Work machine

Abstract

The present invention predicts a current operation mode and a next operation mode in accordance with a detection result of a state recognition sensor, and changes from the current operation mode to the next operation mode. A control mode indicating the operation control type of the work machine is switched from a manual operation mode in which the work device is operated in accordance with the operation of the operation device and an automatic operation mode in which the work device is operated regardless of the operation of the operation device to a control mode corresponding to the next operation mode. Operation control of the work machine is started. As a result, it is possible to more easily and accurately change the operation of the automatic operation in accordance with the condition of the work site, and it is possible to reduce operator fatigue while suppressing a decrease in productivity.

Description

Technical Field

[0001] The present invention relates to a working machine. Background Art

[0002] In recent years, in working machines such as excavators and bulldozers, a control system has been developed that intervenes in the operator's specific operations and semi-automatically performs the operation of the working machine, that is, a partially automatic operation function that automates a part of the operation. In addition, an automatic operation function has been developed that automates a series of operations of the working machine without the need for operator operation. In this way, the operator's burden can be reduced by reducing the amount of operation by the operator by setting a part or a series of operations of the working machine to automatic operation. On the other hand, there are many types of operations performed by the working machine, so it is expected that the types of operations that can be partially and automatically operated can be increased.

[0003] As a conventional technology related to a working machine having an automatic operation function, for example, Patent Document 1 describes an excavator having an automatic operation function and a teaching system thereof.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2021-50576 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In the above-mentioned prior art, in order to teach (instruct) a new operation to an excavator as an operating machine, the excavator is made to move once with the action that the operator wishes to teach, and the excavator stores the posture information of the excavator moving at this time in a time series, and the stored posture information is displayed as a teaching point on the mobile terminal, and the posture information of the mobile terminal can be edited. The excavator automatically operates according to the posture information edited on the mobile terminal. That is, since the teaching point can be changed on the mobile terminal, the operator does not need to operate the excavator again for teaching every time the operation is changed, which is expected to improve the working efficiency.

[0009] However, in actual work sites, working machines such as excavators must work in cooperation with other vehicles such as dump trucks without delay. Therefore, if, as shown in the above-mentioned prior art, the automatic operation action needs to be changed successively in accordance with the ever-changing conditions and terrain changes at the site, it is difficult to implement the cooperation between the excavator and other vehicles without delay. For example, due to the delay in the cooperation between the excavator and the dump truck, it is believed that the parking time of the dump truck increases and the overall productivity of the work site decreases. In addition, not limited to excavators, in working machines that perform various operations, it is expected to reduce the operator's workload and fatigue without causing a decrease in productivity.

[0010] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a working machine that can more easily and accurately change the action of automatic operation according to the conditions at the work site, can suppress the reduction in productivity and reduce the fatigue of the operator.

[0011] Means for solving problems

[0012] The present application includes multiple means for solving the above-mentioned problems. For example, a working device that moves in response to the operation of an operating device and a controller that controls the movement of the working device are provided. The working machine is characterized in that it is provided with a state recognition sensor that detects the state of the working device. The controller predicts the current movement mode and the next movement mode of the working machine based on a plurality of movement modes representing the types of pre-classified movements in the working machine according to the detection result of the state recognition sensor. When the working machine is in a state of transitioning from the current movement mode to the next movement mode, the control mode representing the type of movement control of the working machine is switched from a manual operation mode that causes the working device to move in response to the operation of the operating device and an automatic operation mode that causes the working device to move regardless of the operation of the operating device to a control mode corresponding to the next movement mode, and the movement control of the working machine is started.

[0013] Effects of the Invention

[0014] According to the present invention, the operation of the automatic operation can be changed more easily and accurately according to the situation at the work site, and the reduction in productivity can be suppressed and the fatigue of the operator can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view schematically showing the appearance of a hydraulic excavator shown as an example of a working machine.

[0016] Figure 2 This is a functional block diagram showing the processing contents of the vehicle body control device in the first embodiment.

[0017] Figure 3 It is a diagram showing an example of a setting screen of the preset information in the preset device.

[0018] Figure 4 This is a diagram showing an example of state transition information indicating the relationship between transition information of an operation mode and a state transition condition.

[0019] Figure 5 This is a diagram showing an example of state transition conditions.

[0020] Figure 6 A diagram showing a display example of a display device.

[0021] Figure 7 : is a flowchart showing the processing contents of the vehicle body control device.

[0022] Figure 8 This is a functional block diagram showing the processing contents of the vehicle body control device in the second embodiment. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that, in the embodiments of the present invention, a hydraulic excavator is exemplified and described as a working machine, but the present invention can also be applied to other working machines including a working device such as a wheel loader or a crane.

[0024] <First embodiment>

[0025] Reference Figure 1 to Figure 7 The first embodiment of the present invention will be described in detail.

[0026] Figure 1 : is a side view schematically showing the appearance of a hydraulic excavator shown as an example of a working machine according to the present embodiment. Figure 2 It is a functional block diagram showing the processing contents of the vehicle body control device.

