Work machine

Abstract

Provided is a work machine (1) capable of restraining work effect by automatic-operation from being reduced by a response action to abnormality. The work machine (1) includes an abnormal state detection part (11) and a motion control part (11). The abnormal state detection part (11) detects an abnormal state of the work machine (1). The motion control part (11) selects, from among a plurality of response action controls, a response action control that corresponds to the level of the abnormal state detected by the abnormal state detection part, and executes the selected response action control. The plurality of response action controls include an emergency stop control to immediately stop the automatic operation and an operation continuation control to continue the automatic operation.

Description

Technical Field

[0001] The present invention relates to a work machine to be automatically operated.Background Art

[0002] Patent Literature 1 discloses a technique related to a work machine to be automatically operated. The technique involves making the work machine perform a response action to abnormality when the work machine comes in an abnormal state.

[0003] In a case where the response action to abnormality is an immediate stop of the automatic operation of the work machine, work is required to restore the posture of the stopped work machine to a predetermined posture. Besides, the stop of the work machine involves interruption of work, which hinders a predetermined work amount from being gained, thereby reducing the work effect provided by the automatic operation.Citation List Patent Literature

[0004] Patent Literature 1: Japanese Unexamined Patent Publication No. 2000-186349Summary of Invention

[0005] It is an object of the present invention to provide a work machine to be automatically operated, the work machine being capable of restraining work effect provided by the automatic operation from being reduced by a response action to abnormality.

[0006] Provided is a work machine to be automatically operated, including an abnormal state detection part and a motion control part. The abnormal state detection part detects an abnormal state of the work machine. The motion control part selects a response action control that corresponds to a level of the abnormal state detected by the abnormal state detection part from among a plurality of response action controls that are prepared in advance, and executes the selected response action control. The plurality of response action controls include an emergency stop control to immediately stop the automatic operation and an operation continuation control to continue the automatic operation.Brief Description of Drawings

[0007] FIG. 1 is a side view of a work machine according to an embodiment of the present invention. FIG. 2 is a diagram showing a hydraulic circuit installed on the work machine. FIG. 3 is a block diagram showing main elements of the work machine. FIG. 4 is a flowchart showing abnormality response processing to be performed by a controller of the work machine. FIG. 5 is a flowchart showing payload function abnormality response processing to be performed by the controller. FIG. 6 is a flowchart showing height-detection function abnormality response processing to be performed by the controller. FIG. 7 is a flowchart showing water temperature abnormality response processing to be performed by the controller. FIG. 8 is a flowchart showing fuel remaining amount abnormality response processing to be performed by the controller. Detailed Description

[0008] Hereinafter will be described preferred embodiments of the present invention with reference to the drawings.

[0009] FIG. 1 shows a work machine 1 according to the present embodiment. The work machine 1 is automatically operated. The work machine 1 is a machine that performs work. The work machine 1 illustrated in FIG. 1 is a hydraulic excavator. The work machine 1 includes a machine body 24, an attachment 30 and a plurality of cylinders 40, the machine body 24 including a lower traveling body 21 and an upper turning body 22.

[0010] The lower traveling body 21 is a part capable of performing a traveling motion, including, for example, a pair of right and left crawlers. The upper turning body 22 is mounted on the lower traveling body 21 through a turning device 25 capably of turning. The upper turning body 22 includes a cab (operation chamber) 23, which forms a front part of the upper turning body 22.

[0011] The attachment 30 is attached to the upper turning body 22 capably of vertically rotational movement so as to be able to perform work motion. The attachment 30 includes a boom 31, an arm 32 and a bucket 33. The boom 31 is attached to the upper turning body 22 capably of vertically rotational movement (capably of derricking). The arm 32 is attached to the boom 31 capably of vertically rotational movement. The bucket 33 is an end attachment that is a distal end of the attachment 30, attached to the arm 32 capably of rotational movement in a front-rear direction of the upper turning body 22. The bucket 33 is a part that performs work such as excavation, leveling and scooping of soil and sand.

[0012] The end attachment is not limited to the bucket 33 but allowed to be also a lifting magnet for holding iron scrap or the like.

[0013] The plurality of cylinders 40 is able to rotationally move the attachment 30 hydraulically. Each of the cylinders 40 is a hydraulic cylinder capable of performing expansion and contraction motions. Each of the cylinders 40 may be an electric cylinder.

[0014] The plurality of cylinders 40 include a boom cylinder 41, an arm cylinder 42 and a bucket cylinder 43.

[0015] The boom cylinder 41 rotationally moves the boom 31 with respect to the upper turning body 22. The boom cylinder 41 has a proximal end and a distal end opposite to the proximal end. The proximal end is rotatably connected to the upper turning body 22. The distal end is rotatably connected to the boom 31.

[0016] The arm cylinder 42 rotationally moves the arm 32 with respect to the boom 31. The arm cylinder 42 has a proximal end and a distal end opposite to the proximal end. The proximal end is rotatably connected to the boom 31. The distal end is rotatably connected to the arm 32.

[0017] The bucket cylinder 43 rotationally moves the bucket 33 with respect to the arm 32. The bucket cylinder 43 has a proximal end and a distal end opposite to the proximal end. The proximal end is rotatably connected to the arm 32. The distal end is rotatably connected to a link member 34, which is rotatably connected to the bucket 33.

[0018] The work machine 1 further includes a plurality of sensors 50, which include a boom oblique angle sensor 51, an arm oblique angle sensor 52, a bucket oblique angle sensor 53, a turning angle sensor 54 and an inclination angle sensor 55.

