WO2024106536A1 - Control device for loading machine, remote control device, and control method - Google Patents

Abstract

A reference identification unit (614) identifies the height of a loading target (T). A work machine identification unit (613) identifies the height of a work tool. During automatic control for moving the work tool from above the loading target (T) to outward of the loading target (T), an operating signal output unit (617) outputs a signal to raise a work machine (130) if the work tool is located above the loading target (T) and the height of the work tool is lower than the height of the loading target (T).

Description

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

The present disclosure relates to a control device, a remote control device, and a control method for a loading machine.
This application claims priority to Japanese Patent Application No. 2022-184885, filed in Japan on November 18, 2022, the contents of which are incorporated herein by reference.

Patent Document 1 discloses technology related to semi-automatic control of loading machines. The semi-automatic control described in Patent Document 1 is a control in which, after loading of a loading target such as a dump truck is completed, an excavation command is received from an operator, and a control device controls the rotation of the loading machine and the drive of the work equipment, thereby automatically moving the bucket to the excavation position.

Japanese Patent Publication No. 2020-041352

When loading a load onto a loading object, the operator may load the load at a low position to reduce the impact on the object. The operator may also level the load with a bucket. In this case, the bucket is positioned inside the box that is the loading object. Therefore, when the loading machine is rotated by semi-automatic control or fully automatic control, there is a possibility that the bucket will come into contact with the inner wall of the loading object. Hereinafter, semi-automatic control and fully automatic control will be collectively referred to as automatic control.

The objective of this disclosure is to provide a control device, remote control device, and control method for a loading machine that prevents the bucket from contacting the inner wall of the object being loaded during automatic control of the loading machine.

According to one aspect of the present disclosure, the 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 working machine that has a working tool attached to the rotating body, and includes a reference identification unit that identifies the height of the loading target, a working machine position identification unit that identifies the height of the working tool, and an operation signal output unit that outputs a signal to raise the working machine when the working tool is located above the loading target and the height of the working tool is lower than the height of the loading target during automatic control to move the working tool from above the loading target to the side of the loading target.

According to the above aspect, the loading machine control device can prevent the bucket from contacting the inner wall of the box body to be loaded during automatic control of the loading machine.

1 is a schematic diagram showing a configuration of a loading machine according to a first embodiment. FIG. FIG. 2 is a diagram showing the internal configuration of a driver's cab according to the first embodiment. FIG. 2 is a schematic block diagram showing the configuration of a control device according to the first embodiment. 5A to 5C are diagrams illustrating an example of a movement of the loading machine in a first turning according to the first embodiment. 8A to 8C are diagrams illustrating an example of a movement of the loading machine in a second turning according to the first embodiment. 5A to 5C are diagrams illustrating an example of the movement of the loading machine during a dump operation according to the first embodiment. 5 is a flowchart showing a first turning control by the control device according to the first embodiment. 5 is a flowchart showing a second turning control by the control device according to the first embodiment.

First Embodiment
Hereinafter, the embodiments will be described in detail with reference to the drawings.

Configuration of the loading machine 100
FIG. 1 is a schematic diagram showing the configuration of a loading machine 100 according to the first embodiment.
The loading machine 100 operates at a construction site, excavates a construction object such as soil and sand, and loads the excavated soil and sand as cargo 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 either 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 rotating body 120, a work machine 130, and a cab 140. Examples of the loading object T include a dump truck and a hopper.

The running body 110 supports the loading machine 100 so that the loading machine 100 can run. The running body 110 includes two endless tracks 111 provided on the left and right sides, and two travel motors 112 for driving each of the endless tracks 111. The running body 110 is an example of a support portion.
The rotating body 120 is supported by the running body 110 so as to be capable of rotating about a rotation center.
The work machine 130 is hydraulically driven and supported on the front part of the revolving body 120 so as to be drivable in the vertical direction.
The operator's cab 140 is a space where an operator rides in and operates the loading machine 100. The operator's cab 140 is provided at the left front part of the rotating body 120.
Here, the portion of the rotating body 120 to which the work machine 130 is attached is referred to as the front portion. Furthermore, with respect to the rotating body 120, the portion opposite the front portion is referred to as the rear portion, the left portion as the left portion, and the right portion as the right portion.

Configuration of the rotating body 120
The rotating body 120 is equipped with an engine 121, a hydraulic pump 122, a control valve 123, and a rotating 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 via a control valve 123 to each actuator (the boom cylinder 131C, the arm cylinder 132C, the bucket cylinder 133C, the travel motor 112, and the swing motor 124).
The control valve 123 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 122 .
The swing motor 124 is driven by hydraulic oil supplied from a hydraulic pump 122 via a control valve 123 to swing the swing body 120 .

