Control system for work machine, work machine, control method for work machine, and remote operation system for work machine

Abstract

This control system for a work machine is provided with: a rotating body; the working device is arranged on the rotating body; a turning parking brake capable of stopping the turning of the turning body; a swing lock input device that is operated in order to operate the swing parking brake; an automatic control command unit that outputs an automatic control command for automatically controlling the rotating body and the working device; and an automatic permission unit that determines whether or not automatic control is possible on the basis of the operation state of the swing lock input device.

Description

Technical Field

[0001] The present disclosure relates to a control system for a work machine, a work machine, a control method for a work machine, and a remote operation system for a work machine. Background Art

[0002] In the technical field of work machines, there is known a work machine in which a series of operations from excavation to earth removal are automatically controlled, as disclosed in Patent Document 1. There is also known a work machine including a swing lock switch that is operated to activate a swing parking brake.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2021-011694 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] If automatic control of the work machine is initiated with the swing lock switch activated, the work device may operate without rotating. This can result in a situation where the work machine remains stationary while the swing lock is released, potentially reducing operating efficiency. Furthermore, in the event of a lock lever misconfiguration, GNSS failure, or failure to teach control target points, recovery time can be significant, potentially reducing operating efficiency.

[0008] An object of the present disclosure is to suppress a decrease in work efficiency.

[0009] Means for solving problems

[0010] According to the present disclosure, a control system for a working machine is provided, wherein the control system of the working machine comprises: a rotating body; a working device, which is installed on the rotating body; a rotary parking brake, which can stop the rotation of the rotating body; a rotary lock input device, which is operated to make the rotary parking brake work; an automatic control instruction unit, which outputs an automatic control instruction for automatically controlling the rotating body and the working device; and an automatic permission unit, which determines whether automatic control can be performed based on the operating state of the rotary lock input device.

[0011] Effects of the Invention

[0012] According to the present disclosure, it is possible to suppress a decrease in work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing a working machine according to the embodiment.

[0014] Figure 2 It is a schematic diagram showing a working machine according to an embodiment.

[0015] Figure 3 It is a diagram showing a cab of a working machine according to an embodiment.

[0016] Figure 4 It is a diagram for explaining the operation of the working machine according to the embodiment.

[0017] Figure 5 It is a diagram for explaining the operation of the working machine according to the embodiment.

[0018] Figure 6 It is a diagram for explaining a teaching process for setting a lowering rotation target position and a lifting rotation target position according to an embodiment.

[0019] Figure 7 This is a block diagram showing a control system for a working machine according to an embodiment.

[0020] Figure 8 This is a diagram for explaining the determination of whether automatic control is possible and the switching of the operation mode according to the embodiment.

[0021] Figure 9 This is a flowchart showing a method for controlling a working machine according to an embodiment.

[0022] Figure 10 This is a block diagram showing a computer system according to an embodiment.

[0023] Figure 11 This is a block diagram showing a portion of a control system for a working machine according to another embodiment.

[0024] Figure 12 This is a block diagram showing a portion of a control system for a working machine according to another embodiment.

[0025] Figure 13 This is a schematic diagram showing a remote operation system for a working machine according to another embodiment. DETAILED DESCRIPTION

[0026] Hereinafter, the embodiments of the present disclosure will be described with reference to the accompanying drawings, but the present disclosure is not limited to the embodiments. The constituent elements of the embodiments described below can be combined as appropriate. In addition, some constituent elements may not be used.

[0027] [Operation Machinery]

[0028] Figure 1 It is a perspective view showing the working machine 1 according to the embodiment. Figure 2 It is a schematic diagram showing the working machine 1 according to the embodiment. Figure 3This is a diagram showing the cab 2 of the working machine 1 according to the embodiment.

[0029] The working machine 1 is operated at a work site. In the embodiment, the working machine 1 is a hydraulic excavator. In the following description, the working machine 1 will be appropriately referred to as a hydraulic excavator 1.

[0030] The hydraulic excavator 1 includes a traveling structure 3 , a revolving structure 4 , a working device 5 , a hydraulic cylinder 6 , an operating device 7 , an onboard monitor 8 , an input device 9 , a locking lever 10 , a position sensor 11 , an inertial sensor 12 , a posture sensor 13 , and a control device 14 .

[0031] like Figure 2 As shown, a three-dimensional on-site coordinate system (Xg, Yg, Zg) is defined at the work site, and a three-dimensional vehicle body coordinate system (Xm, Ym, Zm) is defined for the revolving body 4 .

[0032] The on-site coordinate system is composed of an Xg axis extending north-south from an on-site reference point Og defined at the work site, a Yg axis extending east-west from the on-site reference point Og, and a Zg axis extending up-down from the on-site reference point Og. In the embodiment, the on-site coordinate system is a global coordinate system.

[0033] The vehicle body coordinate system is composed of the Xm axis extending from the representative point Om defined by the rotating body 4 in the front-to-rear direction of the rotating body 4, the Ym axis extending from the representative point Om in the left-to-right direction of the rotating body 4, and the Zm axis extending from the representative point Om in the up-down direction of the rotating body 4. With the representative point Om of the rotating body 4 as a reference, the +Xm direction is forward of the rotating body 4, the -Xm direction is rearward of the rotating body 4, the +Ym direction is left of the rotating body 4, the -Ym direction is right of the rotating body 4, the +Zm direction is upward of the rotating body 4, and the -Zm direction is downward of the rotating body 4.

[0034] The traveling unit 3 travels while supporting the revolving unit 4. The traveling unit 3 includes a pair of crawler tracks 3A. The rotation of the crawler tracks 3A causes the traveling unit 3 to travel. The traveling unit 3 can move forward and backward. The hydraulic excavator 1 can be moved around the work site using the traveling unit 3.

[0035] The revolving structure 4 is supported by the traveling structure 3. The revolving structure 4 is positioned above the traveling structure 3. While supported by the traveling structure 3, the revolving structure 4 rotates about the rotation axis RX. The rotation axis RX is parallel to the Zm axis. The revolving structure 4 can rotate left and right. The cab 2 is mounted on the revolving structure 4.

[0036] The working device 5 is mounted on the revolving structure 4. The working device 5 performs operations. In the embodiment, the operations performed by the working device 5 include excavation operations to excavate the excavation target 16 and earth removal operations to discharge the excavated material to the earth removal target 17. The operations performed by the working device 5 include loading operations to move the excavated material to the earth removal target 17 after the excavation operation and returning the material to the excavation target 16 after the earth removal operation.

[0037] The work implement 5 includes a boom 5A, an arm 5B, and a bucket 5C serving as a work tool. The base end of the boom 5A is movably connected to the front portion of the revolving unit 4. The base end of the arm 5B is movably connected to the front end of the boom 5A. The base end of the bucket 5C is movably connected to the front end of the arm 5B. Other examples of work tools include clamshell buckets, tilt buckets, tilt-swivel buckets, and grab buckets.

[0038] The hydraulic cylinder 6 moves the working device 5. The hydraulic cylinder 6 includes a boom cylinder 6A, an arm cylinder 6B, and a bucket cylinder 6C. The boom cylinder 6A raises and lowers the boom 5A. The arm cylinder 6B causes the arm 5B to dig and unload. The bucket cylinder 6C causes the bucket 5C to dig and unload. The base end of the boom cylinder 6A is connected to the revolving body 4. The front end of the boom cylinder 6A is connected to the boom 5A. The base end of the arm cylinder 6B is connected to the boom 5A. The front end of the arm cylinder 6B is connected to the arm 5B. The base end of the bucket cylinder 6C is connected to the arm 5B. The front end of the bucket cylinder 6C is connected to the bucket 5C.

[0039] like Figure 3 As shown, an operating device 7 is disposed in the cab 2. The operating device 7 is operated to move at least one of the traveling structure 3, the revolving structure 4, and the working device 5. The operating device 7 is operated by an operator riding in the cab 2. The operator can operate the operating device 7 while seated in the driver's seat 15 disposed in the cab 2.

[0040] The operating device 7 includes a left operating lever 7A and a right operating lever 7B, a left travel lever 7C and a right travel lever 7D, and a left foot pedal 7E and a right foot pedal 7F.

[0041] The left operating lever 7A is operated to rotate the revolving body 4. In addition, the left operating lever 7A is operated to actuate the working device 5. The right operating lever 7B is operated to actuate the working device 5. By operating the left operating lever 7A in the left-right direction, the revolving body 4 performs a left-rotating motion or a right-rotating motion. By operating the left operating lever 7A in the front-back direction, the bucket arm 5B performs a unloading motion or an excavating motion. By operating the right operating lever 7B in the left-right direction, the bucket 5C performs an excavating motion or an unloading motion. By operating the right operating lever 7B in the front-back direction, the boom 5A performs a lowering motion or a raising motion. It should be noted that, when the left operating lever 7A is operated in the front-back direction, the revolving body 4 performs a right-rotating motion or a left-rotating motion, and when the left operating lever 7A is operated in the left-right direction, the bucket arm 5B performs a unloading motion or an excavating motion. When the right operating lever 7B is operated in the left-right direction or the front-back direction, the revolving body 4 may also perform a left-rotating motion or a right-rotating motion.