[0019] The boom oblique angle sensor 51 is attached to the boom 31 to detect the posture of the boom 31. The boom oblique angle sensor 51 is a sensor that acquires the oblique angle of the boom 31 to a horizontal line, for example, an inclination (acceleration) sensor. The boom oblique angle sensor 51, alternatively, may be either a rotation angle sensor that detects the rotation angle of a boom foot pin in the proximal end of the boom 31 or a stroke sensor that detects the stroke of the boom cylinder 41 in the expansion and contraction directions.

[0020] The arm oblique angle sensor 52 is attached to the arm 32 to detect the posture of the arm 32. The arm oblique angle sensor 52 is a sensor that acquires the oblique angle of the arm 32 to a horizontal line, for example, an inclination (acceleration) sensor. The arm oblique angle sensor 52, alternatively, may be either a rotation angle sensor that detects the rotation angle of an arm connection pin in the proximal end of the arm 32 or a stroke sensor that detects the stroke of the arm cylinder 42 in the expansion and contraction directions.

[0021] The bucket oblique angle sensor 53 is attached to the link member 34 to detect the posture of the bucket 33. The bucket oblique angle sensor 53 is a sensor that acquires the oblique angle of the bucket 33 to a horizontal line, for example, an inclination (acceleration) sensor. The bucket oblique angle sensor 53 may be either a rotation angle sensor that detects the rotation angle of a bucket connection pin in the proximal end of the bucket 33 or a stroke sensor that detects the stroke of the bucket cylinder 43 in the expansion and contraction directions.

[0022] The turning angle sensor 54 detects a turning angle of the upper turning body 22 with respect to the lower traveling body 21. The turning angle sensor 54 is, for example, an encoder, a resolver or a gyro sensor. In the present embodiment, the turning angle of the upper turning body 22 is 0° when the frontward direction of the upper turning body 22 is coincident with the frontward direction of the lower traveling body 21.

[0023] The inclination angle sensor 55 is attached to the upper turning body 22 to detect an inclination angle of the upper turning body 22 to a horizontal surface. The inclination angle sensor 55 is, for example, an inclination (acceleration) sensor or an IMU (Inertial Measurement Unit).

[0024] The plurality of sensors 50 further include a boom head-pressure sensor, a boom rod-pressure sensor and a turning angular velocity sensor, which are not graphically shown. The boom head-pressure sensor detects a head pressure which is a pressure in the head-side chamber of the boom cylinder 41. The boom rod-pressure sensor detects a rod pressure which is a pressure in the rod-side chamber of the boom cylinder 41. The turning angular velocity sensor detects a turning angular velocity of the turning device 25.

[0025] The work machine 1 further includes an imaging device 27. The imaging device 27 is attached on the cab 23. In the present embodiment, the imaging device 27 is a LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). The imaging device 27 has a scanning direction, which is fixed to the frontward direction of the cab 23. The imaging device 27, alternatively, may be attached to either a specific part of the attachment 30, for example, a boom 31, or the upper turning body 22.

[0026] The imaging device 27 captures an image of an imaging target. The imaging target includes a mound of soil and sand, a loading platform of a dump truck, soil and sand in the bucket 33 and the like. The imaging device 27 acquires point group data (three-dimensional point group) indicating a distance from the position where the imaging device 27 is attached to the imaging target. Based on the point group data acquired by the imaging device 27 is determined a shape or the like of the imaging target.

[0027] The imaging device 27 is not limited to the LiDAR but also allowable to be either of a TOF (Time of flight) sensor, a stereo camera and the like.

[0028] The work machine 1 according to the present embodiment has a so-called payload function. The payload function is a function of measuring a load due to an object held by the bucket 33, for example, soil and sand.

[0029] As shown in FIG. 2, the work machine 1 further includes an engine 61, a first hydraulic pump 62, a second hydraulic pump 63, a plurality of control valves 70 and a plurality of proportional valves 80. Each of the first hydraulic pump 62 and the second hydraulic pump 63 is a variable displacement pump, which is driven by the engine 61. The first hydraulic pump 62 and the second hydraulic pump 63 supply hydraulic fluid to the plurality of cylinders 40, a pair of right traveling motors 46 and left traveling motor 47 for driving a right crawler and a left crawler which are the pair of crawlers, respectively, and the turning device 25, thereby driving the plurality of cylinders 40, the pair of traveling motors 46 and 47, and the turning device 25.

[0030] The plurality of control valves 70 are interposed between the first hydraulic pump 62 or the second hydraulic pump 63 and the hydraulic actuator corresponding to the control valve 70, and operate so as to change the direction and flow rate of the hydraulic fluid to be supplied to the hydraulic actuator. Each of the control valves 70 is composed of a hydraulic selector valve having a pair of pilot ports, configured to be opened so as to allow hydraulic fluid to be supplied to the hydraulic actuator, in a direction corresponding to the pilot port to which a pilot pressure is supplied from among the pair of pilot ports, at a flow rate corresponding to the magnitude of the pilot pressure.

[0031] The plurality of control valves 70 include a right traveling control valve 71, a left traveling control valve 72, a boom control valve 73, an arm control valve 74, a bucket control valve 75, a turning control valve 76, and a first option control valve and a second option control valve which are not graphically shown.

[0032] The right traveling control valve 71 switches the supply destination of the hydraulic fluid discharged from the first hydraulic pump 62 between an advance-side port and a reverse-side port of the right traveling motor 46, thereby switching the rotation direction of the right traveling motor 46 between the advance direction and the reverse direction. The left traveling control valve 72 switches the supply destination of the hydraulic fluid discharged from the second hydraulic pump 63 between an advance-side port and a reverse-side port of the left traveling motor 47, thereby switching the rotation direction of the left traveling motor 47 between the advance direction and the reverse direction.