Configuration of the work machine 130
The work machine 130 includes a boom 131, an arm 132, a bucket 133 as a work tool, a boom cylinder 131C, an arm cylinder 132C, and a bucket cylinder 133C. Other examples of the work tool include end attachments such as a clam bucket, a tilt bucket, a tilt rotate bucket, a grapple, and a lifting magnet.

The base end of the boom 131 is rotatably attached to the revolving body 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 body 120, but the present invention is not limited to this. The boom 131 may be attached offset in the left-right direction. In this case, the center of rotation of the revolving body 120 is not located on the operating plane of the work machine 130.
The arm 132 connects the boom 131 and the bucket 133. A base end of the arm 132 is rotatably attached to a tip end of the boom 131 via an arm pin.
The bucket 133 is rotatably attached to the tip of the arm 132 via a pin. Members supporting the bucket 133 include the boom 131 and the arm 132. The bucket 133 functions as a container for storing excavated soil and sand. The bucket 133 is attached so that its opening faces the rotating body 120 (rear). In other words, the loading machine 100, which is a backhoe excavator, performs excavation by pulling the bucket 133 to the front side of the rotating body 120.

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 rotating body 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.

Configuration of the operator's cab 140
FIG. 2 is a diagram showing the internal configuration of the operator's 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 driver's cab 140. The operation terminal 142 is provided near the driver's seat 141, and is a user interface with the control device 160 described below. The operation terminal 142 is a display device constituted by, for example, 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 of an engine water temperature gauge, a fuel gauge, and the like. The operation terminal 142 may also be equipped with a display unit such as an LCD. The touch panel is an example of a display unit.

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

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.

The left operating lever 143LO is an operating mechanism for rotating the rotating body 120 and performing the excavation/dumping operation of the arm 132. Specifically, when the operator of the loading machine 100 tilts the left operating lever 143LO forward, the arm 132 performs the dumping operation. When the operator of the loading machine 100 tilts the left operating lever 143LO backward, the arm 132 performs the excavation operation. When the operator of the loading machine 100 tilts the left operating lever 143LO to the right, the rotating body 120 rotates to the right. When the operator of the loading machine 100 tilts the left operating lever 143LO to the left, the rotating body 120 rotates to the left. Note that in other embodiments, when the left operating lever 143LO is tilted forward or backward, the rotating body 120 rotates to the right or left, and when the left operating lever 143LO is tilted left or right, the arm 132 performs the excavation operation or dumping operation.

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 backward, 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. In other embodiments, when the right operating lever 143RO is tilted forward/backward, the bucket 133 is dumped or excavated, and when the right operating lever 143RO is tilted left/right, the boom 131 is raised or lowered.

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 pivoted to the left foot pedal 143LF and configured so that the tilt of the left travel lever 143LT and the pressing down of the left foot pedal 143LF are linked. The right travel lever 143RT is pivoted to the right foot pedal 143RF and configured so that the tilt of the right travel lever 143RT and the pressing down of the right foot pedal 143RF are linked.

The left foot pedal 143LF and the left travel lever 143LT correspond to the rotational drive of the left track of the travelling 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 track 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 track rotates in the reverse direction.

The right foot pedal 143RF and right travel lever 143RT correspond to the rotational drive of the right track of the travelling 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 track 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 track rotates in the reverse direction.

The start switch 143SW is provided, for example, on the handle portion of the left operating 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 pressed, 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 automatic control is a control in which the loading machine 100 autonomously controls the driving of the work machine 130 and the rotating body 120 to realize a predetermined operation. The automatic control in the first embodiment 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 on the side of the loading target T by excavation of the excavation target, and the boom 131 is raised while rotating to a direction facing the loading target T, and a second rotation, which is a series of operations in which the bucket 133 is positioned on top of the loading target T by loading, and the boom 131 is lowered while rotating to a predetermined direction. The side of the loading target T refers to the outside of a loading platform such as a vessel on which a load is loaded. Note that the automatic control in other embodiments may perform only the second rotation. In the first embodiment, the target orientation of the rotating body 120 and the target attitude of the bucket 133 in the first rotation and the second rotation are respectively predetermined orientations and attitudes. Note that the excavation target is usually located lower than the height of the loading target T. Therefore, during the first and second turns, the loading machine 100 controls the driving of the work machine 130 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.
Each time the start switch 143SW is pressed, the automatic control that is executed is switched between the first rotation and the second rotation. In another embodiment, the operation device 143 may be provided with two start switches 143SW, each of which may be assigned to the first rotation and the second rotation.