[0027] exist Figure 1 A large hydraulic excavator 1 (working machine) includes a lower traveling structure 2 , an upper revolving structure 3 rotatably provided on the upper part of the lower traveling structure 2 , and a working device 4 provided in front of the upper revolving structure 3 .

[0028] The lower travel structure 2 is configured to be able to be moved by a pair of left and right travel hydraulic motors 2a (in Figure 1 Only one is shown in the figure).

[0029] The upper revolving body 3 is driven to rotate by a revolving hydraulic motor (not shown) as a hydraulic actuator. Although not shown, a prime mover such as a diesel engine, a hydraulic pump driven by the prime mover, and a control valve for controlling the flow and direction of the pressure oil discharged from the hydraulic pump and supplied to each hydraulic actuator (travel hydraulic motor 2a, revolving hydraulic motor, boom cylinder 14a, arm cylinder 14b, bucket cylinder 14c, etc.) are arranged inside the upper revolving body 3. In addition, as a controller for controlling the action of the hydraulic excavator 1, a body control device 6 (controller) for generating an operation signal for controlling the action of each hydraulic actuator corresponding to the operation of an operating device such as an operating lever 7a and a switch 7b, and a hydraulic circuit control device 5 for generating a control signal for controlling a control valve, etc. corresponding to the operation signal from the body control device 6 are provided on the upper revolving body 3.

[0030] The working device 4 is roughly composed of a boom 4a connected to the front part of the upper rotating body 3 so as to be rotatable in the up-down direction, an arm 4b connected to the front end of the boom 4a so as to be rotatable in the up-down direction, a bucket 4c connected to the front end of the arm 4b so as to be rotatable in the up-down direction, a boom cylinder 14a for driving the boom 4a to rotate relative to the upper rotating body 3, an arm cylinder 14b for driving the arm 4b to rotate relative to the boom 4a, and a bucket cylinder 14c for driving the bucket to rotate relative to the arm 4b.

[0031] The state recognition sensor 9 is a sensor for recognizing the posture and surrounding conditions of each part of the hydraulic excavator 1. Although not shown in the figure, the state recognition sensor 9 includes, for example, a boom angle sensor for detecting the rotation angle of the boom 4a, an arm angle sensor for detecting the rotation angle of the arm 4b, a bucket angle sensor for detecting the rotation angle of the bucket 4c, an inclination angle sensor for detecting the inclination angle of the upper revolving body 3 relative to a reference plane such as a horizontal plane, a rotation angle sensor for detecting the relative angle, i.e., the rotation angle, of the upper revolving body 3 relative to the lower traveling body 2, and a 3D-LiDAR (Light Detection And Ranging) as an external recognition sensor.

[0032] A cab 3a in which a co-operator rides to operate the hydraulic excavator 1 is provided beside the working device in front of the upper swing body 3. An operating lever 7a is provided in the cab 3a as an operating device for operating each hydraulic actuator. The operating lever 7a is, for example, a left and right travel lever for operating the left and right travel hydraulic motors, a work operating lever for operating each hydraulic actuator 14a, 14b, 14c of the working device 4, and a swing hydraulic motor. In addition, a switch 7b (horn switch) for sounding a horn provided on the hydraulic excavator 1 is provided in the cab 3a.

[0033] exist Figure 2 In the embodiment, the vehicle body control device 6 includes a manual operation unit 6 a , an automatic control command generation unit 6 b (an assist control unit 6 c and an automatic operation unit 6 d ), a control mode selection unit 6 e , and an operation mode prediction unit 10 .

[0034] The manual operation unit 6 a receives a signal (operation signal) indicating the amount of operation and the direction of operation of the operation lever 7 a by the operator, and generates a control signal for driving the hydraulic excavator 1 in accordance with the received operation signal.

[0035] The auxiliary control unit 6c generates a control signal for auxiliary control of the operation of the hydraulic excavator 1 by the operator based on the operation signal from the operating lever 7a, the operation signal from the switch 5b (horn switch), and the information from the state recognition sensor 9. As the auxiliary control, for example, a control signal is generated to automatically perform at least one of the two operations of rotating the upper slewing body 3 and lifting the working device 4 required for the loading operation of a dump truck as a transport vehicle for transporting sand and soil, and a control signal corresponding to the operation signal is sometimes generated for the other operation. That is, for example, in the auxiliary control of the loading operation, when the lifting operation of the working device 4 is automatically performed, the operator only needs to operate the operating lever 7a related to the rotating operation to perform the lifting operation of the working device 4 to the extent required for the loading operation of the dump truck, and the loading operation can be performed semi-automatically.

[0036] The automatic operation unit 6d generates a control signal for driving the hydraulic excavator 1 without an operator's operation based on the operation signal of the switch 5b and the information from the state recognition sensor 9. That is, in the automatic operation unit 6d, the control signal for automatic operation is generated according to the state of the hydraulic excavator 1 and its surrounding conditions recognized by the state recognition sensor 9 and the operation signal of the switch 5b.