[0042] The left and right travel levers 7C and 7D are operated to move the traveling structure 3. By operating the left travel lever 7C in the front-rear direction, the crawler track 3A on the left side of the traveling structure 3 moves forward or backward. By operating the right travel lever 7D in the front-rear direction, the crawler track 3A on the right side of the traveling structure 3 moves forward or backward.

[0043] The left foot pedal 7E is linked to the left travel lever 7C. The right foot pedal 7F is linked to the right travel lever 7D. The travel body 3 can also be moved forward or backward by operating the left foot pedal 7E and the right foot pedal 7F.

[0044] The on-board monitor 8 is arranged in the cab 2. The on-board monitor 8 is arranged in front of the right side of the driver's seat 15. The on-board monitor 8 has a display device 8A and an input device 8B. The display device 8A displays predetermined display data. As an example of the display device 8A, a flat panel display such as a liquid crystal display (LCD) or an organic EL display (OELD: Organic Electroluminescence Display) is exemplified. The input device 8B generates input data by being operated by the operator. As examples of the input device 8B, a push button switch, a computer keyboard, and a touch panel are exemplified. It should be noted that the display device 8A and the input device 8B may also be separate.

[0045] The input device 9 is disposed in the cab 2 . The input device 9 is operated to generate a predetermined input signal. The input device 9 is operated by an operator riding in the cab 2 . The operator can operate the input device 9 while sitting in a driver's seat 15 disposed in the cab 2 .

[0046] The input device 9 includes a swing lock switch 9A, an automatic permission switch 9B, a teaching switch 9C, and an automatic start switch 9D. The swing lock switch 9A and the automatic permission switch 9B are respectively arranged to the right of the driver's seat 15. The teaching switch 9C and the automatic start switch 9D are respectively arranged on the left operating lever 7A.

[0047] The hydraulic excavator 1 includes a swing parking brake 28 (see FIG. 2 ) that can stop the swing of the swing body 4 by mechanical braking force. Figure 7 The swing parking brake 28 is a hydraulic negative brake, and is released by introducing pressure oil from the solenoid valve 27. The swing lock switch 9A is operated by the operator to activate or release the swing parking brake 28. The control device 14 receives one or both of an input signal indicating that the swing lock switch 9A has been operated to activate the swing parking brake 28 and an input signal indicating that the swing lock switch 9A has been operated to release the swing parking brake 28.

[0048] For example, when the operator operates the swing lock switch 9A to activate the swing parking brake 28, the swing parking brake 28 activates, stopping the swing unit 4 from rotating. While the swing parking brake 28 is activated, even if the left operating lever 7A is operated to rotate the swing unit 4, the swing unit 4 will not rotate. For example, when the operator operates the swing lock switch 9A while operating the work implement 5 in manual mode without rotating the swing unit 4, there is a high probability that the left operating lever 7A, which is used to rotate the swing unit 4, will be in a neutral position. When the hydraulic excavator 1 is operating on an inclined surface, for example, if the left operating lever 7A is in a neutral position, the swing unit 4 may rotate due to its own weight. By activating the swing parking brake 28 by operating the swing lock switch 9A, the swing unit 4 can be prevented from rotating even if the left operating lever 7A is in a neutral position.

[0049] It should be noted that the neutral position of the left operating lever 7A for rotating the rotating body 4 means that when the rotating body 4 is rotated by operating the left operating lever 7A in a predetermined direction, the left operating lever 7A is in a neutral position at least in the predetermined direction. For example, when the rotating body 4 is rotated by operating the left operating lever 7A in the left-right direction, the neutral position of the left operating lever 7A means that the left operating lever 7A is in a neutral position at least in the left-right direction. When the rotating body 4 is rotated by operating the left operating lever 7A in the front-back direction, the neutral position of the left operating lever 7A means that the left operating lever 7A is in a neutral position at least in the front-back direction.

[0050] The automatic permission switch 9B is operated to permit automatic control of the swing structure 4 and the work implement 5. The teach switch 9C is operated to set the target position of the bucket 5C during automatic control. The target positions of the bucket 5C include an excavation target position 16R, a dumping target position 17R, and an intermediate target position 18R, which will be described later. The automatic start switch 9D is operated to start automatic control.

[0051] The locking lever 10 is operated to immobilize the revolving structure 4 and the working device 5. The locking lever 10 is provided in the cab 2. The locking lever 10 is located in the passenger passage connecting the entrance and exit provided in the cab 2 to the driver's seat 15. The locking lever 10 is rotatably supported on the floor surface of the cab 2. The locking lever 10 is operated to move between a locked position and a free position. The control device 14 receives one or both of an operation signal indicating that the locking lever 10 has been operated to the locked position and an operation signal indicating that the locking lever 10 has been operated to the free position.

[0052] When the locking lever 10 is operated to the locked position, the flow path of the hydraulic circuit including the hydraulic pump is cut off, and the revolving body 4 and the working device 5 are respectively locked and cannot move. In addition, when the locking lever 10 is operated to the locked position, the boarding passage is opened. By opening the boarding passage, the operator can pass through the boarding passage. When the locking lever 10 is operated to the free position, the flow path of the hydraulic circuit including the hydraulic pump is connected, and the revolving body 4 and the working device 5 are respectively free to move freely through the operating device 7. In addition, when the locking lever 10 is operated to the free position, the boarding passage is closed. Since the boarding passage is closed, it is difficult for the operator to pass through the boarding passage.

[0053] An operator outside the cab 2 can sit in the driver's seat 15 after passing through the open boarding passage. After sitting in the driver's seat 15, the operator operates the locking lever 10 to the free position. By operating the locking lever 10 to the free position, the swing structure 4 and the work implement 5 are both free. The operator can then operate the operating device 7 to perform work.

[0054] When exiting the cab 2, the operator seated in the driver's seat 15 operates the locking lever 10 to the locked position to open the access passage. The operator can then exit the cab 2 through the open access passage. By operating the locking lever 10 to the locked position, the swing unit 4 and the work implement 5 are each locked. By locking the swing unit 4 and the work implement 5, movement of the swing unit 4 and the work implement 5 is prevented when the operator is not in the cab 2.

[0055] The position sensor 11 detects the position in the on-site coordinate system. The position sensor 11 uses the Global Navigation Satellite System (GNSS) to detect the position in the on-site coordinate system. The GNSS includes the Global Positioning System (GPS). The GNSS detects a position defined by coordinate data of latitude, longitude, and altitude. The position sensor 11 includes a GNSS receiver that receives GNSS radio waves from GNSS satellites. The position sensor 11 is disposed on the rotating body 4.

[0056] The position sensor 11 includes a first position sensor 11A and a second position sensor 11B. The first position sensor 11A and the second position sensor 11B are arranged at different positions on the rotating body 4. In the embodiment, the first position sensor 11A and the second position sensor 11B are arranged at intervals in the left-right direction of the rotating body 4. The first position sensor 11A detects a first positioning position indicating the position where the first position sensor 11A is arranged. The second position sensor 11B detects a second positioning position indicating the position where the second position sensor 11B is arranged. The orientation of the rotating body 4 is calculated based on the detection data from the first position sensor 11A and the detection data from the second position sensor 11B.

[0057] The inertial sensor 12 detects the acceleration and angular velocity of the rotating object 4 . The inertial sensor 12 includes an inertial measurement unit (IMU). The inertial sensor 12 is disposed on the rotating object 4 . The inertial sensor 12 can detect the rotation speed of the rotating object 4 .

[0058] The posture sensor 13 detects the posture of the working device 5. The posture of the working device 5 includes the angle of the working device 5. The posture sensor 13 is provided on the working device 5. The posture sensor 13 includes a boom posture sensor 13A that detects the posture of the boom 5A, an arm posture sensor 13B that detects the posture of the boom 5B, and a bucket posture sensor 13C that detects the posture of the bucket 5C. The boom posture sensor 13A detects, for example, the angle of the boom 5A relative to the rotation axis RX. The arm posture sensor 13B detects the angle of the boom 5B relative to the boom 5A. The bucket posture sensor 13C detects the angle of the bucket 5C relative to the arm 5B. As the posture sensor 13, a potentiometer is exemplified. It should be noted that the posture sensor 13 may also be a stroke sensor that detects the stroke of the hydraulic cylinder 6 (boom cylinder 6A, arm cylinder 6B, bucket cylinder 6C). Furthermore, when an IMU is attached to each of the boom 5A, the arm 5B, and the bucket 5C, the IMU may detect the angles of each of the boom 5A, the arm 5B, and the bucket 5C.

