Control device and control method for loading machine
AssigneeKomatsu Ltd.
InventorsKazuhiro Hatake, Yusuke Saigo
Life of this patent
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Abstract
A start angle determination unit determines a start angle which is an angle of a swing body at the start of loading of a loading machine. The movement control unit outputs an operation signal for driving the swing body until the angle of the swing body reaches the start angle after a bucket has reached a loading point above a loading target, and outputs an operation signal for driving the work equipment until a posture of the bucket with respect to the swing body reaches a preset target posture different from a posture of the bucket at the start of loading.
Claims9
A control device for a loading machine, the loading machine including a swing body configured to swing around a swing center, a support part supporting the swing body, and work equipment including a bucket and attached to the swing body, the control device comprising:
- a processor configured to:
- determine a start angle of the swing body for a start of an automatic loading control of the loading machine,
- start the automatic loading control in a state in which the work equipment excavates an object and the bucket holds an excavated part of the object,
- generate an operation signal for driving the swing body and the work equipment,
- output the operation signal for driving the swing body until an angle of the swing body reaches the start angle after the bucket has reached a loading point above a loading target, and
- based on the bucket being positioned at the loading point, output the operation signal for driving the work equipment until a posture of the bucket with respect to the swing body reaches a preset target posture different from an initial posture of the bucket at the start of the automatic loading control.
A control method for a loading machine, the loading machine including a swing body configured to swing around a swing center, a support part supporting the swing body, and work equipment including a bucket and attached to the swing body, the control method comprising:
- determining a start angle of the swing body for a start of an automatic loading control of the loading machine;
- starting the automatic loading control in a state in which the work equipment excavates an object and the bucket holds an excavated part of the object;
- outputting an operation signal for driving the swing body until an angle of the swing body reaches the start angle after the bucket has reached a loading point above a loading target;
- and
- based on the bucket being positioned at the loading point, outputting an operation signal for driving the work equipment until a posture of the bucket with respect to the swing body reaches a preset target posture that is different from an initial posture of the bucket at the start of loading.
Dependencies are inferred from the claim text.