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

The position and orientation calculator 151 calculates the position of the revolving body 120 and the orientation in which the revolving body 120 faces. The position and orientation calculator 151 includes two receivers that receive positioning signals from artificial satellites that constitute the GNSS. The two receivers are installed at different positions on the revolving body 120. The position and orientation calculator 151 detects the position of a representative point of the revolving body 120 in the site coordinate system (the origin of the excavator coordinate system) based on the positioning signals received by the receivers.
The position and orientation calculator 151 uses the positioning signals received by the two receivers to calculate the orientation of the rotating body 120 as the relationship between the installation position of one receiver and the installation position of the other receiver. The orientation of the rotating body 120 is a direction perpendicular to the front of the rotating body 120. The orientation of the rotating body 120 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 machine 130.

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

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 a relative angle of the boom 131 with respect to the rotating body 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 a 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 a relative angle of the bucket 133 with respect to the arm 132.
The loading machine 100 according to the first embodiment specifies the angle of each link component of the work machine 130 using the boom stroke sensor 153, the arm stroke sensor 154, and the bucket stroke sensor 155, but this is not limited to the above in other embodiments. For example, in other embodiments, instead of the stroke sensor, a potentiometer that detects the relative rotation angle of the link component may be provided, or an inclination sensor that detects the ground angle of each link component may be provided.

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 a 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 machine 130, the revolving body 120, and the traveling body 110 by outputting the received operation signal or an operation signal generated for automatic control to the control valve 123. Hereinafter, the operation signal received from the operation device 143 is also referred to as a manual operation signal, and the operation signal generated for automatic control is also referred to as an automatic operation signal. Note that the automatic operation signal is composed of an operation signal that drives the revolving body 120 and the work machine 130, and does not include an operation signal that drives the traveling body 110. When a manual operation signal by an operator is received during automatic control, the control device 160 may stop the automatic control.

The control device 160 is a computer that includes 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, expands it in the main memory 630, and executes processing according to the program.

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

By executing the 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.

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 rotating unit 120 by integrating the angular velocity of the rotating unit 120 measured by the inclination measuring device 152.

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

The work machine position identification 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 rotating body 120, based on the measurement data acquired by the measurement data acquisition 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.

The work machine position identification 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 identification unit 613 determines the vertical and horizontal components of the length of the arm 132. The work machine position identification unit 613 identifies the position of the tip P of the arm 132 as 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 components and the sum of the horizontal components of the lengths of the boom 131 and the arm 132. The work machine position identification unit 613 also 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 machine position identification unit 613 calculates the positions of each of a plurality of points on the outer shell of the bucket 133 based on the inclination angle of the bucket 133, and identifies the point with the lowest height among the plurality of points as the lowest point Q. Also, for example, the work machine position identification unit 613 may determine the lowest point Q as a point obtained by offsetting the distance between the bucket pin and the point of the bucket 133 that is farthest from the bucket pin downward in the height direction from the bucket pin. Also, for example, the work machine position identification unit 613 may determine the lowest point Q as a point obtained by offsetting the maximum bucket movable range amount downward in the height direction from the bucket pin. Also, the work machine position identification unit 613 may determine the lowest point Q as a point obtained by offsetting a height with a margin from the height identified above, taking into account control error and measurement error.

Before executing automatic control, the reference specifying unit 614 receives teaching of an excavation preparation position, an interference avoidance position, and a loading position of the bucket 133 from the operator as reference points for automatic control. The teaching is performed, for example, in the following procedure.
The reference specifying unit 614 displays an instruction to move the bucket 133 to the excavation preparation position on the operation terminal 142. The operator operates the operation device 143 to move the bucket 133 to the excavation preparation position, and inputs completion of the movement to the excavation preparation position to the operation terminal 142. The reference specifying unit 614 sets the attitude of the work machine 130 specified by the work machine position specifying unit 613 as the target attitude for the second rotation, sets the position of the tip P of the arm 132 as the target position for the second rotation, and records in the storage 650 the direction in which the rotating body 120 faces as the target direction for the second rotation.
Next, the reference specification unit 614 displays on the operation terminal 142 an instruction to move the blade tip of the bucket 133 to an interference avoidance position that has the height of the upper end of the vessel wall of the loading target T and is a position where the work machine 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 wall, front wall, and rear wall of the vessel. The operator operates the operation device 143 to move the blade tip of the bucket 133 to the interference avoidance position and inputs the completion of the movement to the interference avoidance position to the operation terminal 142. The interference avoidance positions are input for both the right end and the left end of the loading target T. This allows the reference specification unit 614 to specify the range of the loading platform of the loading target T. The height of the interference avoidance position may be offset upward by a height with a margin taking into account control errors and measurement errors.
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 rotating body 120 as the interference avoidance orientation in the storage 650. The wall height Ht is an example of the height of the loading target T.
Next, the reference specification unit 614 displays an instruction to move the bucket 133 to a loading position above the loading target T on the operation terminal 142. The operator operates the operation device 143 to move the bucket 133 to the loading position, and inputs the completion of the movement to the loading position to the operation terminal 142. The reference specification unit 614 records in the storage 650 the attitude of the working machine 130 as the target attitude of the first rotation, the position of the tip P of the arm 132 as the target position of the first rotation, and the direction in which the rotating body 120 faces identified by the working machine position specification unit 613 as the target direction of the first rotation. In addition, the height of the lowest point Q of the bucket 133 identified at the loading position may be the wall height Ht. In addition, 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, and may be the height of the highest point of the entire loading target T.