[0059] [Operation of operating machinery]

[0060] Figure 4 and Figure 5 Each of the figures is used to illustrate the operation of the hydraulic excavator 1 according to the embodiment. In the embodiment, the hydraulic excavator 1 repeatedly performs an excavation operation, a lifting and rotating operation, a soil discharge operation, and a lowering and rotating operation. The excavation operation refers to the operation of excavating the excavation target 16 using the bucket 5C while the front surface of the rotating body 4 faces the excavation target 16. The lifting and rotating operation refers to the simultaneous lifting of the working device 5 and the rotation of the rotating body 4. The lifting and rotating operation includes the simultaneous lifting of the boom 5A and the rotation of the rotating body 4. For example, the lifting and rotating operation refers to the operation of rotating the rotating body 4 by operating the working device 5 so that the front surface of the rotating body 4 faces the soil discharge target 17 and the bucket 5C holding the excavated material is positioned above the soil discharge target 17 after excavating the excavation target 16 using the bucket 5C. The soil discharge operation refers to the operation of discharging the excavated material held in the bucket 5C toward the soil discharge target 17 while the front surface of the rotating body 4 faces the soil discharge target 17. The descending and rotating action refers to the simultaneous lowering of the working device 5 and the rotating body 4. The descending and rotating action includes the simultaneous lowering of the boom 5A and the rotating body 4. For example, the descending and rotating action involves operating the working device 5 so that the front surface of the rotating body 4 faces the excavation target 16 and the bucket 5C is positioned on the excavation target 16 after the excavated material is discharged from the bucket 5C to the excavation target 17, thereby rotating the rotating body 4. The bucket of a dump truck is exemplified as the excavation target 17. Other examples of the excavation target 17 include hoppers, self-propelled soil conditioners, and belt conveyors.

[0061] The lifting rotation action and the lowering rotation action are examples of compound actions including the action of the working device 5 and the action of the rotating body 4. The action of the working device 5 in the compound action includes the action of the boom 5A. The action of the boom 5A in the compound action includes the action of raising the boom 5A or the action of lowering the boom 5A. In the case where the rotating body 4 rotates to the left in the lifting rotation action, the rotating body 4 rotates to the right in the lowering rotation action. In the case where the rotating body 4 rotates to the right in the lifting rotation action, the rotating body 4 rotates to the left in the lowering rotation action. That is, the rotation direction of the rotating body 4 in the lifting rotation action is different from the rotation direction of the rotating body 4 in the lowering rotation action. It should be noted that the rotation direction of the rotating body 4 in the lifting rotation action may also be the same as the rotation direction of the rotating body 4 in the lowering rotation action.

[0062] The action modes of the rotating body 4 and the working device 5 include a manual mode and an automatic mode. The action modes of the rotating body 4 and the working device 5 are switched between the manual mode and the automatic mode. The manual mode refers to an action mode in which the rotating body 4 and the working device 5 respectively act based on the operator's operation of the operating device 7. That is, the manual mode is an action mode in which the rotating body 4 and the working device 5 are respectively manually operated. The automatic mode refers to an action mode in which the rotating body 4 and the working device 5 respectively act based on the automatic control instructions output from the control device 14 and not based on the operation of the operating device 7. That is, the automatic mode is an action mode in which the rotating body 4 and the working device 5 are respectively automatically controlled. It should be noted that the automatic mode may also be an action mode in which either the rotating body 4 or the working device 5 acts based on the automatic control instructions output from the control device 14.

[0063] The operation mode of the excavation operation as an example of the excavation work is the manual mode. In the excavation operation, the swing body 4 and the working device 5 are each manually operated.

[0064] The operation mode of the lifting and swinging operation, which is an example of a loading operation, is automatic mode. During the lifting and swinging operation, the swing body 4 and the work implement 5 are automatically controlled. After the excavation operation is completed, the automatic start switch 9D is operated to switch from manual mode to automatic mode. If the excavation operation is completed and the automatic start switch 9D is operated, the automatic control of the swing body 4 and the work implement 5 is started. During the lifting and swinging operation, the swing body 4 automatically rotates and the work implement 5 automatically operates to position the bucket 5C at the discharge target position 17R set at the discharge object 17. During the lifting and swinging operation, the boom 5A is raised to prevent the excavated material held in the bucket 5C from overflowing from the bucket 5C. When the bucket 5C reaches the discharge target position 17R, the mode switches from automatic mode to manual mode. In other words, when the bucket 5C reaches the discharge target position 17R, the automatic control of the swing body 4 and the work implement 5 is released. It should be noted that, during the lifting and swinging operation, the automatic control of the swing body 4 and the work implement 5 may be released by the operator operating the operating device 7 .

[0065] The operation mode for the soil dumping operation, an example of soil dumping work, is manual mode. During the soil dumping operation, the swing unit 4 and the work implement 5 are each manually operated. After the bucket 5C reaches the soil dumping target position 17R and the automatic control of the swing unit 4 and the work implement 5 is released, the operator can operate the operating device 7 to perform the soil dumping operation of the work implement 5 including the bucket 5C.

[0066] The operation mode for the descent swing operation, an example of a return operation, is automatic mode. During the descent swing operation, the swing unit 4 and the work implement 5 are automatically controlled. After the soil dumping operation is completed, the automatic start switch 9D is operated to switch from manual mode to automatic mode. When the soil dumping operation is completed and the automatic start switch 9D is operated, automatic control of the swing unit 4 and the work implement 5 begins. During the descent swing operation, the swing unit 4 automatically rotates, and the work implement 5 automatically operates to position the bucket 5C at the excavation target position 16R set on the excavation object 16. During the descent swing operation, the boom 5A is lowered. When the bucket 5C reaches the excavation target position 16R, the mode switches from automatic mode to manual mode. That is, when the bucket 5C reaches the excavation target position 16R, the automatic control of the swing unit 4 and the work implement 5 is released. It should be noted that during the descent swing operation, the automatic control of the swing unit 4 and the work implement 5 is also released by the operator operating the operating device 7.

[0067] After bucket 5C reaches excavation target position 16R and automatic control of swing unit 4 and work implement 5 is released, the operator can operate operating device 7 to perform excavation operation.

[0068] [Teaching Process]

[0069] Figure 6 This is a diagram for explaining a teaching process for setting the excavation target position 16R and the earth-discharge target position 17R according to the embodiment. The excavation target position 16R and the earth-discharge target position 17R are set by the teaching process.

[0070] To set the excavation target position 16R, the operator operates the operating device 7, positions the bucket 5C at a desired position on the excavation object 16, and then operates the teach switch 9C. The control device 14 stores the position of the bucket 5C at the time the teach switch 9C is operated as the excavation target position 16R. The position of the bucket 5C is determined based on the orientation of the revolving structure 4 and the posture of the work implement 5. In the embodiment, the control device 14 stores the orientation of the revolving structure 4 and the posture of the work implement 5 at the time the teach switch 9C is operated as the position data for the excavation target position 16R. The orientation of the revolving structure 4 is calculated based on the detection data of the first position sensor 11A and the detection data of the second position sensor 11B. The posture of the work implement 5 is detected by the posture sensor 13. The control device 14 stores the detection data of the position sensors 11 (11A, 11B) and the detection data of the posture sensors 13 (13A, 13B, 13C) at the time the teach switch 9C is operated as the position data for the excavation target position 16R.

[0071] To set the soil dumping target position 17R, the operator operates the operating device 7, positions the bucket 5C above the soil dumping target 17, and then operates the teach switch 9C. The control device 14 stores the position of the bucket 5C at the time the teach switch 9C is operated as the soil dumping target position 17R. The control device 14 stores the orientation of the swing unit 4 and the posture of the work implement 5 at the time the teach switch 9C is operated as position data for the soil dumping target position 17R. The control device 14 stores the detection data of the position sensor 11 (11A, 11B) and the detection data of the posture sensor 13 (13A, 13B, 13C) at the time the teach switch 9C is operated as the position data for the soil dumping target position 17R.

[0072] In the embodiment, in addition to the excavation target position 16R and the soil discharge target position 17R, an intermediate target position 18R is also set. The intermediate target position 18R is set between the excavation target position 16R and the soil discharge target position 17R. The intermediate target position 18R is set at a position away from the soil discharge target 17. The intermediate target position 18R is set at a position where the bucket 5C does not contact the soil discharge target 17. When setting the intermediate target position 18R, the operator operates the operating device 7 to position the bucket 5C between the excavation target position 16R and the soil discharge target position 17R, without contacting the soil discharge target 17, and then operates the teaching switch 9C. The control device 14 stores the position of the bucket 5C at the time the teaching switch 9C is operated as the intermediate target position 18R. The control device 14 also stores the orientation of the revolving structure 4 and the posture of the work implement 5 at the time the teaching switch 9C is operated as position data for the intermediate target position 18R. The control device 14 stores the detection data of the position sensor 11 ( 11A, 11B) and the detection data of the posture sensor 13 ( 13A, 13B, 13C) at the time when the teaching switch 9C is operated as position data of the intermediate target position 18R.