[0037] The control mode selection unit 6e selects a control signal generated by any one of the manual operation unit 6a, the auxiliary control unit 6c, and the automatic operation unit 6d to be output to the hydraulic circuit control device 5 based on the information of the control mode from the prediction unit 10e (described later) of the action mode prediction unit 10, and outputs it to the hydraulic circuit control device 5. For example, when the information of the control mode from the prediction unit 10e indicates the "manual operation mode", the control mode selection unit 6e selects the control signal generated by the manual operation unit 6a and outputs it to the hydraulic circuit control device 5. In addition, when the information of the control mode from the prediction unit 10e indicates the "assist mode", the control mode selection unit 6e selects the control signal generated by the auxiliary control unit 6c and outputs it to the hydraulic circuit control device 5. In addition, when the information of the control mode from the prediction unit 10e indicates the "automatic operation mode", the control mode selection unit 6e selects the control signal generated by the automatic operation unit 6d and outputs it to the hydraulic circuit control device 5.

[0038] The hydraulic circuit control device 5 generates a control signal for controlling the control valve and the like in accordance with the operation signal from the vehicle body control device 6. For example, in the control mode selection unit 6e, when the operation signal generated by the manual operation unit 6a is selected, a control signal is generated so that each hydraulic actuator becomes an operation corresponding to the operation (operation amount and operation direction) of the operation lever 7a performed by the operator. In addition, in the control mode selection unit 6e, when the operation signal generated by the auxiliary control unit 6c is selected, a control signal is generated so that at least a part of each hydraulic actuator is operated in accordance with the operation (operation amount and operation direction) of the operation lever 7a performed by the operator, so that other hydraulic actuators are automatically operated (that is, auxiliary control is performed). In addition, in the control mode selection unit 6e, when the operation signal generated by the automatic operation unit 6d is selected, a control signal is generated so that each hydraulic actuator is operated without the operator's operation (that is, automatic operation is performed).

[0039] The motion mode prediction unit 10 includes a motion mode storage unit 10a, a motion mode transition generation unit 10b, a transition condition generation unit 10c, a current motion mode estimation unit 10d, and a prediction unit 10e.

[0040] The operation mode storage unit 10 a receives and stores the preset information set by the preset device 8 .

[0041] Figure 3 It is a diagram showing an example of a setting screen of the preset information in the preset device.

[0042] The preset device 8 is, for example, a touch panel type display device, and the preset information can be set by operating the setting screen 11 displayed on the screen.

[0043] exist Figure 3 In the setting screen 11, the action mode is shown in the vertical direction, and the control mode is shown in the horizontal direction.

[0044] The operation mode indicates the type of operation in the hydraulic excavator 1 (working machine), and defines an excavation operation mode (excavation), a loading operation mode (loading), a soil discharge operation mode (dumping), a return operation mode (returning), a travel operation mode (travel), a cooperative operation mode, and the like.

[0045] The excavation operation mode is an operation mode in which the working device 4 performs an excavation operation to excavate the sand and soil as the object at the excavation position. In addition, the loading operation mode is an operation mode in which the working device 4 moves the sand and soil excavated by the excavation operation to a predetermined soil placement position for a dump truck (transportation vehicle) that transports the sand and soil as the object. That is, the hydraulic excavator 1 excavates the soil and moves it to the dump truck through the excavation operation and the loading operation.

[0046] The soil discharge action mode is an action mode in which soil is discharged from the working device 4 to a dump truck (transport vehicle) at the soil discharge position. In addition, the return action mode is an action mode in which the working device 4 returns from the soil discharge position to the excavation position. That is, soil is thrown onto the bucket of the dump truck through the soil discharge action and the return action and then returned to the excavation position again.

[0047] The travel operation mode is a work mode in which the position of the hydraulic excavator 1 (working machine) is moved or changed by driving the travel hydraulic motor 2 a (travel device) of the lower travel structure 2 .

[0048] The cooperative operation mode is an operation mode in which the hydraulic excavator 1 (working machine) and the dump truck (transport vehicle) cooperate with each other. The cooperation between the hydraulic excavator 1 and the dump truck is an operation in which, for example, the switch 5b sounds a horn to give a warning to the operator of the dump truck.

[0049] The control mode indicates the type of motion control of the hydraulic excavator 1 (working machine), and defines a manual operation mode, an assist mode, an automatic operation mode, and the like.

[0050] The manual operation mode is a control mode in which the working device 4 and the like are operated in accordance with the operation (operation amount, operation direction) of the operating lever 7a (operating device). In addition, the assist mode is a control mode in which the working device 4 and the like are operated semi-automatically by intervening in the operation of the working device 4 in accordance with the operation (operation amount, operation direction) of the operating lever 7a (operating device). In addition, the automatic operation mode is a control mode in which the working device 4 and the like are operated regardless of the operation of the operating lever 7a (operating device).

[0051] In the setting screen 11, any one of three control modes can be selectively set for each operation mode. Figure 3 In the setting screen 11, the excavation action mode is set to the manual operation mode, the loading action mode, the earth discharge action mode, the travel action mode and the cooperative action mode are set to the automatic operation mode, and the return action mode is set to the assist mode.