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

When the operation signal input unit 612 receives an automatic control instruction signal, the movement control unit 616 generates an automatic operation signal that realizes automatic control. When the automatic control instruction signal is input, the automatic control unit 616 executes an automatic control that realizes a first rotation that moves the bucket 133 to a loading position, or an automatic control that realizes a second rotation that moves the bucket 133 to an excavation preparation position. The movement control unit 616 determines whether to execute the first rotation or the second rotation in the automatic control depending 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 loading platform, the movement control unit 616 executes the first rotation, and if the bucket 133 is within the range of the loading target T's loading platform, the movement control unit 616 executes the second rotation. At this time, the movement control unit 616 controls the rotating body 120 and the working machine 130 so that the loading target T and the working machine 130 do not come into contact with each other, based on the wall height Ht and the interference avoidance angle stored in the storage 650.

Specifically, the movement control unit 616 realizes the combined operation of the rotating body 120 and the working machine 130 in the first rotation before the first interference avoidance angle θ1 ( FIG. 4 ) is reached. In the first rotation, if the height of the bucket 133 does not reach the height of the loading position before the rotation angle of the rotating body 120 reaches the first interference avoidance angle θ1 ( FIG. 4 ), the movement control unit 616 does not generate a rotation operation signal for the rotating body 120, and generates only an operation signal for the working machine 130. On the other hand, if the height of the bucket 133 reaches the height of the loading position before the rotation angle due to the rotation reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the working machine 130, thereby realizing the combined operation of the rotating body 120 and the working machine 130. After the height of the bucket 133 reaches the height of the loading position at the first interference avoidance angle θ1 ( FIG. 4 ), the movement control unit 616 rotates the rotating body 120 without moving the working machine 130.
Furthermore, in the second rotation in the opposite direction to the first rotation, the movement control unit 616 controls so that the lowest point of the bucket 133 does not drop until the rotation angle of the rotating body 120 reaches the second interference avoidance angle θ2 ( FIG. 5 ). The control to prevent the lowest point from dropping may be control to rotate the rotating body 120 without moving the work machine 130 and maintain the height of the lowest point, or 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. After the rotation angle reaches the second interference avoidance angle θ2, the movement control unit 616 generates a rotation operation signal for the rotating body 120 and an operation signal for the work machine 130, thereby realizing a combined operation of the rotating body 120 and the work machine 130. However, when the movement control unit 616 receives input of an automatic control instruction signal during the second rotation, if the height of the lowest point of the bucket 133 is lower than the wall height Ht of the loading object T, the movement control unit 616 moves the bucket 133 upward before rotating the rotating body 120.

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.

<<Automatic control operation>>
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 turning according to the first embodiment. Fig. 5 is a diagram showing an example of the movement of the loading machine 100 during a second turning according to the first embodiment.

When automatic control for the first rotation is started, as shown in FIG. 4, the control device 160 first starts driving the work machine 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 rotation is a loading position above the loading target T. After a delay, the control device 160 starts rotating the rotating body 120. The control device 160 adjusts the rotation start timing so that the posture of the work machine 130 becomes the target posture for the first rotation before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1. Note that if the posture of the work machine 130 becomes the target posture for the first rotation before the rotation angle of the rotating body 120 matches the first interference avoidance angle θ1, 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 rotation of the rotating body 120 will not cause the work machine 130 to come into contact with the loading target T. In addition, if the working machine 130 is driven simultaneously with the rotation, and the posture of the working machine 130 becomes the target posture for the first rotation before the rotation angle coincides with the first interference avoidance angle θ1, the control device 160 may start driving and rotating the working machine 130 simultaneously. After that, when the bucket 133 reaches the loading position, the automatic control ends.