[0073] After setting the excavation target position 16R, the intermediate target position 18R, and the soil discharge target position 17R, the control device 14 sets a first path 19A connecting the excavation target position 16R and the intermediate target position 18R, and a second path 19B connecting the intermediate target position 18R and the soil discharge target position 17R. The control device 14 controls the posture of the work implement 5 so that the bucket 5C passes through the first path 19A and the second path 19B during the rotation of the revolving unit 4. In the embodiment, the control device 14 controls the hydraulic cylinder 6 so that the work implement 5 operates along the first path 19A and does not operate along the second path 19B.

[0074] [Control System]

[0075] Figure 7This is a block diagram illustrating a control system 50 for a work machine 1 according to an embodiment. The hydraulic excavator 1 includes the control system 50. The control system 50 includes an operating device 7, an input device 9, a locking lever 10, a position sensor 11, an inertial sensor 12, a posture sensor 13, and a control device 14. The control device 14 controls the hydraulic excavator 1. The control device 14 includes a computer system. The operating device 7, input device 9, locking lever 10, position sensor 11, inertial sensor 12, and posture sensor 13 are each connected to the control device 14.

[0076] The operation device 7 including the left operation lever 7A and the right operation lever 7B generates an operation signal when operated by an operator. The operation signal generated by the operation device 7 is input to the control device 14.

[0077] The input device 9, which includes a swing lock switch 9A, an automatic enable switch 9B, a teach switch 9C, and an automatic start switch 9D, generates input signals when operated by an operator. The input signals generated by the input device 9 are input to the control device 14. The swing lock switch 9A is disposed between the control device 14 and the solenoid valve 27. As described above, the control device 14 receives one or both of an input signal indicating that the swing lock switch 9A has been operated to apply the swing parking brake 28 and an input signal indicating that the swing lock switch 9A has been operated to release the swing parking brake 28.

[0078] The locking lever 10 generates an operation signal when operated by an operator. The operation signal generated by the locking lever 10 is input to the control device 14. As described above, the control device 14 receives one or both of the operation signal indicating that the locking lever 10 has been operated to the locked position and the operation signal indicating that the locking lever 10 has been operated to the free position.

[0079] Detection data from the position sensor 11, including the first position sensor 11A and the second position sensor 11B, is input to the control device 14. Detection data from the inertial sensor 12 is input to the control device 14. Detection data from the posture sensor 13, including the boom posture sensor 13A, the arm posture sensor 13B, and the bucket posture sensor 13C, is input to the control device 14.

[0080] Furthermore, the control system 50 includes the EPC valve 20 , the main valve 21 , the engine 22 , the hydraulic pump 23 , the hydraulic cylinder 6 , the swing motor 24 , and the swing parking brake 28 .

[0081] The swing motor 24 is a hydraulic motor. The swing motor 24 generates power for rotating the swing body 4. The hydraulic cylinder 6, which includes the boom cylinder 6A, the arm cylinder 6B, and the bucket cylinder 6C, generates power for operating the work device 5. The engine 22 is the power source of the hydraulic excavator 1. The hydraulic pump 23 is driven by the engine 22. The hydraulic pump 23 discharges hydraulic fluid for operating the hydraulic cylinder 6 and the swing motor 24, respectively. The main valve 21 is connected to the hydraulic pump 23. The hydraulic pump 23 supplies hydraulic fluid to the hydraulic cylinder 6 and the swing motor 24, respectively, via the main valve 21. The main valve 21 has a valve spool. The movement of the valve spool of the main valve 21 adjusts the direction and flow rate of the hydraulic fluid supplied from the hydraulic pump 23 to the hydraulic cylinder 6. For example, by adjusting the direction of the hydraulic fluid supplied to the boom cylinder 6A, the main valve 21 can extend or retract the boom cylinder 6A. By adjusting the flow rate of the hydraulic fluid supplied to the boom cylinder 6A, the main valve 21 can adjust the operating speed of the boom cylinder 6A. The same applies to the boom cylinder 6B and the bucket cylinder 6C. The direction and flow rate of the working oil supplied from the hydraulic pump 23 to the rotary motor 24 are adjusted by moving the valve stem of the main valve 21. The main valve 21 can adjust the rotation direction of the rotary motor 24 by adjusting the direction of the working oil supplied to the rotary motor 24, so that the rotary body 4 performs a left rotation action or a right rotation action. The main valve 21 can adjust the rotation speed of the rotary motor 24 by adjusting the flow rate of the working oil supplied to the rotary motor 24. The EPC valve 20 applies a pilot pressure to the main valve 21 for moving the valve stem of the main valve 21. The EPC valve 20 adjusts the pilot pressure based on the control instruction from the control device 14.

[0082] The swing parking brake 28 can stop the rotation of the rotating unit 4. When the swing parking brake 28 is activated, a mechanical braking force is generated, stopping the rotation of the rotating unit 4. When the swing parking brake 28 is released, the braking force is released, allowing the rotating unit 4 to rotate. The swing parking brake 28 comprises a negative disc brake. The swing parking brake 28 includes a pair of brake discs 25, a brake cylinder 26, and a solenoid valve 27. When the solenoid valve 27 is actuated, the brake cylinder 26 contracts, separating the pair of brake discs 25 from each other and releasing the swing parking brake 28. When the solenoid valve 27 is deactivated, the brake cylinder 26 extends due to the elastic force of the spring installed in the brake cylinder 26. The extension of the brake cylinder 26 causes the pair of brake discs 25 to contact each other, causing the swing parking brake 28 to activate.

[0083] The control device 14 includes a position calculation unit 141 , a teaching unit 142 , a target position storage unit 143 , an automatic permission unit 144 , a mode determination unit 145 , a manual control instruction unit 146 , an automatic control instruction unit 147 , a control instruction switching unit 148 , an operation control unit 149 , and a brake control unit 150 .

[0084] The position calculation unit 141 calculates the position of the bucket 5C based on the detection data of the position sensor 11 and the detection data of the posture sensor 13. The position calculation unit 141 calculates the orientation of the revolving body 4 based on the detection data of the first position sensor 11A and the detection data of the second position sensor 11B. The position calculation unit 141 calculates the position of the bucket 5C relative to the revolving body 4 based on the detection data of the posture sensor 13 and the dimensional data of the work device 5. The dimensional data of the work device 5 includes the length of the boom 5A, the length of the arm 5B, and the length of the bucket 5C. The dimensional data of the work device 5 is known data. The position calculation unit 141 can calculate the position of the bucket 5C, for example, in the vehicle body coordinate system, based on the orientation of the revolving body 4 and the position of the bucket 5C relative to the revolving body 4.

[0085] The teaching unit 142 calculates the positions of the excavation target position 16R, the earth removal target position 17R, and the intermediate target position 18R based on the position of the bucket 5C at the time of receiving the input signal from the teaching switch 9C. Figure 6 As described, during the teaching process, the excavation target position 16R, the soil removal target position 17R, and the intermediate target position 18R are set. To set the excavation target position 16R, the bucket 5C is positioned at an arbitrary position on the excavation target 16 by operating the operating device 7, and then the teaching switch 9C is operated. The teaching unit 142 calculates the position of the bucket 5C at the time of receiving the input signal from the teaching switch 9C as the excavation target position 16R. To set the soil removal target position 17R, the bucket 5C is positioned above the soil removal target 17 by operating the operating device 7, and then the teaching switch 9C is operated. The teaching unit 142 calculates the position of the bucket 5C at the time of receiving the input signal from the teaching switch 9C as the soil removal target position 17R. To set the intermediate target position 18R, the bucket 5C is positioned so that it does not contact the soil removal target 17 by operating the operating device 7, and then the teaching switch 9C is operated. The teaching unit 142 calculates the position of the bucket 5C at the moment of receiving the input signal from the teaching switch 9C as the intermediate target position 18R. The teaching unit 142 sets the excavation target position 16R to the excavation target 16, the soil dumping target position 17R to the soil dumping target 17, and the intermediate target position 18R between the excavation target position 16R and the soil dumping target position 17R. The teaching unit 142 also sets the first path 19A and the second path 19B.

