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

A loading machine control method for moving a work tool on a loading machine, the loading machine including a swinging body that swings about a swing center, a traveling body that supports the swinging body, and work equipment that is composed of multiple link components including the work tool and that is attached to the swinging body, the loading machine control method comprising:

• moving the work tool from a position above a loading target to a goal position that is distanced from the loading target in a horizontal direction and that is lower than the loading target in a vertical direction perpendicular to the horizontal direction,
• wherein moving the work tool comprises:
• outputting an operation signal for swinging the swinging body until a portion of the swinging body to which the work equipment is attached faces the goal position;
• outputting an operation signal for upwardly actuating a first link component, which is one of the multiple link components, when the work tool is positioned above the loading target;
• outputting an operation signal for downwardly actuating a second link component, which is one of the multiple link components, when the work tool is positioned above the loading target, and
• outputting an operation signal for downwardly actuating the first link component and the second link component when the work tool is not positioned above the loading target.

A control system for a loading machine, the loading machine including a swinging body that swings about a swing center, a traveling body that supports the swinging body, and work equipment that is composed of multiple link components including a work tool and that is attached to the swinging body, the control system comprising:

• one or more computers at least partially provided outside the loading machine and configured to perform automated control for automatically moving the work tool from a position above a loading target to a goal position that is distanced from the loading target in a horizontal direction and that is lower than the loading target in a vertical direction perpendicular to the horizontal direction,
• wherein the one or more computers are configured to, during the automated control:
• output an operation signal for swinging the swinging body until a portion of the swinging body to which the work equipment is attached faces the goal position,
• output an operation signal for upwardly actuating a first link component, which is one of the multiple link components, when the work tool is positioned above the loading target,
• output an operation signal for downwardly actuating a second link component, which is one of the multiple link components, when the work tool is positioned above the loading target, and
• output an operation signal for downwardly actuating the first link component and the second link component when the work tool is not positioned above the loading target.