Then, the operator performs a dump operation by manually rotating the bucket 133 in the dump direction. FIG. 6 is a diagram showing an example of the movement of the loading machine 100 during the dump operation according to the first embodiment. In a manual dump operation, the operator may load the load at a low position to reduce the impact on the loading object T. The operator may also operate the loading machine 100 to level the load loaded on a bed such as a vessel. At this time, the lowest point Q of the bucket 133 may be lower than the wall of the loading object T as shown in FIG. 6. Therefore, if the control device 160 continues to rotate the loading machine 100 in this state, the bucket 133 will come into contact with the inner wall of the loading object T.

When automatic control for the second rotation is initiated, the control device 160 determines whether the lowest point of the bucket 133 is higher than the wall of the loading target T. As shown in FIG. 5, if the lowest point Q of the bucket 133 is lower than the wall height Ht, the boom 131 is raised. When the lowest point Q of the bucket 133 becomes higher than the wall height Ht, the control device 160 starts rotating the rotating body 120. The control device 160 rotates the rotating body 120 without moving the work implement 130 until the rotation angle of the rotating body 120 exceeds the second interference avoidance angle θ2, thereby maintaining the height of the lowest point of the bucket 133. Note that in the first embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 raises only the work implement 130 and does not rotate the rotating body 120, but this is not limited to this in other embodiments. For example, in another embodiment, when the lowest point Q of the bucket 133 is lower than the wall height Ht, the control device 160 may raise the work machine 130 while rotating the rotating body 120 at a speed such that the bucket 133 does not come into contact with the wall of the loading target T.

When the rotation angle of the revolving body 120 exceeds the second interference avoidance angle θ2, the control device 160 drives the boom 131, the arm 132, and the bucket 133. At this time, the control device 160 may drive all of the boom 131, the arm 132, and the bucket 133, or may drive a part of the boom 131, the arm 132, and the bucket 133, depending on the relationship between the posture at the start of the rotation and the target posture. When the rotation angle of the revolving body 120 reaches the target rotation angle θ0, the control device 160 ends the drive of the revolving body 120. Also, when the posture of the working machine 130 becomes the target posture at the start of excavation, the control device 160 ends the drive of the working machine 130. In the first embodiment, the control device 160 rotates the revolving body 120 without moving the working machine 130 until the rotation angle of the revolving body 120 exceeds the second interference avoidance angle θ2 in the second rotation, but is not limited to this. For example, the control device 160 according to the other embodiment may rotate the rotating body 120 while moving the work machine 130 so as not to change the height of the lowest point of the bucket 133. 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 machine 130 to such an extent that the height of the lowest point of the bucket 133 does not fall below the wall height Ht.
4 and 5 show an example in which the positional relationship between the excavation position and the loading target T is about 90 degrees around the rotating body 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 about 180 degrees around the rotating body 120.

Operation of the control device 160
Fig. 7 is a flowchart showing a first turning control by the control device 160 according to the first embodiment. Fig. 8 is a flowchart showing a second turning control by the control device 160 according to the first embodiment.
When the operator presses 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 execute the first rotation or the second rotation based on whether the bucket 133 is within a range above the bed of the loading target T in a plan view from above.

When executing the first rotation, the control device 160 executes the first rotation control shown in FIG. 7. 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 rotating body 120 from the storage 650 (step S2). The angle identification unit 615 identifies the target rotation angle θ0 and the first interference avoidance angle θ1 based on the orientation of the rotating body 120 identified in step S1 and the target orientation and interference avoidance orientation read in step S2 (step S3).

Next, the measurement data acquisition unit 611 acquires measurement data on the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machine 100, and the work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S4). 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 (step S5).

The movement control unit 616 generates an automatic operation signal for moving the bucket 133 to above the loading target T, based on the target orientation, target posture, and wall height Ht read out in step S2, and the first interference avoidance angle θ1 specified in step S3. That is, the movement processing unit 1112 generates an automatic operation signal so that the lowest point Q of the bucket 133 reaches the loading position represented by the target orientation and target posture from the position of the lowest point Q at the start of the first swing control, via the interference avoidance position represented by the wall height Ht and the first interference avoidance angle θ1. At this time, the movement control unit 616 generates an automatic operation signal for the bucket 133 so that the ground angle of the bucket 133 does not change even if the boom 131 and the arm 132 are driven.
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 machine 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 machine 130 is similar to the target posture when 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 machine 130 is not close to the target posture (step S6: NO), the movement control unit 616 generates an automatic operation signal to move the boom 131 and the arm 132 closer to the target posture (step S7). At this time, the movement control unit 616 generates the automatic operation signal based on the position and speed of the boom 131 and the arm 132 identified from the measurement data acquired in step S4.