[0052] In addition, the presetting device 8 also sets the operation information that triggers the control execution in the automatic control command generating unit 6b. As the operation information that becomes the trigger, for example, information that the switch 5b is operated (pressed) in the automatic operation mode (control mode), the action is started according to such operation information. It should be noted that the setting on the setting screen 11 based on the presetting device 8 can also be performed during the operation of the hydraulic excavator 1.

[0053] The action mode transition generating unit 10b reads the setting information stored in the action mode storage unit 10a, and generates transition information indicating the transition state of the action mode based on the setting information. In addition, the transition condition generating unit 10c sets the state transition condition between the transition states based on the transition information generated by the action mode transition generating unit 10b. Here, the information indicating the relationship between the transition information and the state transition condition in each action mode is referred to as state transition information.

[0054] Figure 4 This is a diagram showing an example of state transition information indicating the relationship between transition information of an operation mode and a state transition condition.

[0055] exist Figure 4 In the example, the action mode transition generating unit 10b generates, as transition states, a start state (Start) starting from the start of the hydraulic excavator 1, a manual operation state (S0) corresponding to each action mode, a soil release state (S1), a return state (S2), an excavation state (S3), a loading state (S4), a travel state (S5), and a cooperative state (S6). Figure 4 In the example, the state transition conditions (C0) to (C9) between the transition states (Start) and (S0) to (S6) are generated by the transition condition generation unit 10c.

[0056] Here, detailed description Figure 4 The state transition information (transition information and state transition conditions) illustrated in FIG.

[0057] Figure 5 This is a diagram showing an example of state transition conditions.

[0058] exist Figure 5 In the example, the state transition conditions (C2) to (C5) in a cycle of operation in which the state transition is carried out in the order of soil release state (S1), return state (S2), excavation state (S3), loading state (S4) and then returns to the soil release state (S1) again are illustrated. Figure 5 In FIG. 1 , schematic diagrams showing the postures of the hydraulic excavator 1 and the dump truck 15 used as transition conditions as viewed from the side and top and the conditions are described in the lower row.

[0059] The state transition condition (C2) for transitioning from the soil discharge state (S1) to the return state (S2) is, for example, a case where the position of the bucket 4c of the hydraulic excavator 1 moves to the outside of the dump truck 15 and the weight of the soil in the bucket 4c is about 0 (zero) tons (that is, the bucket 4c is empty). Hereinafter, a case where a sensor for measuring the weight of the soil in the bucket 4c is provided as the state recognition sensor 9 is considered.

[0060] The state transition condition (C3) for transitioning from the return state (S2) to the excavation state (S3) is set, for example, to the case where the claw tip position of the bucket 4c moves within the range surrounded by the single-point chain line. The position posture of the bucket 4c can also be set, for example, to the posture of the excavation start position of the bucket 4c that enables efficient excavation in the excavation state (S3) as the next transition state.

[0061] The state transition condition (C4) for transitioning from the excavation state (S3) to the loading state (S4) is, for example, a condition in which the position and posture of the bucket 4c moves within the range surrounded by the single-dot chain line, the position of the dump truck 15 is properly detected by the state recognition sensor 9, and the weight of the soil in the bucket 4c is greater than a preset threshold value (i.e., the bucket 4c is loaded with soil). This condition is a condition in which the bucket 4c can be safely and efficiently moved to the position and posture on the dump truck 15 in a state in which the position of the dump truck 15 as the loading target is properly detected by the state recognition sensor 9, and sufficient soil is put into the bucket 4c to start efficient loading.

[0062] The state transition condition ( C5 ) for transitioning from the loading state ( S4 ) to the soil discharge state ( S1 ) is, for example, a case where the position of the bucket 4 c moves to a position for loading soil on the dump truck 15 .

[0063] Although not shown in the figure, the state transition conditions (C0), (C1), (C6) to (C9) among the state transition conditions (C0) to (C9) between the transition states (Start) to (S0) to (S6) are defined as follows.

[0064] The state transition condition (C0) for transitioning from the start state (Start) to the manual operation state (S0) is, for example, a case where a key ON operation of the hydraulic excavator 1 is performed and the engine is started.

[0065] The state transition condition (C1) for transitioning from the manual operation state (S0) to the soil release state (S1) is, for example, a case where the same condition as the state transition condition (C5) is satisfied by manual operation.

[0066] The state transition condition (C6) for transitioning from the return state (S2) to the travel state (S5) is, for example, a case where a travel operation is performed with the operation lever 5a.

[0067] The state transition condition (C7) for transitioning from the traveling state (S5) to the excavation state (S3) is, for example, a case where the traveling operation of the operating lever 5a is stopped and the same condition as the transition condition (C3) is satisfied.

[0068] The state transition condition (C8) for transitioning from the soil releasing state (S1) to the cooperation state with the transport vehicle (S6) is, for example, a case where the load of the dump truck 15 becomes greater than a preset threshold value (for example, a case where the load becomes close to full load, etc.).

