Patent ID: 11885096
Assignee: KOMATSU LTD.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 5:
6. A loading machine control method comprising:
acquiring measurement data of a measurement device mounted in a loading machine that has working equipment;
calculating, on the basis of the measurement data, a position of an upper end portion of a loading target to which an excavation object excavated by a bucket of the working equipment is loaded;
calculating position data of the bucket;
determining whether or not the upper end portion of the loading target and the bucket that are in the measurement data overlap each other; and
controlling the working equipment on the basis of the measured position of the upper end portion of the loading target when it is determined that the upper end portion of the loading target and the bucket that are in the measurement data do not overlap each other,
wherein the overlap is determined on the basis of relative positions of the measurement device, the upper end portion of the loading target, and the bucket,
wherein position data of the bucket is a position of a lower end portion of the bucket, and
wherein the position of the upper end portion of the loading target is calculated when an angle specified on the basis of the measurement device, the upper end portion of the loading target, and the lower end portion of the bucket is equal to or larger than a predetermined angle.