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 of the boom 131 and the arm 132, and generates an automatic operation signal that drives the bucket 133 at a speed equal to 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.

The movement control unit 616 determines whether the work machine 130 is rotating (step S9). For example, the movement control unit 616 determines that the work machine 130 is rotating when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed. If the work machine 130 is not rotating (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 the arm 132 identified in step S7 (step S10). In addition, the movement control unit 616 calculates the arrival time until the rotation angle reaches the first interference avoidance angle θ1 identified in step S3 when the rotating body 120 starts rotating (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). In other words, the movement control unit 616 determines whether the work machine 130 reaches the target posture when the rotation angle reaches the first interference avoidance angle θ1.

If the completion time is equal to or greater than the arrival time (step S12: NO), i.e., if the work machine 130 does not reach the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 does not generate a rotation operation signal for the rotating body 120. On the other hand, if the completion time is less than the arrival time (step S12: YES), i.e., if the work machine 130 reaches the target posture before the rotation angle reaches the first interference avoidance angle θ1, the movement control unit 616 generates a rotation operation signal for the rotating body 120 (step S13). This allows the control device 160 to prevent the work machine 130 from coming into contact with the loading target T due to rotating while the height of the work machine 130 is still low.

The operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S14). This drives the loading machine 100. The control device 160 then returns the process to step S4 and continues control.

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

On the other hand, if it is determined that the rotation angle will reach the target rotation angle due to inertia (step S15: YES), it is determined whether the rotation angle has reached the target rotation angle and the attitude of the work machine 130 has become the target attitude (step S16). If the rotation angle has reached the target rotation 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.

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

FIG. 8 is a flowchart showing the second turning control of the control device 160 according to the first embodiment.
When the operator presses the start switch 143SW, the operation signal input unit 612 of the control device 160 receives an input of an automatic control instruction signal.

When executing the second rotation, the control device 160 executes the second rotation control shown in FIG. 8. 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 rotating body 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 identifies the target rotation angle θ0 and the second interference avoidance angle θ2 based on the orientation of the rotating body 120 identified in step S21 and the target orientation and interference avoidance orientation read in step S22 (step S23).

Next, the measurement data acquisition unit 611 acquires measurement data on the position and orientation, tilt angle, rotation speed, and cylinder length of each cylinder of the loading machine 100, and the work machine position identification unit 613 identifies the posture of the work machine 130 based on the measurement data (step S24). 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 (step S25).

The movement control unit 616 determines whether the work machine 130 is rotating (step S26). For example, the movement control unit 616 determines that the work machine 130 is rotating when the rotation speed of the rotating body 120 is equal to or higher than a predetermined speed. If the work machine 130 is not rotating (step S26: NO), the movement control unit 616 determines whether the height of the lowest point Q identified in step S25 is higher than the wall height Ht read in step S22 (step S27). If the height of the lowest point Q is lower than the wall height Ht (step S27: NO), the movement control unit 616 generates an automatic operation signal to raise the boom 131 (step S27). Note that in other embodiments, an automatic operation signal to raise the arm 132 or the bucket 133 instead of the boom 131 may be generated, or a combination of these may be operated. In this case, the movement control unit 616 does not generate an automatic operation signal to rotate the rotating body 120. The control device 160 then returns the process to step S24.

On the other hand, if the height of the lowest point Q is higher than the wall height Ht (step S27: YES), the movement control unit 616 generates an automatic operation signal to rotate the rotating body 120 (step S29). The automatic operation signal is an operation signal to rotate the rotating body 120 from the inside to the outside of the loading target T in a plan view from above.

On the other hand, if the work machine 130 is rotating (step S26: YES), the movement control unit 616 determines whether or not the rotation angle of the work machine 130 will reach the target rotation angle by inertia when the rotation operation signal is stopped, based on the measurement data of the rotation speed of the work machine 130 identified in step S24 (step S30). If the rotation angle of the work machine 130 does not reach the target rotation angle by inertia (step S30: NO), the movement control unit 616 generates an automatic operation signal to rotate the rotating body 120 (step S29). If the rotation angle of the work machine 130 reaches the target rotation angle by inertia (step S30: YES), the movement control unit 616 does not generate an automatic operation signal to rotate the rotating body 120.

Next, the movement control unit 616 determines whether the rotation angle of the rotating body 120 from the start of automatic control to the current time is less than the second interference avoidance angle θ2 (step S31). If the rotation angle is less than the second interference avoidance angle θ2 (step S31: YES), the movement control unit 616 generates an operation signal (neutral signal) that maintains the attitude of the work machine 130.