[0069] The state transition condition (C9) for transitioning from the cooperation state (S6) with the transport vehicle to the return state (S2) is, for example, a case where the dump truck 15 is separated from the hydraulic excavator 1 (for example, out of the dump detection range of the hydraulic excavator 1).

[0070] return Figure 2 .

[0071] exist Figure 2 In the present embodiment, the current motion mode estimation unit 10 d of the motion mode prediction unit 10 estimates the corresponding motion mode from the motion currently being performed by the hydraulic excavator 1 based on the posture information from the state recognition sensor 9 and the like, and outputs the estimated motion mode.

[0072] The prediction unit 10e predicts the next action mode based on the estimated current action mode and state transition information (transition information and state transition conditions). In addition, the prediction unit 10e outputs information on the control mode set as the current action mode by the presetting device 8 to the control mode selection unit 6e, and outputs information on the control mode corresponding to the predicted action mode to the display device 13.

[0073] The display device 13 is a monitor or the like installed in the cab 3a or the like, and is a device for providing the operator with information such as video images. The display device 13 receives information on the control mode corresponding to the current operation mode predicted by the prediction unit 10e.

[0074] Figure 6 A diagram showing a display example of a display device.

[0075] exist Figure 6 In the example, the display device 13 displays a machine state area 13a showing the current state and control mode 13d of the hydraulic excavator 1, a trigger operation display area 13b showing the operator's operation required in the predicted next action mode and the control mode set as the action mode, and a transition condition area 13c showing the state transition conditions that have not been achieved. Figure 6 In Figure 5 The state transition condition (C4) to the loaded state (S4) and the control mode set to the loaded state (S4) are shown as an example of the assist control.

[0076] When the control mode of the loading state S4 of the action mode is set to auxiliary control, for example, the left rotation operation of the operating lever 7a is set as a trigger operation for starting the auxiliary control, and the rotation operation of the upper rotating body 3 of the hydraulic excavator 1 and the lifting of the working device 4 are semi-automatically controlled. It should be noted that in the trigger operation display area 13b, for example, the operation direction of the operating lever 7a to be operated can also be displayed in a graphic.

[0077] The operation of this embodiment configured as described above will be described.

[0078] Figure 7 : is a flowchart showing the processing contents of the vehicle body control device.

[0079] exist Figure 7 When the vehicle body control device 6 is started, first, the setting information set by the presetting device 8 is stored in the operation mode storage unit 10a (step S100).

[0080] Next, the operation mode transition generating unit 10b generates information (transition information) on the transition state of each operation mode (step S110).

[0081] Next, the transition condition generation unit 10 c sets the state transition condition based on the generated transition information (step S120 ).

[0082] Next, the current operation mode estimation unit 10d estimates the current operation mode of the hydraulic excavator 1 based on the information from the state recognition sensor 9 (step S130). Figure 4 In the state transition shown, when the vehicle body control device 6 is activated, the state transition condition (C0) becomes true, and the state automatically transitions from the start state (Start) to the manual operation state (S0).

[0083] Next, it is determined whether the state transition condition based on the state recognition sensor 9 is true (step S140). If the determination result is negative, that is, if the state transition condition is not satisfied, the current operation mode is maintained (step S141), and the process returns to the determination process of step S140. For example, when the state transition conditions (C2) and (C8) are not satisfied when the operation mode is the soil release state (S1), the current operation mode is maintained at the soil release state (S1), and the process returns to the determination process of step S140.

[0084] In addition, if the result of the determination in step S140 is yes, that is, if the state transition condition is satisfied, the state transition is made to the next action mode satisfying the state transition condition (step S150), and the current action mode estimation unit 10d updates the action mode of the transition target to the current action mode (step S160). For example, in the manual operation state (S0), the state transition condition (C1) is satisfied by the operator operating the operating lever 7a and the switch 7b. In addition, for example, according to Figure 2 According to the setting information shown, since the control mode of the soil releasing state (S1) of the action mode is the automatic operation mode, the hydraulic excavator 1 automatically performs the soil releasing operation and is controlled to a posture satisfying the state transition condition (C2), and the state transitions to the return state (S2).

[0085] Next, it is determined whether the current control mode is automatic operation and whether the operating lever 7a has been operated for a predetermined time or longer (step S170). If the result of step S170 is yes, the control mode set as the current operation mode is rewritten to the manual operation mode (with Figure 3 ), and outputs to the control mode selection unit 6e (step S171), and returns to the processing of step S140. For example, when the transition state is the return state (S2) and the control mode is the automatic operation mode, when the operator operates the operating lever 7a for a certain time or more, the control mode set as the current operation mode is switched to the manual operation mode (equivalent to the manual operation mode). Figure 3 The operator's control lever 7a gives priority to the control of the hydraulic excavator 1. At this time, the control mode of the return state (S2) of the action mode of the stored setting information is rewritten from the automatic operation mode to the manual operation mode.