[0033] The boom control valve 73 switches the supply destination of the hydraulic fluid discharged from the first hydraulic pump 62 between a head-side port and a rod-side port of the boom cylinder 41, thereby switching the motion direction of the boom cylinder 41 between the expansion direction and the contraction direction. The same applies to the arm control valve 74 and the bucket control valve 75.

[0034] The turning control valve 76 switches the supply destination of the hydraulic fluid discharged from the second hydraulic pump 63 between a rightward-turning-side port and a leftward-turning-side port of the turning device 25, thereby switching the turning direction of the upper turning body 22 between a rightward turning direction and a leftward turning direction.

[0035] The first option control valve switches the supply destination of the hydraulic fluid discharged from the first hydraulic pump 62 between two ports of a not-graphically-shown first option device, thereby switching the motion direction of the first option device. Similarly, the second option control valve switches the supply destination of the hydraulic fluid discharged from the second hydraulic pump 63 between two ports of a not-graphically-shown second option device, thereby switching the motion direction of the second option device.

[0036] The plurality of proportional valves 80 are provided for the pilot ports of the plurality of control valves 70, respectively. Each of the proportional valves 80 is composed of an electromagnetic proportional valve, configured to be opened so as to allow a pilot pressure corresponding to a lever operation amount to be supplied to the pilot port. Each of the proportional valves 80 may be replaced with a solenoid valve other than the solenoid proportional valve, for example, an electromagnetic inverse proportional valve.

[0037] The plurality of proportional valves 80 include a boom lowering proportional valve 81, a boom raising proportional valve 82, an arm crowding proportional valve 83, an arm pushing proportional valve 84, a bucket excavation proportional valve 85, a bucket dump proportional valve 86, a rightward turning proportional valve 87, a leftward turning proportional valve 88, a right advance proportional valve 89, a right reverse proportional valve 90, a left advance proportional valve 91, a left reverse proportional valve 92, a pair of not-graphically-shown first option proportional valves, and a pair of not-graphically-shown second option proportional valves.

[0038] The boom lowering proportional valve 81 is configured to be opened so as to allow a boom lowering pilot pressure to be supplied to a boom lowering pilot port which is one pilot port of the boom control valve 73. The boom control valve 73 is opened by the boom lowering pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the rod-side port of the boom cylinder 41, thereby rotationally moving the boom 31 in a boom lowering direction in which the boom 31 approaches the ground, that is, making the boom 31 perform a boom lowering motion. On the other hand, the boom raising proportional valve 82 is configured to be opened so as to allow a boom raising pilot pressure to be supplied to a boom raising pilot port which is the other pilot port of the boom control valve 73. The boom control valve 73 is opened by the boom-raising pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the head-side port of the boom cylinder 41, thereby rotationally moving the boom 31 in a boom raising direction in which the boom 31 is separated from the ground, that is, making the boom 31 perform a boom raising motion.

[0039] The arm crowding proportional valve 83 is configured to be opened so as to allow an arm crowding pilot pressure to be supplied to an arm crowding pilot port which is one pilot port of the arm control valve 74. The arm control valve 74 is opened by the arm crowding pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the head-side port of the arm cylinder 42, thereby rotationally moving the arm 32 in an arm crowding direction in which the arm 32 approaches the boom 31, that is, making the arm 32 perform an arm crowding motion. On the other hand, the arm pushing proportional valve 84 is configured to be opened so as to allow an arm pushing pilot pressure to be supplied to an arm pushing pilot port which is the other pilot port of the arm control valve 74. The arm control valve 74 is opened by the arm pushing pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the rod-side port of the arm cylinder 42, thereby rotationally moving the arm 32 in an arm pushing direction, in which the boom 31 is separated from the boom 31, that is, making the arm 32 perform an arm pushing motion.

[0040] The bucket excavation proportional valve 85 is configured to be opened so as to allow a bucket excavation pilot pressure to be supplied to a bucket excavation pilot port which is one pilot port of the bucket control valve 75. The bucket control valve 75 is opened by the bucket excavation pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the head-side port of the bucket cylinder 43, thereby rotationally moving the bucket 33 in a bucket excavation direction in which the bucket 33 approaches the arm 32, that is, making the bucket 33 perform a bucket excavation motion. On the other hand, the bucket dump proportional valve 86 is configured to be opened so as to allow a bucket dump pilot pressure to be supplied to a bucket dump pilot port which is the other pilot port of the bucket control valve 75. The bucket control valve 75 is opened by the bucket dump pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the rod-side port of the bucket cylinder 43, thereby rotationally moving the bucket 33 in a direction in which the bucket 33 is separated from the arm 32, that is, making the bucket 33 perform a bucket dumping motion.

[0041] The rightward turning proportional valve 87 is configured to be opened so as to allow a rightward turning pilot pressure to be supplied to a rightward turning pilot port which is one pilot port of the turning control valve 76. The turning control valve 76 is opened by the rightward turning pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the rightward-turning-side port of the turning device 25, thereby turning the upper turning body 22 in the rightward turning direction, that is, making the upper turning body 22 perform a rightward turning motion. On the other hand, the leftward turning proportional valve 88 is configured to be opened so as to allow a leftward turning pilot pressure to be supplied to the leftward turning pilot port which is the other pilot port of the turning control valve 76. The turning control valve 76 is opened by the leftward turning pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the leftward-turning-side port of the turning device 25, thereby turning the upper turning body 22 in the leftward turning direction, that is, making the upper turning body 22 perform a leftward turning motion.