[0086] It should be noted that when setting the excavation target position 16R, the earth dumping target position 17R, and the intermediate target position 18R individually, guidance prompting the operator to set the excavation target position 16R, the earth dumping target position 17R, and the intermediate target position 18R may be output to the operator's cab 2. The operator may also set the excavation target position 16R, the earth dumping target position 17R, and the intermediate target position 18R individually by operating the guidance input device 8B. The guidance prompting the operator to set the excavation target position 16R, the earth dumping target position 17R, and the intermediate target position 18R may also be displayed on the display device 8A. If a sound output device is provided in the operator's cab 2, the guidance prompting the operator to set the excavation target position 16R, the earth dumping target position 17R, and the intermediate target position 18R may also be output from the sound output device.

[0087] The target position storage unit 143 stores an excavation target position 16R set for the excavation target 16, a soil removal target position 17R set for the soil removal target 17, and an intermediate target position 18R set between the excavation target position 16R and the soil removal target position 17R. The target position storage unit 143 also stores a first path 19A and a second path 19B.

[0088] The automatic permission unit 144 determines whether automatic control of the rotating body 4 and the working device 5 can be performed based on the operating state of the swing lock switch 9A. The automatic permission unit 144 does not permit automatic control when the swing lock switch 9A is operated. That is, when the swing lock switch 9A is in the on state and the swing parking brake 28 is in the operating state, the automatic permission unit 144 does not permit automatic control based on the input signal from the swing lock switch 9A. The automatic permission unit 144 permits automatic control when the swing lock switch 9A is not operated. That is, the automatic permission unit 144 permits automatic control when the swing lock switch 9A is in the off state and the swing parking brake 28 is released.

[0089] The mode determination unit 145 determines the operation mode of the swing structure 4 and the work implement 5 based on a predetermined transition condition.

[0090] Manual control command unit 146 generates a manual control command for operating at least one of revolving structure 4 and working implement 5 based on an operation signal from at least one of left operating lever 7A and right operating lever 7B. In manual mode, manual control command unit 146 outputs the manual control command to control command switching unit 148.

[0091] The automatic control command unit 147 generates an automatic control command for automatically controlling the swing structure 4 and the work machine 5. In the automatic mode, the automatic control command unit 147 outputs the automatic control command to the control command switching unit 148.

[0092] The manual control command from the manual control command unit 146 and the automatic control command from the automatic control command unit 147 are input to the control command switching unit 148. The control command switching unit 148 outputs one of the manual control command and the automatic control command to the brake control unit 150. The control command switching unit 148 outputs one of the manual control command and the automatic control command to the motion control unit 149. In manual mode, the manual control command is output from the control command switching unit 148. In automatic mode, the automatic control command is output from the control command switching unit 148.

[0093] The brake control unit 150 controls the swing parking brake 28. The brake control unit 150 controls the swing parking brake 28 based on the operating state of the left operating lever 7A, which is operated to rotate the swing structure 4, or the output state of the automatic control command from the automatic control command unit 147. It should be noted that the brake control unit 150 may also control the swing parking brake 28 based on the operating state of the operating levers (7A, 7B) operated to operate the work implement 5. For example, the brake control unit 150 releases the swing parking brake 28 when the operating levers (7A, 7B) operating the work implement 5 are operated.

[0094] In the manual mode in which the automatic control command is not output, when the swing lock switch 9A is operated, the brake control unit 150 operates the swing parking brake 28 based on the input signal from the swing lock switch 9A.

[0095] Furthermore, in manual mode, where no automatic control commands are output, the brake control unit 150 applies the swing parking brake 28 when the operating state of the left operating lever 7A, which is operated to rotate the swing unit 4, meets a predetermined brake operating condition. In manual mode, the manual control command unit 146 outputs a manual control command to the control command switching unit 148 based on the operating signal from the left operating lever 7A, indicating that the operating state of the left operating lever 7A meets the brake operating condition. In manual mode, the control command switching unit 148 outputs a manual control command to the brake control unit 150 indicating that the operating state of the left operating lever 7A meets the brake operating condition. The brake operating condition includes the elapse of a predetermined time period while the left operating lever 7A, which is operated to rotate the swing unit 4, is in a neutral state. The neutral state of the left operating lever 7A refers to a state in which no operating signal for rotating the swing unit 4 is output from the left operating lever 7A. It should be noted that the neutral state of the left operating lever 7A may also refer to a state in which an operating signal for preventing the swing unit 4 from rotating is output from the left operating lever 7A. When the left operating lever 7A is operated in the left-right direction to rotate the rotating body 4, the neutral state of the left operating lever 7A refers to a state in which the left operating lever 7A is positioned at the center in the left-right direction. In the embodiment, the predetermined time is, for example, 5 seconds. In manual mode, if the left operating lever 7A remains in the neutral state for 5 seconds, the brake control unit 150 applies the swing parking brake 28.

[0096] In automatic mode, which outputs automatic control commands, the brake control unit 150 controls the swing parking brake 28 based on the automatic control command output from the automatic control command unit 147, not the operating state of the left operating lever 7A. In automatic mode, the control command switching unit 148 outputs the automatic control command from the automatic control command unit 147 to the brake control unit 150. In automatic mode, there is a high probability that the operator will not move either the left operating lever 7A or the right operating lever 7B, or will remove their hands from either. In other words, in automatic mode, there is a high probability that the left operating lever 7A will remain in a neutral position. In automatic mode, the swing parking brake 28 is activated when the left operating lever 7A remains in a neutral position for five seconds. In the embodiment, in manual mode, the swing parking brake 28 is activated when the left operating lever 7A remains in a neutral position for five seconds. However, in automatic mode, the swing parking brake 28 is not activated even if the left operating lever 7A remains in a neutral position for five seconds.

[0097] The motion control unit 149 controls the swing unit 4 and the work implement 5. In manual mode, the manual control command unit 146 generates a manual control command based on an operation signal from at least one of the left operating lever 7A and the right operating lever 7B. The control command switching unit 148 outputs the manual control command generated by the manual control command unit 146 to the motion control unit 149. In automatic mode, the automatic control command unit 147 generates an automatic control command. The control command switching unit 148 outputs the automatic control command generated by the automatic control command unit 147 to the motion control unit 149. In manual mode, the motion control unit 149 drives the EPC valve 20 based on the manual control command supplied from the control command switching unit 148. In automatic mode, the motion control unit 149 drives the EPC valve 20 based on the automatic control command supplied from the control command switching unit 148. The motion control unit 149 supplies the EPC current to the EPC valve 20 for driving the EPC valve 20. The EPC valve 20 applies a pilot pressure to the spool of the main valve 21 based on the EPC current supplied from the operation control unit 149 .

[0098] When the lock lever 10 is operated to the locked position, the operation control unit 149, based on the operation signal from the lock lever 10, shuts off the source pressure to the EPC valve 20, thereby shutting off the oil discharge from the hydraulic pump via the control valve. This shutoff of the source pressure disables the main valve 21. Since the main valve 21 is disabled, the slewing structure 4 and the working device 5 are both locked and immobilized. It should be noted that the actuation of the control valve can also be controlled by another control device.

[0099] [Determination of whether automatic control is possible]

[0100] Figure 8 This is a diagram for explaining the determination of whether automatic control can be performed and the switching of the operation mode in the embodiment. When the first transfer condition is not satisfied in the state where automatic control is not permitted in the manual mode, automatic control is not permitted. When the first transfer condition is satisfied in the state where automatic control is not permitted in the manual mode, automatic control is permitted. The first transfer condition includes that the swing lock switch 9A is not operated. The automatic permission unit 144 does not allow automatic control when the swing parking brake 28 is operated by the operation of the swing lock switch 9A in the manual mode. The automatic permission unit 144 allows automatic control when the swing parking brake 28 is not operated due to the non-operation of the swing lock switch 9A in the manual mode.

[0101] It should be noted that the first transfer condition may also include the fact that the swing lock switch 9A is not operated and the locking lever 10 is operated to the free position. That is, the automatic permission unit 144 may also determine whether automatic control is possible based on the operation state of the swing lock switch 9A and the operation state of the locking lever 10. For example, in the manual mode, the automatic permission unit 144 does not allow automatic control when the swing parking brake 28 is operated by the operation of the swing lock switch 9A and the swing body 4 and the working device 5 are in a locked state due to the movement of the locking lever 10 to the locked position. The automatic permission unit 144 allows automatic control in the manual mode when the swing parking brake 28 is not operated due to the non-operation of the swing lock switch 9A and the swing body 4 and the working device 5 are in a free state due to the movement of the locking lever 10 to the free position.

[0102] It should be noted that the first transition condition may also include: the swing lock switch 9A not being operated, the lock lever 10 being operated to the free position, the automatic enable switch 9B being operated, the GNSS being enabled, and the target positions for automatic control (excavation target position 16R, soil dumping target position 17R, intermediate target position 18R) being set. It should be noted that at least one of the following may be used as the first transition condition: the swing lock switch 9A not being operated, the lock lever 10 being operated to the free position, the automatic enable switch 9B being operated, the GNSS being enabled, and the target positions for automatic control (excavation target position 16R, soil dumping target position 17R, intermediate target position 18R) being set.