[0086] In addition, when the result of the determination in step S170 is negative, that is, when it is determined that there is no operation intervention by the operator in the automatic operation mode, the prediction unit 10e outputs the control mode set as the next operation mode to the display device 13 (step S180), and outputs the control mode set as the current operation mode to the control mode selection unit 6e (step S190), and returns to the process of step S130. For example, when the transition state of the operation mode is the return state (S2) and the control mode is the automatic operation mode, when there is no operation intervention by the operator, the prediction unit 10e sends and displays the operation information of the manual operation mode, which is the control mode set as the excavation state (S3) as the next operation mode of the return state (S2), and the state transition condition (C3) to the excavation state (S3), to the display device 13, and notifies the operator. In addition, the information of the automatic operation mode, which is the control mode set as the return state (S2) as the transition state of the current operation mode, is output to the control mode selection unit 6e. Based on the received information on the automatic operation mode, the control mode selection unit 6e outputs the control signal of the hydraulic excavator 1 calculated by the automatic operation unit 6d to the hydraulic circuit control device 5. As a result, the hydraulic excavator 1 automatically performs the operation to return to the state (S2) as the current operation mode.

[0087] The effects of the present embodiment configured as described above will be described.

[0088] The productivity related to excavation and loading, which is the main operation of a hydraulic excavator (working machine), is affected by the operator's arrangement (judgment of the position of excavation and soil release, the order of operation, adjustment of the excavation amount, etc.). In order to automate such operations that require a high degree of judgment by the operator, an appropriate judgment processing function corresponding to all working environments is required. That is, even if automation is performed, the productivity of the hydraulic excavator may be reduced in the case of a working environment that the judgment processing function cannot cope with.

[0089] On the other hand, operators may work continuously for a long time, and sometimes productivity decreases due to fatigue accumulation over time. In addition, in remote operation of hydraulic excavators, operators work while watching images displayed on a monitor, etc. Since images displayed on the monitor tend to lack a sense of perspective, when performing operations such as loading sand and soil on a dump truck with a hydraulic excavator, where there is a risk of contact between machines, the operator must stare at the image, which increases fatigue compared to operating in the cab of the hydraulic excavator.

[0090] In this embodiment, the current action mode and the next action mode of the hydraulic excavator 1 (working machine) are predicted according to the detection result of the state recognition sensor, and the control mode is selectively switched according to the predicted current and next action modes. The selectively switched control modes include a manual operation mode in which the working device 4 is actuated according to the operation of the operating lever 7a (operating device), an auxiliary mode in which the working device 4 is semi-automatically actuated by intervening in the action of the working device 4 corresponding to the operation of the operating lever 7a (operating device), and an automatic operation mode in which the working device 4 is actuated regardless of the operation of the operating lever 7a (operating device). That is, according to this embodiment, the action of the automatic operation can be changed more easily and accurately according to the conditions of the working site, the reduction in productivity can be suppressed, and the fatigue of the operator can be reduced, so that the productivity can be stabilized at a high level for a long time.

[0091] For example, operations that have a large impact on productivity (e.g., excavation and earth-release) are performed by the operator, while other operations that have a small impact on productivity (e.g., loading and return) can be automated / semi-automated. In addition, operations such as loading that cause high operator fatigue during remote operation are also expected to be reduced through automation / semi-automation. As a result, excavation and earth-release operations can flexibly use the operator's high judgment and can partially automate other operations, thereby achieving a balance between maintaining a high level of productivity and reducing operator fatigue.

[0092] In addition, for operations other than excavation and loading, manual operation (manual operation mode) can be set for operations that contribute to productivity by the operator's arrangement, and other operations can be performed automatically or semi-automatically.

[0093] In addition, when the terrain changes significantly during operation, that is, when the automatic excavation operation affects the work efficiency, the control mode of the excavation state can be switched from the automatic operation mode to the manual operation mode. In other words, it can be appropriately changed to a control mode suitable for maintaining productivity.

[0094] In addition, the control mode can be changed to a control mode suitable for maintaining productivity according to the operator's operation proficiency, which can improve the overall productivity of the work site. For example, for a highly skilled operator, high productivity can be obtained by setting a large ratio of manual operation (manual operation mode). On the other hand, for a less skilled operator, productivity can be improved by setting a large ratio of automatic / semi-automatic (assisted mode, automatic operation mode), etc.

[0095] In addition, for example, if an automated function that can replace the operator's judgment is obtained for an action mode that requires manual operation due to high judgment of the operator, the automated function can be easily improved by updating the software of the vehicle body control device 6 and changing the setting of the control mode for the action mode from the manual operation mode to the automatic operation mode. That is, the development cost of the machine can be reduced.

[0096] In addition, since the control mode information is displayed on the display device 13, the operator can seamlessly perform operations according to the transition of a series of action modes of excavation and loading. For example, in the excavation and loading action in which the automatic operation mode and the manual operation mode are mixed as each action mode, an operation corresponding to the next action mode is required immediately after the state transition condition is satisfied. In this embodiment, since the state transition condition and the operation information in the next action mode are displayed on the display device 13 and notified to the operator, the operator can confirm the trigger even if he does not understand the trigger corresponding to the action mode, so the start delay of the next action can be suppressed, and the reduction in productivity can be suppressed.