[0042] The right advance proportional valve 89 is configured to be opened so as to allow a right advance pilot pressure to be supplied to the right advance pilot port which is one pilot port of the right traveling control valve 71. The right traveling control valve 71 is opened by the right advance pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the advance-side port of the right traveling motor 46, thereby driving the right crawler in an advance direction, that is, making the lower traveling body 21 perform a right advance motion. On the other hand, the right reverse proportional valve 90 is configured to be opened so as to allow a right reverse pilot pressure to be supplied to the right reverse pilot port which is the other pilot port of the right traveling control valve 71. The right traveling motor 46 is opened by the right reverse pilot pressure so as to allow the hydraulic fluid from the first hydraulic pump 62 to be supplied to the reverse-side port of the right traveling motor 46, thereby driving the right crawler in the reverse direction, that is, making the lower traveling body 21 perform a right reverse motion.

[0043] The left advance proportional valve 91 is configured to be opened so as to allow a left traveling pilot pressure to be supplied to a left advance port which is one pilot port of the left traveling control valve 72. The left traveling control valve 72 is opened by the left traveling pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the advance-side port of the left traveling motor 47, thereby driving the left crawler in an advance direction, that is, making the lower traveling body 21 perform a left advance motion. On the other hand, the left reverse proportional valve 92 is configured to be opened so as to allow a left reverse pilot pressure to be supplied to a left reverse pilot port which is the other pilot port of the left traveling control valve 72. The left traveling control valve 72 is opened by the left reverse pilot pressure so as to allow the hydraulic fluid from the second hydraulic pump 63 to be supplied to the reverse-side port of the left traveling motor 47, thereby driving the left crawler in a reverse direction, that is, making the lower traveling body 21 perform a left reverse motion.

[0044] The pair of first option proportional valves are configured to be opened so as to allow a first option pilot pressure to be supplied to the pair of pilot ports of the first option control valve, respectively, thereby opening the first option control valve in a predetermined direction. Similarly, the pair of second option proportional valves are configured to be opened so as to allow a second option pilot pressure to be supplied to the pair of pilot ports of the second option control valve, respectively, thereby opening the second option control valve in a predetermined direction.

[0045] The plurality of sensors 50 include a boom lowering pilot pressure sensor 101 that detects the boom lowering pilot pressure, a boom raising pilot pressure sensor 102 that detects the boom raising pilot pressure, an arm crowding pilot pressure sensor 103 that detects the arm crowding pilot pressure, an arm pushing pilot pressure sensor 104 that detects the arm pushing pilot pressure, a bucket excavation pilot pressure sensor 105 that detects the bucket excavation pilot pressure, a bucket dump pilot pressure sensor 106 that detects the bucket dump pilot pressure, a turning pilot pressure sensor 107 that detects each of the rightward turning pilot pressure and the leftward turning pilot pressure, a right traveling pilot pressure sensor 108 that detects the right traveling pilot pressure, a left traveling pilot pressure sensor 109 that detects the left traveling pilot pressure, a not-graphically-shown first option pilot pressure sensor that detects the first option pilot pressure, and a not-graphically-shown second option pilot pressure sensor that detects the second option pilot pressure.

[0046] The plurality of sensors 50 further include a first pump pressure sensor 115 and a second pump pressure sensor 116. The first pump pressure sensor 115 detects a first pump pressure which is a discharge pressure of the first hydraulic pump 62. The second pump pressure sensor 116 detects a second pump pressure which is a discharge pressure of the second hydraulic pump 63.

[0047] The plurality of sensors 50 further include a water temperature sensor, a hydraulic fluid temperature sensor and a fuel remaining amount sensor, each of which is not graphically shown. The water temperature sensor detects a temperature of cooling water of the engine 61. The hydraulic fluid temperature sensor detects a temperature of hydraulic fluid flowing through a hydraulic circuit of the work machine 1. The fuel remaining amount sensor detects a remaining amount of fuel in a fuel tank.

[0048] As shown in FIG. 3, the work machine 1 further includes a controller 11, a storage device 13 and a communication device 14.

[0049] The communication device 14 makes communication with a mobile terminal 120, which is a terminal to be carried by a manager who manages the work of the work machine 1, or the like. The mobile terminal 120 is, for example, a smartphone or a tablet terminal.

[0050] To the controller 11 is input a detection value which is information detected by each of the plurality of sensors 50. Specifically, to the controller 11 is input information detected by the boom oblique angle sensor 51, that is, information on the posture of the boom 31. To the controller 11 is input information detected by the arm oblique angle sensor 52, that is, information on the posture of the arm 32. To the controller 11 is input information detected by the bucket oblique angle sensor 53, that is, information on the posture of the bucket 33. To the controller 11 is input information detected by the turning angle sensor 54, that is, information on the turning angle (posture) of the upper turning body 22 with respect to the lower traveling body 21. To the controller 11 is input information detected by the inclination angle sensor 55, that is, information on the inclination angle (posture) of the upper turning body 22 with respect to a horizontal plane.

[0051] The controller 11 automatically operates the turning device 25 and the attachment 30. Specifically, the controller 11 makes the turning device 25 and the attachment 30 perform a predetermined automatic operation motion, thus making the work machine 1 automatically operated. In the present embodiment, the automatic operation motion is a motion of repeating excavation, turning with lifting, soil removal and return turning in this order.

[0052] The controller 11 includes an abnormal state detection part that detects each of a plurality of abnormal states of the work machine 1. The plurality of abnormal states include disconnection, short circuit and drift in each of the plurality of sensors 50. The plurality of abnormal states include disconnection, overcurrent, and adhesion in each of the plurality of proportional valves 80. The plurality of abnormal states include high heat and overheat in each of the water temperature sensor and the hydraulic fluid temperature sensor. The plurality of abnormal states include a shortage of a fuel remaining amount detected by the fuel remaining amount sensor, the shortage including fuel exhaustion.

