped with a three-dimensional measurement device such as a stereo camera or LiDar, the posture of the work machine 130, particularly the height of the lowest point Q of the bucket 133, may be recognized based on measurement data from the three-dimensional measurement device, and automatic control may be performed based on this.

[0089] The control device 160 according to the embodiment described above calculates the angle of the revolving unit 120 by integrating the angular velocity of the revolving unit 120 measured by the inclinometer 152, but is not limited to this. For example, the control device 160 according to another embodiment may calculate the angle of the revolving unit 120 based on the difference in the orientation measured by the position and orientation calculator 151. In still another embodiment, the angle of the revolving unit 120 may be determined using the detection value of a rotation angle sensor provided in the revolving motor 124.

[0090] Although the control device 160 according to the embodiment described above performs automatic control based on a comparison between the swing angle and the interference avoidance angle, this is not limited to this. For example, the control device 160 according to another embodiment may perform automatic control based on a comparison between the position of the bucket 133 and the rearmost point in the swing direction of the rotating unit 120 on the outline of the loading target T. For example, the control device 160 according to another embodiment may adjust the swing start timing so that the bucket 133 is positioned in an area near the rearmost point in the swing direction of the rotating unit 120. In still another embodiment, the control device 160 may generate automatic control signals for each link component and the rotating unit 120 so that the bucket 133 follows a predetermined trajectory. The trajectory may be determined, for example, by fitting a predetermined curve function or by manual teaching. The trajectory may be represented by a time series of the attitude of the bucket 133, the attitude of each link component and the rotating unit 120, or an operation signal.

[0091] The loading machine 100 according to the above-described embodiment is operated directly by an operator from inside the cab 140, but is not limited to this. For example, the loading machine 100 according to another embodiment may be operated by remote control. A remote control system according to another embodiment includes, for example, an operation device 143 provided remotely from the loading machine 100, a display device that displays an image of the environment of the loading machine 100, and a remote control device that communicates with the loading machine 100. When the operator operates the operation device 143 of the remote control system, the remote control device transmits an operation signal to the control device 160 via communication. In this case, the functions of the control device 160 may be implemented in the remote control device, or may be implemented separately in the loading machine 100 and the remote control device.

[0092] The automatic control according to the embodiment described above executes a first swing, which moves the bucket 133 from a position at the end of excavation to a loading point, and a second swing, which moves the bucket 133 to a position for starting the next excavation. However, this is not limited to this. For example, in another embodiment, the control device 160 may perform fully automatic control, which automatically executes a series of operations, including the first swing, soil removal, and second swing. Furthermore, for example, in another embodiment, the control device 160 may execute only the second swing without executing the first swing. Furthermore, the automatic control according to the embodiment described above is triggered by the operation of the start switch 143SW by the operator, but this is not limited to this. For example, in another embodiment, the control device 160 may autonomously determine the timing to start the automatic control and start the automatic control regardless of the operation of the start switch 143SW.

[0093] According to the above embodiment, it is possible to reduce the possibility that the implement will come into contact with the ground when the loading machine is automatically turned while the implement is being unloaded.

[0094] DESCRIPTION OF SYMBOLS 100... Loading machine 110... Traveling body 111... Caterpillar 112... Traveling motor 120... Swinging body 121... Engine 122... Hydraulic pump 123... Control valve 124... Swing motor 130... Work machine 131... Boom 131C... Boom cylinder 132... Arm 132C... Arm cylinder 133... Bucket 133C... Bucket cylinder 140... Driver's cab 141... Driver's seat 142... Operation terminal 143... Operation device 151... Position and orientation calculator 152... Inclination measuring device 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 machine 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

Claims

1. A control device for a loading machine having a rotating body that rotates around a rotation center and a working machine having a working tool attached to the rotating body, which, during automatic control to move the working tool from above a loading object to a target position outside the loading object, determines a movement speed of the working machine according to a target rotation angle in a direction in which the working machine faces the target position, and outputs a signal to move the working machine at the determined movement speed.

2. A control device for a loading machine as set forth in claim 1, wherein the target turning angle is a turning angle from a direction in which the working machine faces at the start of the automatic control to a direction in which the working machine faces the target position.

3. The control device for a loading machine according to claim 1, wherein the larger the target turning angle is, the slower the moving speed of the work machine is made.

4. A control device for a loading machine as described in claim 3, which reduces an upper limit value of the movement speed of the work machine as the target turning angle increases, calculates the movement speed of the work machine based on the target attitude of the work machine determined based on the target position and the attitude of the work machine, and limits the movement speed of the work machine based on the upper limit value.

5. A control device for a loading machine as described in claim 1, which determines a function indicating the relationship between the rotation angle of the rotating body and the height of the working tool, the function making the height of the working tool equal to the height of the target position when the rotation angle coincides with the target rotation angle, and determines the movement speed of the working tool based on the rotation angle of the rotating body, the height of the working tool, and the function.

6. A control device for a loading machine according to claim 5, wherein a moving speed of said working implement is determined based on the rotation speed of said rotating body, the rotation angle of said rotating body, the height of said working implement, and said function.

7. A control device for a loading machine as set forth in claim 5, wherein the function has a first section in which the height of the work tool is constant and a second section in which the height of the work tool moves downward, and determines the timing of switching between the first section and the second section based on the target swing angle.

8. A control method for a loading machine having a rotating body that rotates around a rotation center and a working machine having a working tool attached to the rotating body, the control method for a loading machine comprising: a step of determining a moving speed of the working machine according to a target rotating angle up to a direction in which the working machine faces the target position during automatic control for moving the working tool from above an object to be loaded to a target position outside the object to be loaded; and a step of outputting a signal for moving the working machine at the determined moving speed.

9. A remote control system for a loading machine comprising a rotating body that rotates around a rotation center, a working machine attached to the rotating body having a working tool, and a display device and an operating device in a remote location, the remote control system determining a moving speed of the working machine according to a target rotation angle in a direction in which the working machine faces the target position during automatic control for moving the working tool from above a loading object to a target position outside the loading object, and outputting a signal to the loading machine to move the working machine at the determined moving speed.

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