[0103] If the second transition condition is met while automatic control is permitted in manual mode, automatic control is not permitted. The second transition condition includes the operation of the swing lock switch 9A. Alternatively, the second transition condition may include the operation of the swing lock switch 9A or the operation of the locking lever 10 to the locked position. Alternatively, the second transition condition may include at least one of the following: the operation of the swing lock switch 9A, the operation of the locking lever 10 to the locked position, the failure of the automatic permission switch 9B to operate, the inability to use GNSS, and the failure to set the target position for automatic control (excavation target position 16R, soil dumping target position 17R, intermediate target position 18R). For example, GNSS may be unavailable due to ionospheric scintillation.

[0104] The automatic control command unit 147 outputs an automatic control command when the automatic start switch 9D is operated in the state where automatic control is permitted in the manual mode. In other words, when the automatic start switch 9D is operated in the state where automatic control is permitted in the manual mode, the manual mode is switched to the automatic mode.

[0105] When the third transition condition is satisfied while automatic control is permitted in manual mode, the lifting and swinging operation begins in automatic mode. The third transition condition includes the automatic start switch 9D being operated when the bucket 5C is positioned near the excavation target 16. When the automatic start switch 9D is operated, the automatic control command unit 147 outputs an automatic control command based on the input signal from the automatic start switch 9D to move the bucket 5C of the work implement 5 toward the target earth removal position 17R.

[0106] When the fourth transition condition is satisfied while automatic control is permitted in manual mode, the lowering and swinging operation begins in automatic mode. The fourth transition condition includes operating the automatic start switch 9D while the bucket 5C is positioned near the excavation target 17. When the automatic start switch 9D is operated, the automatic control command unit 147 outputs an automatic control command based on the input signal from the automatic start switch 9D to move the bucket 5C of the work implement 5 toward the target excavation position 16R.

[0107] When a fifth transition condition is satisfied while a lift-and-swing operation is being performed in automatic mode, the automatic mode is transitioned to a manual mode that allows automatic control. The fifth transition condition includes at least one of the bucket 5C of the work implement 5 reaching the target earth-discharging position 17R and the operating device 7 being operated during the lift-and-swing operation.

[0108] When a sixth transition condition is satisfied while a lowering and rotating operation is being performed in automatic mode, the automatic mode is transitioned to a manual mode in which automatic control is permitted. The sixth transition condition includes at least one of the following: bucket 5C of work implement 5 reaching target excavation position 16R, or operating device 7 being operated during the lowering and rotating operation.

[0109] When a seventh transition condition is satisfied while a lifting and swinging operation is being performed in the automatic mode, the automatic mode is transitioned to the manual mode where automatic control is not permitted. The seventh transition condition includes satisfying the second transition condition, such as when GNSS is unavailable.

[0110] When an eighth transition condition is satisfied while a descending turn is being performed in the automatic mode, the automatic mode is transitioned to the manual mode where automatic control is not permitted. The eighth transition condition includes satisfying the second transition condition, such as when GNSS is unavailable.

[0111] The mode determination unit 145 can determine the operation mode of the swing structure 4 and the work implement 5 based on each of the first to eighth transition conditions.

[0112] [Control method for working machinery]

[0113] Figure 9This is a flowchart showing a control method of the hydraulic excavator 1 according to the embodiment. In the manual mode, the automatic permission unit 144 determines whether the reference Figure 8 First transition condition to be described: In the embodiment, the automatic permission unit 144 determines whether automatic control is possible based on the operation state of the swing lock switch 9A (step S1 ).

[0114] The automatic permission unit 144 permits automatic control when the swing lock switch 9A is not operated. The automatic permission unit 144 disallows automatic control when the swing lock switch 9A is operated.

[0115] If it is determined in step S1 that the swing lock switch 9A is not operated, that is, if it is determined that the automatic control is permitted (step S1: Yes), the mode determination unit 145 determines whether the reference Figure 8 The third transition condition or the fourth transition condition described above. In the embodiment, when the mode determination unit 145 determines in step S1 that the automatic control is permitted, it determines whether the automatic start switch 9D is operated (step S2).

[0116] When it is determined in step S2 that the automatic start switch 9D is operated (step S2 : Yes), the mode is shifted from the manual mode to the automatic mode.

[0117] The mode determination unit 145 determines whether the reference Figure 8 The fifth transition condition, the sixth transition condition, the seventh transition condition, or the eighth transition condition described above. In the embodiment, the mode determination unit 145 determines whether the operation device 7 is operated (step S3).

[0118] If it is determined in step S3 that the operating device 7 is not operated (step S3 : No), the automatic control instruction unit 147 outputs an automatic control instruction for the lifting and rotating operation or the lowering and rotating operation to the operation control unit 149 via the control instruction switching unit 148 (step S4 ).

[0119] The brake control unit 150 receives the automatic control command output from the automatic control command unit 147 via the control command switching unit 148. The brake control unit 150 determines whether the automatic control command satisfies the brake operation conditions. In automatic mode, the automatic control command unit 147 may output an automatic control command corresponding to the neutral position of the left operating lever 7A. Furthermore, in automatic mode, the automatic control command unit 147 may output an automatic control command that satisfies the brake operation conditions. The brake control unit 150 determines whether the neutral position of the automatic control command for rotating the rotating body 4 has elapsed for 5 seconds (step S5).

[0120] If it is determined in step S5 that the neutral state of the automatic control command has not elapsed for 5 seconds (step S5: No), the swing parking brake 28 is deactivated. The mode determination unit 145 determines whether the bucket 5C has reached the target position (the earth removal target position 17R or the excavation target position 16R) (step S6).

[0121] If it is determined in step S6 that the bucket 5C has not reached the target position (step S6: No), the process returns to step S3. If it is determined in step S6 that the bucket 5C has reached the target position (step S6: Yes), the mode determination unit 145 determines whether to end the work of the hydraulic excavator 1 (step S7).

[0122] If it is determined in step S7 that the work of the hydraulic excavator 1 is to be completed (step S7: Yes), the work of the hydraulic excavator 1 is completed. If it is determined in step S7 that the work of the hydraulic excavator 1 is not to be completed (step S7: No), the process returns to step S1.

[0123] If it is determined in step S1 that the swing lock switch 9A has been operated, that is, if it is determined that automatic control is not permitted (step S1: No), manual mode is maintained. Furthermore, if it is determined in step S2 that the automatic start switch 9D has not been operated (step S2: No), manual mode is also maintained. Furthermore, if it is determined in step S3 that the operating device 7 has been operated (step S3: Yes), the mode shifts from automatic mode to manual mode.

[0124] In manual mode, manual control command unit 146 generates manual control commands based on operation signals from left control lever 7A and right control lever 7B, and outputs the manual control commands to brake control unit 150 and motion control unit 149 via control command switching unit 148 (step S8 ).

[0125] The brake control unit 150 receives the manual control command from the manual control command unit 146 via the control command switching unit 148. The brake control unit 150 determines whether the neutral state of the manual control command for rotating the rotating body 4 has elapsed for 5 seconds (step S9). The neutral state of the manual control command corresponds to the neutral state of the left operating lever 7A.

[0126] If it is determined in step S9 that the neutral state of the manual control command has not elapsed for 5 seconds (step S9 : NO), the swing parking brake 28 is not actuated, and the process proceeds to step S7 .

[0127] When it is determined in step S5 that the neutral state of the automatic control command has elapsed for 5 seconds (step S5 : YES), the brake control unit 150 actuates the swing parking brake 28 (step S10 ).

[0128] The brake control unit 150 determines whether the left operating lever 7A, which is operated to rotate the rotating body 4, is operated (step S11).

[0129] If it is determined in step S11 that the left operating lever 7A has not been operated (step S11: No), the process returns to step S10, and the brake control unit 150 continues the operation of the swing parking brake 28. If it is determined in step S11 that the left operating lever 7A has been operated (step S11: Yes), the operation of the swing parking brake 28 is released, and the process shifts to step S6.

[0130] When it is determined in step S9 that the neutral state of the manual control command has elapsed for 5 seconds (step S9 : YES), the brake control unit 150 actuates the swing parking brake 28 (step S12 ).

[0131] The brake control unit 150 determines whether the left operating lever 7A, which is operated to rotate the rotating body 4, is operated (step S13).

[0132] If it is determined in step S13 that the left operating lever 7A has not been operated (step S13: No), the process returns to step S12, and the brake control unit 150 continues the operation of the swing parking brake 28. If it is determined in step S13 that the left operating lever 7A has been operated (step S13: Yes), the operation of the swing parking brake 28 is released, and the process shifts to step S7.