[0053] The controller 11 includes a motion control part, which selects, from among a plurality of response action controls stored in the storage device 13, the response action control that corresponds to the level of the abnormal state detected by the abnormality detection part, and executes the selected response action control. The plurality of response action controls include an emergency stop control and an operation continuation control. The emergency stop control is a control to immediately stop the automatic operation of the work machine 1. The operation continuation control is a control to continue the automatic operation of the work machine 1.

[0054] The storage device 13 stores a correspondence relationship as shown in Table 1 below. The correspondence relationship is the relationship between an abnormal device that is a device in which the abnormal state is detected and the response action control corresponding to the abnormal device. When there occurs an abnormality in at least one of the boom oblique angle sensor 51, the arm oblique angle sensor 52, the bucket oblique angle sensor 53, the turning angle sensor 54 and the inclination angle sensor 55, the motion control part selects the emergency stop control as the response action control. When there occurs an abnormality in at least one of the boom lowering pilot pressure sensor 101, the boom raising pilot pressure sensor 102, the arm crowding pilot pressure sensor 103, the arm pushing pilot pressure sensor 104, the bucket excavation pilot pressure sensor 105 and the bucket dump pilot pressure sensor 106, the motion control part selects the operation continuation control as the response action control. TABLE 1Abnormal deviceResponse actionBoom oblique angle sensorEmergency stopArm oblique angle sensorBucket oblique angle sensorTurning angle sensorInclination angle sensorBoom head-pressure sensorBefore-stop motionBoom rod-pressure sensorTurning angular velocity sensorBoom lowering pilot pressure sensorOperation ContinuationBoom raising pilot pressure sensorArm crowding pilot pressure sensorArm pushing pilot pressure sensorBucket excavation pilot pressure sensorBucket dump pilot pressure sensorTurning pilot pressure sensorRight traveling pilot pressure sensorLeft traveling pilot pressure sensorFirst option pilot pressure sensorSecond option pilot pressure sensorBoom lowering proportional valveEmergency stopBoom raising proportional valveArm crowding proportional valveArm pushing proportional valveBucket excavation proportional valveBucket dump proportional valveRightward turning proportional valveLeftward turning proportional valveRight advance proportional valveRight reverse proportional valveLeft advance proportional valveLeft reverse proportional valveImaging deviceBefore-stop motionFirst pump pressure sensorEmergency stopSecond pump pressure sensorWater temperature sensorOperation ContinuationBefore-stop motionHydraulic fluid temperature sensorOperation ContinuationBefore-stop motionFuel remaining amount sensorBefore-stop motionEmergency stop

[0055] Even when the abnormal state is detected, the automatic operation of the work machine 1 is continued if the response action control selected correspondingly to the abnormal state is the operation continuation control. This allows the work effect provided by the automatic operation to be restrained from being reduced by the response action at the time of abnormality.

[0056] The plurality of response action controls further include before-stop motion control. The before-stop motion control is a control to make a movable part of the work machine 1 perform a predetermined before-stop motion before stopping the automatic operation of the work machine 1. The before-stop motion includes an end posture motion of bringing the work machine 1 into an operation end posture, which is a posture at the end of the automatic operation. In other words, the before-stop motion control is a control to stop the automatic operation after making the movable part of the work machine 1 perform the before-stop motion. According to the correspondence relationship shown in Table 1, when an abnormality occurs in any one of the boom head-pressure sensor, the boom rod-pressure sensor and the turning angular velocity sensor, the before-stop motion control is selected from the plurality of response action controls and executed.

[0057] Even when the abnormal state is detected, the stop of the automatic operation is not immediately performed but performed after the before-stop motion is performed to bring the work machine 1 into the operation end posture if the response action control of the abnormal state is the before-stop motion control. This renders the work for changing the posture of the stopped work machine 1 to the operation end posture unrequired, in contrast to the emergency stop control of immediately stopping the automatic operation regardless of the posture of the work machine 1.

[0058] The before-stop motion control includes, depending on the type of the abnormal device, not only the end posture motion of bringing the posture of the work machine 1 into the operation end posture but also making the movable part of the work machine 1 perform other before-stop work motion before the end posture motion. The before-stop work motion is, for example, a motion of making soil and sand held by the bucket 33 removed to a soil removal position. The before-stop motion control also includes a control to continue the automatic operation until a preset operation end condition is satisfied.

[0059] The before-stop motion control enables the work amount by the automatic operation to be increased as compared with a case of immediately stopping the automatic operation without any motion of the work machine 1, thereby allowing work effect provided by the automatic operation to be restrained from being reduced by the response action at the time of abnormality.

[0060] When an abnormality occurs in the payload function, the operation end condition is, for example, that a next work amount is larger than a remaining work amount. The next work amount is an amount of soil and sand to be moved by one time of work scheduled to be performed next time by the automatic operation (for example, an amount of excavated soil and sand), and the remaining work amount is an amount obtained by subtracting the work amount to the present time, that is, the amount of soil and sand that has been moved, from the target work amount of the automatic operation, which is the total amount of soil and sand to be moved by the automatic operation. The next work amount can be determined by, for example, an average excavation load. The average excavation load is the average value of loads due to the soil and sand that has been repeatedly excavated by the automatic operation until the occurrence of an abnormality. The remaining work amount is, for example, a remaining target soil amount, which is the value obtained by subtracting the amount of soil removal to the present time from the target soil removal amount in the automatic operation. Each of the average excavation load and the remaining target soil amount may be arbitrarily set.