[0097] In addition, when the operator's operation has been carried out for more than a certain period of time, that is, when the operator's intended operation is clear, the control mode is quickly switched to the manual operation mode even if the hydraulic excavator is in automated operation to avoid performing actions that are greatly different from the operator's intentions, thereby suppressing the reduction in productivity.

[0098] It should be noted that in the present embodiment, three control modes are defined, namely, a manual operation mode, an auxiliary mode, and an automatic operation mode, and an example of switching the control modes is given for explanation, but it is not limited to this. For example, it can also be configured to define at least two control modes, namely, a manual operation mode and an automatic operation mode, and switch between the two control modes.

[0099] <Second embodiment>

[0100] Reference Figure 8 A second embodiment of the present invention will be described. In this embodiment, the same components as those in the first embodiment are denoted by the same reference numerals and their description will be omitted.

[0101] In the present embodiment, the state transition information (transition information and state transition condition) generated by the operation mode transition generating unit 10 b and the transition condition generating unit 10 c is updated based on the information from the operation lever 7 a and the state recognition sensor 9 .

[0102] Figure 8 Detailed Description of the Invention It is a functional block diagram showing the processing contents of the vehicle body control device in the present embodiment.

[0103] exist Figure 8In the embodiment, the vehicle body control device 6A includes a manual operation unit 6a, an automatic control command generation unit 6b (an assist control unit 6c and an automatic operation unit 6d), a control mode selection unit 6e, and an operation mode prediction unit 10A.

[0104] The motion mode prediction unit 10 includes a motion mode storage unit 10a, a motion mode transition generation unit 10b, a transition condition generation unit 10c, a current motion mode estimation unit 10d, a prediction unit 10e, and a motion mode transition update unit 10f.

[0105] The operation mode transition updating unit 10 f receives signals from the operation lever 7 a and the state recognition sensor 9 , and updates the transition information generated by the operation mode transition generating unit 10 b .

[0106] The operation mode transition generating unit 10b reads the setting information stored in the operation mode storing unit 10a, generates transition information indicating the transition state of the operation mode based on the setting information, and updates the transition information based on the transition information of the operation mode newly generated by the operation mode transition updating unit 10f.

[0107] The transition condition generating unit 10 c sets the state transition condition between transition states based on the transition information generated by the operation mode transition generating unit 10 b .

[0108] As described above, in the present embodiment, the state transition information (transition information and state transition conditions) is updated in accordance with changes in the working environment.

[0109] The other configurations are the same as those of the first embodiment.

[0110] The effects of the present embodiment configured as described above will be described.

[0111] The action mode transition update unit 10f collects the operation history information of the operating lever 5a when the operator manually operates and the work information of the hydraulic excavator 1 from the state recognition sensor 9 at this time. The action mode transition update unit 10f classifies the time series data of the collected work information and generates a new action mode. As a classification method, for example, a statistical clustering algorithm such as Supp, tVect, or Machine can be used. In addition, when the transition information is updated, the state transition condition corresponding to the information (transition information) of the transition state of the newly generated action mode is set based on the information of the state recognition sensor 9.

[0112] The initial information of the action mode set by the presetting device 8 and the state transition information generated by the action mode transition generating unit 10b uses the information preset in the vehicle body control device 6. However, since the hydraulic excavator 1 operates in various environments, when the operation is performed in a state where the state transition information is the initial information, when the control mode is changed to the automatic operation mode, it is considered that it cannot fully cope with the working environment.

[0113] Therefore, in this embodiment, the operation information of the hydraulic excavator 1 is analyzed based on the operation history information of the operating lever 7a when the operator manually operates and the detection result of the state recognition sensor 9 at this time, and the action mode transition update unit 10f adds and corrects the action mode suitable for the working environment to update the state transition information. That is, the action mode transition generation unit 10b can generate appropriate transition information for the action mode suitable for the working environment, and update the state transition information including the state transition condition generated by the transition condition generation unit 10c. As a result, it is possible to obtain an automated / semi-automatic action that is sufficiently suitable even in a new working environment, and it is possible to achieve both productivity and reduction of the burden on the operator.

[0114] <Note>

[0115] It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the present invention.

[0116] For example, in the above-described embodiment, a hydraulic excavator is described as an example of a working machine, but the invention is not limited to this, and for example, the invention can also be applied to an electrically driven working machine driven by an electric motor or the like.

[0117] In the above-mentioned embodiment, the case where the information is notified to the operator by displaying on the display device 13 is exemplified for explanation, but the invention is not limited to this, and the invention can also be applied to the case where the information is notified to the operator by a method other than display such as sound.