[0133] [Computer System]

[0134] Figure 10 This is a block diagram of a computer system 1000 according to an embodiment. The control device 14 includes the computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), a storage 1003, and an interface 1004 including an input / output circuit. The functions of the control device 14 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003 and expands it in the main memory 1002, and executes the above-mentioned processing according to the program. It should be noted that the computer program can also be distributed to the computer system 1000 via a network.

[0135] According to the above-mentioned embodiment, the computer program or computer system 1000 is capable of performing the following operations: obtaining the operating state of the rotary lock input device that is operated to activate the rotary parking brake 28 capable of stopping the rotation of the rotary body 4; and determining whether automatic control of the rotary body 4 and the working device 5 installed on the rotary body 4 can be performed based on the operating state of the rotary lock input device.

[0136] [Effect]

[0137] As described above, according to the embodiment, the hydraulic excavator 1 includes: a rotating body 4; a working device 5, which is installed on the rotating body 4; a swing parking brake 28, which can stop the rotation of the rotating body 4; a swing lock switch 9A (swing lock input device), which is operated to operate the swing parking brake 28; an automatic control instruction unit 147, which outputs an automatic control instruction for automatically controlling the rotating body 4 and the working device 5; and an automatic permission unit 144, which determines whether the automatic control of the rotating body 4 and the working device 5 can be performed based on the operation state of the swing lock switch 9A.

[0138] According to the embodiment, the operating state of the swing lock switch 9A is taken into account when determining whether automatic control of the swing unit 4 and the work implement 5 is permitted, thereby suppressing a decrease in the operating efficiency of the hydraulic excavator 1. If the swing lock switch 9A is operated, the swing parking brake 28 is activated, preventing the swing unit 4 from rotating. If automatic control of the swing unit 4 and the work implement 5 is initiated while the swing lock switch 9A is operated, there is a possibility that the work implement 5 will operate while the swing unit 4 is not rotating. In the embodiment, when the swing lock switch 9A is operated, the automatic permission unit 144 disallows automatic control based on the input signal from the swing lock switch 9A. In other words, the mode is not switched from manual mode to automatic mode while the swing lock switch 9A is operated. This prevents the automatic control of the swing unit 4 and the work implement 5 from being initiated while the swing lock switch 9A is operated. Consequently, a decrease in the operating efficiency of the hydraulic excavator 1 can be suppressed.

[0139] The automatic permission unit 144 does not permit automatic control when the swing lock switch 9A is operated. The automatic permission unit 144 permits automatic control when the swing lock switch 9A is not operated. That is, when the swing lock switch 9A is not operated, the hydraulic excavator 1 can transition from manual mode to automatic mode. In the embodiment, the hydraulic excavator 1 includes an automatic start switch 9D (automatic start input device) that is operated to start automatic control. When the automatic start switch 9D is operated while the automatic permission unit 144 permits automatic control, the automatic control command unit 147 outputs an automatic control command based on the input signal from the automatic start switch 9D. The automatic control command outputted from the automatic control command unit 147 enables automatic control of the swing structure 4 and the work implement 5.

[0140] During the teaching process, the teaching unit 142 sets the excavation target position 16R for the excavation target 16 and the soil removal target position 17R for the soil removal target 17. The target position storage unit 143 stores the excavation target position 16R set for the excavation target 16 and the soil removal target position 17R set for the soil removal target 17. The automatic control command unit 147 outputs an automatic control command to move the bucket 5C of the work implement 5 toward the excavation target position 16R. The automatic control command unit 147 outputs an automatic control command to move the bucket 5C of the work implement 5 toward the soil removal target position 17R. In the embodiment, the automatic control command unit 147 outputs an automatic control command to move the bucket 5C toward the soil removal target position 17R during the lifting and swinging operation. The automatic control command unit 147 outputs an automatic control command to move the bucket 5C toward the excavation target position 16R during the lowering and swinging operation. This reduces the operator's burden.

[0141] The hydraulic excavator 1 includes a lock lever 10 (operation lock operation device) that is operated to disable the swing unit 4 and the work implement 5. The automatic permission unit 144 can also determine whether automatic control is permitted based on the operation status of the lock lever 10. When the lock lever 10 is operated, the swing unit 4 and the work implement 5 are respectively disabled. Therefore, even if an automatic control command is output from the automatic control command unit 147, automatic control of the swing unit 4 and the work implement 5 cannot be initiated. It should be noted that the operation status of the swing lock switch 9A may be considered in addition to the operation status of the lock lever 10 in determining whether automatic control is permitted.

[0142] [Other embodiments]

[0143] Figure 11 This is a block diagram showing a portion of a control system 50B of a hydraulic excavator 1 according to another embodiment. In the above embodiment, in the automatic mode, it is determined whether the automatic operation command input to the brake control unit 150 satisfies the brake operation condition. Figure 9 In step S5 described above, it is determined whether the neutral state of the automatic operation command has lasted for 5 seconds. Figure 11 As shown, the brake control unit 150 can also control the swing parking brake 28 in automatic mode based on the pilot pressure applied to the main valve 21 by the EPC valve 20 (control valve). The brake control unit 150 can also determine whether the brake actuation conditions are met based on the pilot pressure in automatic mode. The control device 14B of the control system 50B, similar to the control device 14 described in the above embodiment, includes a manual control command unit 146, an automatic control command unit 147, a control command switching unit 148, an operation control unit 149, and a brake control unit 150. The pilot pressure applied to the main valve 21 by the EPC valve 20 is detected by the pressure sensor 30. In manual mode, the brake control unit 150 actuates the swing parking brake 28 after five seconds have passed since the left operating lever 7A was in the neutral position. When the swing unit 4 is rotated in automatic mode, the automatic control command unit 147 controls the EPC valve 20 so that the pilot pressure applied to the main valve 21 exceeds a specified value. In the automatic mode, if the pilot pressure for rotating the rotating body 4 is not detected for 5 seconds, that is, if the pilot pressure detected by the pressure sensor 30 is less than a predetermined value for 5 seconds, the brake control unit 150 operates the rotating parking brake 28 .

[0144] Figure 12 FIG. 5 is a block diagram showing a portion of a control system 50C of a hydraulic excavator 1 according to another embodiment. Figure 12As shown, the control device 14C of the control system 50C, similar to the control device 14 described in the above embodiment, includes a mode determination unit 145, a manual control command unit 146, an automatic control command unit 147, a control command switching unit 148, an action control unit 149, and a brake control unit 150. Furthermore, the control device 14C includes a switch unit 151. The switch unit 151 operates based on the action mode determined by the mode determination unit 145. The switch unit 151 operates as follows: in manual mode, a manual control command generated based on an operation signal from the left operating lever 7A is transmitted to the swing parking brake 28; in automatic mode, a release command for releasing the swing parking brake 28 is transmitted to the swing parking brake 28. The switch unit 151 includes a brake command input unit 151A, a release command input unit 151B, and an output unit 151C. The brake command input unit 151A is connected to the brake control unit 150. The switch unit 151 switches between a state in which the brake command input unit 151A is connected to the output unit 151C and a state in which the release command input unit 151B is connected to the output unit 151C. In manual mode, the brake command input unit 151A is connected to the output unit 151C. When the left operating lever 7A has been in the neutral state for 5 seconds, the brake control unit 150 outputs a manual control command to the solenoid valve 27 via the switch unit 151 to activate the swing parking brake 28. In automatic mode, the release command input unit 151B is connected to the output unit 151C. In automatic mode, a release command is output to the solenoid valve 27 to release the operation of the swing parking brake 28. That is, in automatic mode, the swing parking brake 28 does not operate. In automatic mode, even if the left operating lever 7A has been in the neutral state for 5 seconds, the swing body 4 can still perform a lifting and swinging action or a lowering and swinging action based on the automatic control command from the automatic control command unit 147.

[0145] It should be noted that, based on the determination of whether the automatic mode is selected, if the automatic mode is selected, a release signal for releasing the swing parking brake 28 may be output to the solenoid valve 27 regardless of the operation state of the swing lock switch 9A.

[0146] In the above embodiment, multiple target positions for the bucket 5C in automatic mode are set: an excavation target position 16R, a dumping target position 17R, and an intermediate target position 18R. Setting the intermediate target position 18R is not necessary. Furthermore, in the above embodiment, after the bucket 5C is positioned at a desired position by operating the left operating lever 7A and the right operating lever 7B during the teaching process, the target positions are set by operating the teaching switch 9C. For example, the positions of the excavation target 16 and the dumping target 17 may be detected using a laser sensor (LiDAR) or a three-dimensional sensor such as a stereo camera, and the target positions may be set based on the positions detected by the three-dimensional sensor. Furthermore, a target trajectory for the bucket 5C may also be set during the teaching process.

[0147] In the above embodiment, the orientation of the swing unit 4 is calculated based on the detection data from the first position sensor 11A and the detection data from the second position sensor 11B. Alternatively, an angle sensor such as an encoder or a potentiometer capable of detecting the rotation angle of the swing unit 4 may be installed in the hydraulic excavator 1, and the orientation of the swing unit 4 may be calculated based on the detection data from the angle sensor.