In step S31, if the rotation angle is equal to or greater than the second interference avoidance angle θ2 (step S31: NO), the movement control unit 616 determines whether the attitude of the work implement 130 identified in step S24 is close to the target attitude identified in step S22 (step S32). If the attitude of the work implement 130 is not close to the target attitude (step S32: NO), the movement control unit 616 generates an automatic operation signal that moves the boom 131, arm 132, and bucket 133 closer to the target attitude (step S33). If the attitude of the work implement 130 is close to the target attitude (step S32: YES), the movement control unit 616 generates a neutral signal that maintains the attitude of the work implement 130.

Then, the operation signal output unit 617 outputs the generated automatic operation signal to the control valve 123 (step S34). The movement control unit 616 determines whether the rotation angle has reached the target rotation angle and the attitude of the work machine 130 has become the target attitude (step S35). If the rotation angle has not reached the target rotation angle or the attitude of the work machine 130 has not become the target attitude (step S35: NO), the control device 160 returns the process to step S24. On the other hand, if the rotation angle has reached the target rotation angle and the attitude of the work machine 130 has become the target attitude (step S35: YES), the automatic control process ends.

<Action and Effects>
In this way, when the automatic control for the second rotation in which the bucket 133 is moved from above the loading target T to the side of the loading target T is started, if the height of the lowest point of the bucket 133 is higher than the height of the wall of the loading target T, the control device 160 according to the first embodiment outputs an automatic operation signal for rotating the rotating body 120 from the inside to the outside of the loading target T in a plan view from above. On the other hand, if the height of the lowest point is lower than the height of the wall at the start of the automatic control, the control device 160 does not immediately output an automatic operation signal for rotating the rotating body 120 from the inside to the outside of the loading target T in a plan view from above. This makes it possible to prevent the bucket 133 from contacting the inner wall of the loading target T in the automatic control of the loading machine 100, even if the operator positions the bucket 133 inside the loading target T as shown in FIG. 6.

Furthermore, the control device 160 according to the first embodiment outputs an automatic operation signal to raise the work machine 130 if the height of the lowest point of the bucket 133 is lower than the height of the wall of the loading object T at the start of automatic control, and outputs an automatic operation signal to rotate the rotating body 120 from the inside to the outside of the loading object T after the height of the lowest point becomes higher than the height of the wall. Thereby, in the automatic control of the loading machine 100, the control device 160 can move the bucket 133 to the side of the loading object T without causing the bucket 133 to come into contact with the inner wall of the loading object T.
In other embodiments, without being limited to this, when the start switch 143SW is pressed, if the height of the lowest point at the start of automatic control is lower than the height of the wall, the second rotation may not be performed and an alert may be output to the operation terminal 142. The alert may be, for example, an alarm sound or a warning screen displayed on the display of the operation terminal 142. In this case, the operator who has confirmed the alert raises the bucket 133 and then presses the start switch 143SW again, whereby the second rotation is performed.

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 changes are possible. That is, in other embodiments, the order of the above-mentioned processes may be changed as appropriate. Also, some of the processes may be executed in parallel.

The control device 160 according to the embodiment described above may be configured by a single computer, or the configuration of the control device 160 may be divided and arranged among multiple computers, and the multiple computers may function as the control device 160 by working together. In this case, some of the computers constituting the control device 160 may be mounted inside the loading machine 100, and other computers may be provided outside the loading machine 100.

The target posture, target orientation, interference avoidance orientation, and wall height Ht in the above-described embodiment are recorded in storage 650 by teaching, but are not limited to this. For example, the loading machine 100 in other embodiments may be equipped with a three-dimensional measuring device such as a stereo camera or LiDar to recognize the position and shape of the loading target T, and identify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on this. In other words, the reference identification unit 614 may identify the target posture, target orientation, interference avoidance orientation, and wall height Ht based on the shape data of the loading target T. Also, 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 identified based on this and the known shape of the loading target T. In another embodiment, when the loading target T automatically travels by communication with the control device, the position and direction of the loading target T may be received from the control device, and the target posture, target orientation, interference avoidance orientation, and wall height Ht may be specified based on the position and direction of the loading target T 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 an input by an operator to the operation terminal 142. In addition, the loading machine 100 according to another embodiment may specify the target posture, target orientation, and interference avoidance orientation, and specify 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 by teaching, and specify the wall height Ht by an input by an operator. The operator may also input the model of the loading machine to specify the wall height, which is the height of the loading target. In other words, 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.

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 measuring device such as a stereo camera or LiDar, the posture of the work machine 130, in particular the height of the lowest point Q of the bucket 133, may be recognized based on the measurement data from the three-dimensional measuring device, and automatic control may be performed based on this.