[0118] In addition, in the above-mentioned embodiment, an example is given in which an operating lever 7a, a switch 7b, a pre-setting device 8, a display device 13, etc. as components related to the operation of the hydraulic excavator 1 (working machine) performed by the operator are arranged in the cab 3a, and an automatic control instruction generating unit 6b (auxiliary control unit 6c, automatic operation unit 6d), a control mode selection unit 6e, an action mode prediction unit 10, 10A, etc. as functional units related to the control of automatic operation / semi-automatic operation are provided in the body control device 6, 6A. However, the present invention is not limited to this. For example, it can also be configured that the components related to the operation of the hydraulic excavator 1 (working machine) and the functional units related to the control of automatic operation / semi-automatic operation are arranged in a remote operation room set up outside the hydraulic excavator 1, and can communicate with the hydraulic excavator 1 via a wireless device.

[0119] In addition, the present invention is not limited to having all the structures described in the above embodiments, and also includes the content of deleting part of the structures. In addition, the above structures, functions, etc. can also be partially or completely realized by, for example, integrated circuit design. In addition, the above structures, functions, etc. can also be realized by software by interpreting and executing the program that realizes each function on the processor.

[0120] Description of Reference Numerals

[0121] 1…Hydraulic excavator, 2…Lower travel structure, 2a…Travel hydraulic motor, 3…Upper swing structure, 3a…Operator cab, 4…Working device, 4a…Boom, 4b…Arm, 4c…Bucket, 5…Hydraulic circuit control device, 5a…Operating lever, 5b…Switch, 6, 6A…Vehicle control device, 6a…Manual operation unit, 6b…Automatic control command generation unit, 6c…Assisted control unit, 6d…Automatic operation unit, 6e…Control mode selection unit, 7a…Operating lever, 7b…Switch, 8…Presetting device, 9…State recognition sensor, 10, 10A…Action mode prediction unit, 10a…Action mode storage unit, 10b…Action mode transition generation unit 10a…Transition condition generating unit, 10d…Current action mode estimating unit, 10e…Prediction unit, 10f…Action mode transition updating unit, 11…Setting screen, 13…Display device, 13a…Machine state area, 13b…Trigger operation display area, 13c…Transition condition area, 13d…Control mode, 14a…Boom cylinder, 14b…Arm cylinder, 14c…Bucket cylinder, 15…Dump truck, C0~C9…State transition condition, S0…Manual operation state, S1…Soil release state, S2…Return state, S3…Excavation state, S4…Loading state, S5…Driving state, S6…Cooperation state, Start…Start state.

Claims

1. A working machine comprising a working device that operates in response to an operation of an operating device and a controller that controls the operation of the working device, wherein the working machine is characterized in that: A state recognition sensor is provided to detect the state of the working device. The controller predicts a current motion mode and a next motion mode of the working machine based on a plurality of motion modes representing types of pre-classified motions in the working machine in accordance with a detection result of the state recognition sensor, When the working machine is in a state of transitioning from the current action mode to the next action mode, the control mode indicating the type of action control of the working machine is switched from a manual operation mode for causing the working device to operate in response to the operation of the operating device and an automatic operation mode for automatically causing the working device to operate regardless of the operation of the operating device to a control mode corresponding to the next action mode, and the action control of the working machine is started.

2. The working machine according to claim 1, characterized in that: The controller switches the control mode among the manual operation mode, the automatic operation mode, and an assist mode for semi-automatically operating the working device by intervening in the operation of the operating device in response to an operation of the operating device.

3. The working machine according to claim 1, characterized in that: include: a lower traveling body configured to be able to travel; and The upper revolving body is rotatably provided on the upper part of the lower traveling body and is provided with the working device for excavating an object and transporting it.

4. The working machine according to claim 2, characterized in that: The multiple action modes include the following modes: an excavation operation mode in which an excavation operation is performed at an excavation position by using the working device to excavate an object; a loading operation mode in which the working device moves the object excavated by the excavation operation to a predetermined earth placement position for a transport vehicle transporting the object; a soil discharge operation mode in which the object is discharged from the working device to the transport vehicle at the soil discharge position; A return action mode, which causes the working device to return from the soil placing position to the excavation position; a travel action mode in which the position of the working machine is changed by a travel device; and A cooperative operation mode is used to perform cooperative operation between the working machine and the transport vehicle.

5. The working machine according to claim 1, characterized in that: The controller preliminarily sets the control modes corresponding to the plurality of operation modes, respectively, through an input from an operator, and switches the control mode according to setting contents and the predicted operation mode.

6. The working machine according to claim 1, characterized in that: A display device is provided to provide information to the operator. The controller causes the display device to display conditions required for transition to a next operation mode and content of operations required of the operator in the next operation mode.

7. The working machine according to claim 1, characterized in that: When the operating device is operated while the control mode is the automatic operation mode, the controller switches the control mode from the automatic operation mode to the manual operation mode until the current operation mode is switched to the next operation mode.

8. The working machine according to claim 1, characterized in that: The state recognition sensor includes a posture sensor, a vehicle detection sensor, and a payload sensor that measures the weight of a material held by the working device.

9. The working machine according to claim 1, characterized in that: The controller has a function of learning past manual operation work and adding and rewriting state transition settings including information for predicting a next operation mode.

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