[0148] In the above-described embodiment, the swing lock switch 9A only needs to be located in the cab 2 and can be installed at any location in the cab 2. Furthermore, the swing lock input device, which is operated to activate the swing parking brake 28, can also be installed on the vehicle-mounted monitor 8. The swing lock input device can be, for example, a touch panel. Alternatively, the swing lock input device can be installed on a tablet terminal. Alternatively, the swing lock input device can be installed outside the cab 2. For example, the swing lock input device can be located at a remote location on the hydraulic excavator 1 to remotely operate the swing parking brake 28. The same applies to the automatic permission switch 9B, the teach switch 9C, and the automatic start switch 9D.

[0149] In the above-mentioned embodiment, the position calculation unit 141, the teaching unit 142, the target position storage unit 143, the automatic permission unit 144, the mode determination unit 145, the manual control instruction unit 146, the automatic control instruction unit 147, the control instruction switching unit 148, the action control unit 149, the brake control unit 150 and the switch unit 151 can also be composed of different hardware respectively.

[0150] In the above-described embodiment, the working machine 1 is a hydraulic excavator including a traveling unit 3, a revolving unit 4, and a working implement 5. The working machine 1 only needs to include the revolving unit 4.

[0151] In the above embodiment, the rotating body 4 may be rotated by an electric rotating motor.

[0152] In the above-mentioned embodiment, the working machine 1 may be a hybrid excavator or an electric excavator. The working machine 1 may be a rope excavator.

[0153] In the above embodiment, the excavation operation mode and the earth-discharging operation mode are manual modes. However, the excavation operation mode and the earth-discharging operation mode may be automatic modes.

[0154] In the above embodiment, the lifting and rotating motion modes and the lowering and rotating motion modes are automatic modes. Alternatively, one of the lifting and rotating motion modes and the lowering and rotating motion modes may be automatic mode and the other may be manual mode.

[0155] In the above-described embodiment, when the earth removal target position 17R is set so as not to cause interference between the bucket 5C and the earth removal object 17 , the intermediate target position 18R may not be set.

[0156] In the above-described embodiment, the automatic permission switch 9B may be omitted.

[0157] In the above-described embodiment, the working machine 1 may also be remotely operated. Figure 13 This is a schematic diagram illustrating a remote operation system 100 for a work machine 1 according to another embodiment. Remote operation system 100 remotely operates work machine 1 while it is working at a work site. Remote operation system 100 includes the aforementioned control system (50, 50B, 50C). At least a portion of remote operation system 100 is located in a remote operation room 200 outside of work machine 1. Remote operation room 200 is located at a remote location away from the work site.

[0158] The remote operation system 100 includes a remote operation device 140, a display device 120, and a controller 110. The remote operation device 140 is located in a remote operation room 200. The remote operation device 140 is operated by an operator in the remote operation room 200. The operator can operate the remote operation device 140 while seated in a driver's seat 160. The remote operation device 140 generates operation signals that operate the work implement 5 and the swing structure 4 through the operator's operation.

[0159] Display device 120 is located in remote operation room 200. Display device 120 displays an image of the work site. An operator in remote operation room 200 can visually confirm the conditions of the work site via display device 120. The operator operates remote operation device 140 while observing the image of the work site displayed on display device 120. Work machine 1 is remotely operated by remote operation device 140.

[0160] Controller 110 is located in remote operation room 200. Controller 110 includes a computer system. Work machine 1 is equipped with control device 14D. Control device 14D also includes a computer system. Controller 110 and control device 14D communicate via communication system 400. Examples of communication system 400 include the Internet, a local area network (LAN), a mobile phone communication network, or a satellite communication network. Communication system 400 may include a relay station for relaying data to be communicated.

[0161] Furthermore, a swing lock switch and a lock lever are preferably provided in the remote operation room 200. During remote operation, on / off signals from the swing lock switch and the lock lever are transmitted to the work machine 1, and the control device 14D of the work machine 1 operates based on the transmitted signals. It should be noted that remote operation can also be performed after entering the work machine 1 and operating the switches.

[0162] Description of reference numerals:

[0163] 1…Hydraulic excavator (working machine); 2…Operating cab; 3…Travel unit; 3A…Crawler tracks; 4…Slewing unit; 5…Working device; 5A…Boom; 5B…Arm; 5C…Bucket; 6…Hydraulic cylinder; 6A…Boom cylinder; 6B…Arm cylinder; 6C…Bucket cylinder; 7…Operating device; 7A…Left operating lever; 7B…Right operating lever; 7C…Left travel lever; 7D…Right travel lever; 7E…Left foot pedal; 7F…Right foot pedal; 8…Onboard monitor; 8A…Display device; 8B…Input device; 9…Input device; 9A…Slewing lock switch (slewing lock input device); 9B…Auto-permit switch; 9C…Indicator Teach switch; 9D…Auto start switch (auto start input device); 10…Lock lever (action lock operating device); 11…Position sensor; 11A…First position sensor; 11B…Second position sensor; 12…Inertial sensor; 13…Posture sensor; 13A…Boom posture sensor; 13B…Arm posture sensor; 13C…Bucket posture sensor; 14…Control device; 14B…Control device; 14C…Control device; 14D…Control device; 15…Operator's seat; 16…Excavation target; 16R…Excavation target position; 17…Discharge target; 17R…Discharge target position; 18R ...intermediate target position; 19A...first path; 19B...second path; 20...EPC valve (control valve); 21...main valve; 22...engine; 23...hydraulic pump; 24...swing motor; 25...brake disc; 26...brake cylinder; 27...solenoid valve; 28...swing parking brake; 30...pressure sensor; 50...control system; 50B...control system; 50C...control system; 141...position calculation unit; 100...remote operation system; 110...controller; 120...display device; 140...remote operation device; 142...teaching unit; 143...target position storage unit; 144...automatic permission Allow unit; 145…mode determination unit; 146…manual control command unit; 147…automatic control command unit; 148…control command switching unit; 149…motion control unit; 150…brake control unit; 151…switch unit; 151A…brake command input unit; 151B…release command input unit; 151C…output unit; 160…driver’s seat; 200…remote operation room; 400…communication system; 1000…computer system; 1001…processor; 1002…main memory; 1003…storage; 1004…interface; Og…on-site reference point; Om…representative point; RX…rotating axis.

Claims

1. A control system for an operating machine, wherein: The control system of the working machine includes: Rotating body; a working device mounted on the rotating body; a rotary parking brake capable of stopping the rotation of the rotary body; a swing lock input device that is operated to apply the swing parking brake; an automatic control instruction unit that outputs an automatic control instruction for automatically controlling the rotary body and the working device; and An automatic permission unit determines whether the automatic control is permitted based on an operation state of the swing lock input device.

2. The control system for a working machine according to claim 1, wherein: The automatic permission unit disallows the automatic control when the swing lock input device is operated.

3. The control system for a working machine according to claim 1, wherein: The automatic permission unit permits the automatic control when the swing lock input device is not operated.

4. The control system for a working machine according to claim 2, wherein: The automatic permission unit permits the automatic control when the swing lock input device is not operated.

5. The control system for a working machine according to claim 4, wherein: The control system of the working machine includes an automatic start input device that is operated to start the automatic control. The automatic control instruction unit outputs the automatic control instruction when the automatic start input device is operated in a state where the automatic control is permitted.

6. The control system for a working machine according to claim 5, wherein: The control system of the working machine includes a target position storage unit for storing an excavation target position set for an excavation object. The automatic control command unit outputs the automatic control command so as to move the bucket of the work machine toward the excavation target position.

7. The control system for a working machine according to claim 5, wherein: The control system of the working machine includes a target position storage unit for storing a soil discharge target position set for a soil discharge object. The automatic control command unit outputs the automatic control command so as to move the bucket of the work machine toward the soil discharge target position.

8. The control system for a working machine according to claim 1, wherein: The control system of the working machine includes a motion locking operation device, which is operated to disable the rotation body and the working device from moving. The automatic permission unit determines whether the automatic control is permitted based on an operation state of the swing lock input device and an operation state of the motion lock operation device.

9. A working machine, wherein: The working machine includes the working machine control system according to claim 1 .

10. A method for controlling a working machine, wherein: The control method of the working machine includes: obtaining an operation state of a swing lock input device that is operated to activate a swing parking brake capable of stopping the rotation of the swing body; and Based on the operation state of the swing lock input device, it is determined whether the swing body and the working device attached to the swing body can be automatically controlled.

11. A remote operating system for a working machine, wherein: The remote operating system of the working machine comprises: The control system for a working machine according to claim 1; and A remote operating device is disposed outside the working machine and remotely operates the working machine.

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