[0061] For example, as to the work of loading soil and sand onto a dump truck, if the amount of soil and sand corresponding to the average excavation load is smaller than the remaining target soil amount, which is the remaining load amount out of the target load amount of the dump truck, the automatic operation is continued because soil and sand can be further loaded. In contrast, if the amount of soil and sand corresponding to the average excavation load becomes larger than the remaining target soil amount, the automatic operation is ended because no more soil and sand can be loaded onto the other dump truck. Thus making the predetermined work performed until the amount of soil and sand corresponding to the average excavation load (the amount of soil and sand by one time of work scheduled to be performed next time by the automatic operation) becomes larger than the remaining target soil amount, that is, the remaining work amount obtained by subtracting the current work amount from the target work amount of the automatic operation, allows the work amount by the automatic operation to be increased as compared with the case of stopping the automatic operation without the performance of the before-stop motion.

[0062] When an abnormality occurs in the function of the height of the soil and sand (height detection function), the operation end condition is, for example, that a one-time work amount, which is the amount of one time of work performed by the automatic operation, is equal to or less than a preset lower limit work amount. The one-time work amount is, for example, an excavated soil amount which is the amount of soil and sand excavated (that is, moved) by one excavation motion. The lower limit work amount is arbitrarily set. When the excavated soil amount, that is, the amount of soil and sand excavated by the bucket 33 in one excavation motion, is larger than the lower limit work amount, which allows it to be judged that soil and sand are sufficiently scooped by the bucket 33, the automatic operation is continued. In contrast, when the excavated soil amount is equal to or less than the lower limit work amount, which allows it to be judged that the soil and sand is not sufficiently scooped, the automatic operation is ended. Thus, continuing the automatic operation until the excavated soil amount, that is, the amount of one time of work performed by the automatic operation, becomes equal to or less than the lower limit work amount enables the work amount by the automatic operation to be increased as compared with a case of immediately stopping the automatic operation without any work performed by the work machine 1.

[0063] The motion control part of the controller 11 selects and executes the emergency stop control when the abnormal state is at a level to affect the motion control for the automatic operation. The motion control part of the controller 11 selects and executes the before-stop motion control when the abnormal state is at a level not to affect the motion control for the automatic operation but to affect an operation function for the automatic operation. The motion control part of the controller 11 selects and executes the operation continuation control when the abnormal state is at a level to affect neither the motion control nor the operation function for the automatic operation.

[0064] For example, when an abnormality occurs in any one of the boom oblique angle sensor 51, the arm oblique angle sensor 52 and the bucket oblique angle sensor 53, the motion control part selects the emergency stop control to stop the automatic operation of the work machine 1 because the load onto the bucket 33, that is, the physical quantity corresponding to the work amount, cannot be correctly measured, such abnormality of the payload function affecting the motion control in the automatic operation. This selection can restrain the work amount from being reduced by the abnormality.

[0065] Besides, when an abnormality occurs in any one of the turning angle sensor 54 and the inclination angle sensor 55, the motion control part selects the emergency stop control to stop the automatic operation of the work machine 1 because there is a possibility of abnormality such as deviation in the motion of the automatic operation.

[0066] For example, when an abnormality occurs in any one of the boom head-pressure sensor, the boom rod-pressure sensor and the turning angular velocity sensor, which hinders the payload function but allows the motion of the automatic operation to be controlled, the motion control part selects and executes the before-stop motion control. This enables more amount of work by the automatic operation to be gained as compared with a case of immediately stopping the automatic operation without any motion performed by the work machine 1.

[0067] For example, when an abnormality occurs in the imaging device 27, which hinders the function of detecting the height of a mound of soil and sand (height detection function) but allows the motion of the automatic operation to be controlled, the motion control part selects and executes the before-stop motion control. This allows more amount of work by the automatic operation to be gained as compared with a case of immediately stopping the automatic operation without any motion performed by the work machine 1. However, in such a case of occurrence of abnormality in the imaging device 27, which hinders obstacle from being detected, the motion control part may be configured to select the emergency stop control in place of the before-stop motion control.

[0068] For example, when an abnormality occurs in any one of the boom lowering pilot pressure sensor 101, the boom raising pilot pressure sensor 102, the arm crowding pilot pressure sensor 103, the arm pushing pilot pressure sensor 104, the bucket excavation pilot pressure sensor 105, and the bucket dump pilot pressure sensor 106, the motion control part selects the operation continuation control to continue the automatic operation of the work machine 1. That is because the abnormality affects neither the motion control nor the operation function of the automatic operation. The continuation of the automatic operation enables the work amount by the automatic operation to be increased as compared with a case of stopping the automatic operation.

[0069] The motion control part of the controller 11 is configured to select and execute the operation continuation control or the before-stop motion control depending on whether or not a predetermined continuation permission condition is satisfied, when the abnormal state detected by the abnormal state detection part is a predetermined conditional continuation permission state. The conditional continuation permission state is, for example, a state where the water temperature detected by the water temperature sensor is abnormal as shown in Table 1, and the continuation permission condition is that the detected water temperature is less than a preset allowable water temperature. In this case, the motion control part judges whether or not the detected water temperature is equal to or higher than the allowable water temperature, and selects and executes the before-stop motion control if the water temperature is equal to or higher than the allowable water temperature but selects the operation continuation control to continue the automatic operation of the work machine 1 regardless of the detection of the abnormal state if the water temperature is less than the allowable water temperature. The same applies to the hydraulic fluid temperature detected by the hydraulic fluid temperature sensor.