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

The control device 160 according to the embodiment described above performs automatic control based on a comparison between the rotation angle and the interference avoidance angle, but 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 rotation direction of the rotating body 120 on the outer shape of the loading target T. For example, the control device 160 according to another embodiment may adjust the rotation start timing so that the bucket 133 is located in an area near the rearmost point in the rotation direction of the rotating body 120.
In another embodiment, the control device 160 may generate automatic control signals for each link component and the rotating body 120 so that the bucket 133 follows a predesignated trajectory. The trajectory may be determined, for example, by fitting to a predetermined curve function, or by teaching through manual operation. 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 body 120, or an operation signal.

The loading machine 100 according to the embodiment described above is operated directly by an operator in the cab 140, but is not limited to this. For example, the loading machine 100 according to other embodiments may be operated by remote control. That is, in other embodiments, an operation signal may be transmitted to the control device 160 by communication from an operating device 143 provided remotely. The control device 160 may be configured by a computer provided at a remote location, or may be configured by a control system in which functions are shared between computers provided at the loading machine 100 and the remote location.

The automatic control according to the embodiment described above executes a first rotation to move the bucket 133 from a position at the completion of excavation to a loading point, and a second rotation to move the bucket 133 to a position for starting the next excavation, but is not limited to this. For example, in another embodiment, the control device 160 may execute a fully automatic control to automatically execute a series of operations of the first rotation, earth removal, and second rotation. Also, for example, in another embodiment, the control device 160 may execute only the second rotation without executing the first rotation.
In addition, the automatic control according to the embodiment described above is triggered by the operator pressing the start switch 143SW, but is not limited to this. For example, in another embodiment, the control device 160 may autonomously determine the start timing of the automatic control and start the automatic control without pressing the start switch 143SW.

100... Loading machine 110... Running body 111... Caterpillar track 112... Running motor 120... Swing 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 direction Position 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 section 612...operation signal input section 613...working machine position identification section 614...reference identification section 615...angle identification section 616...movement control section 617...operation signal output section 630...main memory 650...storage 670...interface T...loading target

Claims (9)

1. A control device for a loading machine including a rotating body that rotates around a rotation center and a working machine attached to the rotating body having a working tool,
   A reference specification unit that specifies the height of a loading object;
   A work implement position identification unit that identifies a height of the work implement;
   and an operation signal output unit that outputs a signal to raise the working implement when the working implement is located above the loading target and the height of the working implement is lower than the height of the loading target during automatic control to move the working implement from above the loading target to the outside of the loading target.
2. The operation signal output unit is
   2. The control device for a loading machine according to claim 1, further comprising: an operation signal for rotating the rotating body toward the outside of the loading machine after the height of the working implement becomes higher than the height of the loading machine due to an operation signal for raising the working implement, the operation signal being outputted.
3. The operation signal output unit is
   3. The control device for a loading machine according to claim 1 or 2, further comprising: an operation signal for raising a member of the working machine that supports the working tool, as a signal for raising the working machine, when the height of the working tool is lower than the height of the loading machine.
4. The operation signal output unit is
   The control device for a loading machine according to claim 1 or 2, further comprising: an operation signal for rotating the rotating body toward the outside of the loading target when a height of the working implement is higher than a height of the loading machine, the operation signal being outputted.
5. The operation signal output unit is
   The control device for a loading machine according to claim 4, wherein when the height of the working implement is lower than the height of the loading machine, a signal for rotating the working implement is not output.
6. The control device for a loading machine according to claim 1 or 2, wherein the work implement position identifying unit identifies, as the height of the work implement, the height of a lowest point of the work implement or the height of a lowest point of an operating range of the work implement.
7. The loading machine control device according to claim 1 or 2, further comprising an input unit that receives an input of an instruction to start the automatic control from an operator.
8. A control method for a loading machine including a rotating body that rotates about a rotation center and a working machine attached to the rotating body having a working tool, comprising:
   Identifying a height of a loading object;
   determining a height of the work implement;
   and outputting a signal to raise the working implement when the working implement is located above the loading target and the height of the working implement is lower than the height of the loading target during automatic control to move the working implement from above the loading target to the outside of the loading target.
9. A remote control device that remotely controls a loading machine including a rotating body that rotates about a rotation center and a working machine attached to the rotating body having a working tool,
   A reference specification unit that specifies the height of a loading object;
   A work implement position identification unit that identifies a height of the work implement;
   and an operation signal output unit that outputs a signal to the loading machine to raise the working implement when the working implement is located above the loading target and the height of the working implement is lower than the height of the loading target during automatic control to move the working implement from above the loading target to the outside of the loading target.

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