Control device, loading machine, and control method to determine a target azimuth direction

A control device for controlling a loading machine including a swing body swingable around a swing center by hydraulic oil supplied from a hydraulic pump included in a hydraulic device, work equipment provided on the swing body, a posture measuring device configured to measure a posture of the swing body, and a depth detecting sensor that is provided in the swing body and configured to detect a depth of at least part of a surrounding of the swing body in a detection range, the posture measuring device including receivers configured to receive positioning signals and an inertial measurement sensor configured to measure an acceleration and an angular speed of the swing body, the control device comprising:

• a memory in which a program is loaded;
• and
• a processor configured to execute the program, the processor including, by executing the program,
• a posture information acquisition unit configured to acquire posture information indicating the posture measured by the posture measuring device;
• a detection information acquisition unit configured to acquire depth information indicating the depth detected by the depth detecting sensor;
• a target azimuth direction determination unit configured to determine a target azimuth direction in swing control based on the posture information and the depth information acquired when the swing body is stopped swinging;
• and
• an output unit configured to output, to the hydraulic device, a swing operation signal for swinging the swing body based on the target azimuth direction,
• the target azimuth direction determination unit being configured to determine an azimuth direction toward a loading target as the target azimuth direction based on the posture information and the depth information acquired while the work equipment performs excavation work on an excavation target.