[0070] When the abnormal state is the conditional continuation permission state, thus, the motion control part selects one of the operation continuation control and the before-stop motion control depending on whether or not the predetermined continuation permission condition is satisfied. When the continuation permission condition is satisfied, the motion control part selects the operation continuation control to continue the automatic operation, thereby allowing work effect to be restrained from being reduced by the automatic operation. On the other hand, when the continuation permission condition is not satisfied, the motion control part selects the before-motion stop control to bring the work machine 1 into the operation end posture and thereafter stops the automatic operation, thereby allowing work for changing the posture of the stopped work machine 1 to the operation end posture to be unrequired, in contrast to the case of immediately stopping the automatic operation without changing the posture of the work machine 1.

[0071] It is preferable that the motion control part of the controller 11 is configured to reduce the motion speed of the work machine 1 when selecting the operation continuation control in the conditional continuation permission state as compared with a normal state. This enables the abnormal state to be inhibited from being deteriorated. For example, when the water temperature detected by the water temperature sensor is abnormal but the operation continuation control is selected, reducing the motion speed of the work machine restrains the water temperature from being further increased.

[0072] The motion control part of the controller 11 selects and executes the emergency stop control or the before-stop motion control depending on whether or not a predetermined emergency stop condition is satisfied, when the abnormal state detected by the abnormal state detection part is a predetermined conditional emergency stop requirement state. The conditional emergency stop requirement state is, for example, a state where the fuel remaining amount sensor is abnormal as shown in Table 1, and the emergency stop condition is that the remaining fuel amount is equal to or less than the allowable remaining amount. In this case, the motion control part judges whether or not the fuel remaining amount is equal to or less than the allowable remaining amount, and selects the emergency stop control to perform the emergency stop of the automatic operation of the work machine 1 when the fuel remaining amount is equal to or less than the allowable remaining amount, but selects and executes the before-stop motion control when the fuel remaining amount is larger than the allowable remaining amount.

[0073] When the abnormal state is the conditional emergency stop requirement state, thus, the motion control part selects and executes the emergency stop control or the before-stop motion control depending on whether or not the emergency stop condition is satisfied. When the emergency stop condition is satisfied, the motion control part selects and executes the emergency stop control to thereby inhibit an abnormality such as a deviation in the motion of the work machine 1 from occurring. On the other hand, when the emergency stop condition is not satisfied, the motion control part selects the before-stop motion control to bring the work machine 1 into the operation end posture and thereafter stop the automatic operation, thereby allowing work for changing the posture of the stopped work machine 1 to the operation end posture to be unrequired, in contrast to a case of immediately stopping the automatic operation regardless of the posture of the work machine 1.

[0074] The controller 11 includes an information output part, which outputs information on the abnormal state detected by the abnormal state detection part and the response action control selected and executed correspondingly to the abnormal state and inputs the information to the mobile terminal 120 which is an external device of the work machine 1. This enables the owner of the mobile terminal 120 to use information on the abnormal state and the response action control that is selected and executed correspondingly to the abnormal state. For example, it is possible to notify a manager who manages the work by the work machine 1 of what abnormal state occurs in the work machine 1 and what response action control has been performed in the work machine 1. The output of the information to the outside may be performed either after the execution of the response action control or before or during the execution of the response action control.

[0075] FIG. 4 is a flowchart showing abnormality response processing to be performed in the work machine 1.

[0076] The abnormal state detection part of the controller 11 initially judges whether or not the work machine 1 is in an abnormal state (step S1). When judging that the work machine 1 is in the abnormal state (YES in step S1), the abnormal state detection part of the controller 11 determines the abnormal device (step S2).

[0077] Next, the motion control part of the controller 11 judges whether or not the abnormal state is at a level to affect the motion control in the automatic operation of the work machine 1 (step S3). When judging that the abnormal state is at a level to affect the motion control in the automatic operation (YES in step S3), the motion control part of the controller 11 selects the emergency stop control to perform the emergency stop of the automatic operation of the work machine 1 (step S4), and the information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and input the information to the mobile terminal 120 (step S5).

[0078] On the other hand, when judging that the abnormal state is not at a level to affect the motion control in the automatic operation (NO in step S3), the motion control part of the controller 11 judges whether or not the abnormal state is at a level to affect the operation function of the automatic operation (step S6). When judging that the abnormal state is at a level to affect the operation function of the automatic operation (YES in step S6), the motion control part of the controller 11 judges whether or not the operation end condition is satisfied (step S7). The operation end condition is a condition for determining the timing of ending the continuation of the automatic operation. For example, in the case of the occurrence of abnormality in the payload function, the operation end condition is that the soil amount corresponding to the average excavation load is larger than the remaining target soil amount. In the case of occurrence of abnormality in the function of detecting the height of the mound of soil and sand (height detection function), the operation end condition is that the excavated soil amount is equal to or less than a certain amount.

[0079] Until judging that the operation end condition is satisfied (NO in step S7), the motion control part of the controller 11 continues the automatic operation of the work machine 1 (step S8) and, upon judging that the operation end condition is satisfied (YES in step S7), the motion control part of the controller 11 brings the work machine 1 into the operation end posture, which is the posture at the end of the automatic operation (step S9), and thereafter stops the automatic operation (step S10). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S5).

[0080] When judging that the abnormal state is not at a level to affect the operation function of the automatic operation (NO in step S6), the motion control part of the controller 11 selects the operation continuation control to continue the automatic operation of the work machine 1 (step S11). Upon judging that the work by the automatic operation has been ended (YES in step S12), the motion control part of the controller 11 brings the work machine 1 into the operation end posture (step S9), and thereafter stops the automatic operation (step S10). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S5).

[0081] FIG. 5 is a flowchart showing a payload function abnormality response processing to be performed by the controller 11.

[0082] The abnormal state detection part of the controller 11 initially judges whether or not there is an abnormality in the payload function (step S21). When it is judged that there is an abnormality in the payload function (YES in step S21), the motion control part of the controller 11 judges whether or not the soil amount corresponding to the average excavation load is larger than the remaining target soil amount (step S22).

[0083] When judging that the soil amount corresponding to the average excavation load is not larger than the remaining target soil amount (NO in step S22), the motion control part of the controller 11 continues the automatic operation of the work machine 1 (step S23). On the other hand, when judging that the soil amount corresponding to the average excavation load is larger than the remaining target soil amount (YES in step S22), the motion control part of the controller 11 brings the work machine 1 into the operation end posture (step S24) and thereafter stops the automatic operation (step S25). The motion control part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S26).

[0084] FIG. 6 is a flowchart showing a height-detection function abnormality response processing to be performed by the controller 11.

[0085] The abnormal state detection part of the controller 11 initially judges whether or not the height detection function is abnormal (step S31). When judging that the height detection function is abnormal (YES in step S31), the motion control part of the controller 11 uses the height of the last soil and sand (step S32) to control excavation of the work machine 1 (step S33).

[0086] Next, the motion control part of the controller 11 judges whether or not the excavated soil amount is equal to or less than a certain amount (step S34). In step S34, when judging that the excavated soil amount is not equal to and not less than a certain amount (NO in step S34), the motion control part of the controller 11 continues the automatic operation of the work machine 1 (step S35). In the automatic operation, performed is soil removal by the work machine 1.

[0087] On the other hand, when judging that the excavated soil amount is equal to or less than a certain amount (YES in step S34), the motion control part of the controller 11 makes the work machine 1 perform soil removal (step S36), thereafter brings the work machine 1 into the operation end posture (step S37), and thereafter stops the automatic operation (step S38). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S39).

[0088] FIG. 7 is a flowchart showing water temperature abnormality response processing to be performed by the controller 11.

[0089] The motion control part of the controller 11 initially judges whether or not the temperature of the cooling water is abnormal (step S41). When judging that the temperature of the cooling water is abnormal (YES in step S41), the motion control part of the controller 11 judges whether or not the temperature of the cooling water is equal to or higher than the allowable water temperature (step S42).

[0090] When judging that the temperature of the cooling water is equal to or higher than the allowable water temperature (YES in step S42), the motion control part of the controller 11 judges whether or not the bucket 33 is holding soil and sand (step S43). When judging that the bucket 33 is holding soil and sand (YES in step S43), the motion control part of the controller 11 makes the work machine 1 perform soil removal (step S44), thereafter brings the work machine 1 into the operation end posture (step S45), and thereafter stops the automatic operation (step S46). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S47).

[0091] When judging that the bucket 33 is not holding soil and sand (NO in step S43), the motion control part of the controller 11 immediately brings the work machine 1 into the operation end posture (step S45), and thereafter stops the automatic operation (step S46). The motion control part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S47).

[0092] When judging that the temperature of the cooling water exceeds the allowable water temperature (NO in step S42), the motion control part of the controller 11 reduces the motion speed of the work machine 1 (step S48) and continues the automatic operation of the work machine 1 (step S49).

[0093] When judging that the work by the automatic operation has been ended (YES in step S50), the motion control part of the controller 11 brings the work machine 1 into the operation end posture (step S45), and thereafter stops the automatic operation (step S46). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S47).

[0094] FIG. 8 is a flowchart showing fuel remaining amount abnormality response processing to be performed by the controller 11.

[0095] The abnormal state detection part of the controller 11 initially judges whether or not there is an abnormality in the remaining fuel amount (step S61). When judging that there is an abnormality in the remaining fuel amount (YES in step S61), the motion control part of the controller 11 judges whether or not the remaining fuel amount is equal to or less than the allowable remaining amount (step S62).

[0096] When judging that the remaining amount of fuel is equal to or less than the allowable remaining amount (YES in step S62), the motion control part of the controller 11 selects the emergency stop control to perform the emergency stop of the automatic operation of the work machine 1 (step S63). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S64). On the other hand, when judging that the remaining amount of fuel exceeds the allowable remaining amount (NO in step S62), the motion control part of the controller 11 judges whether or not the bucket 33 is holding soil and sand (step S65).

[0097] When judging that the bucket 33 is holding soil and sand (YES in step S65), the motion control part of the controller 11 makes the work machine 1 perform soil removal (step S66), thereafter brings the work machine 1 into the operation end posture (step S67), and thereafter stops the automatic operation (step S68). The information output part of the controller 11 outputs information on the abnormal state and the response action control to the outside and inputs the information to the mobile terminal 120 (step S64).

[0098] When judging that the bucket 33 is not holding soil and sand (NO in step S65), the motion control part of the controller 11 immediately brings the work machine 1 into the operation end posture (step S67), and thereafter stops the automatic operation (step S68).

[0099] As has been described, in the work machine 1 according to the present embodiment, the motion control part of the controller 11 selects the response action control that corresponds to the level of the abnormal state detected by the abnormal state detection part of the controller 11 from among a plurality of response action controls, and executes the selected response action control. The plurality of response action controls include an emergency stop control to immediately stop automatic operation of the work machine 1 and an operation continuation control to continue the automatic operation. Even when the abnormal state is detected, the motion control part continues the automatic operation if the response action control selected in accordance with the abnormal state is the operation continuation control. This restrains the work effect by the automatic operation from being reduced by the corresponding action to abnormality.

[0100] The plurality of response action controls further include a before-stop motion control for stopping the automatic operation after making the work machine 1 a pre-determined before-stop motion, which includes an end posture motion for bringing the work machine 1 into an operation end posture that is a posture at the end of the automatic operation. If the response action control selected in accordance with the abnormal state is the before-stop motion control, the motion control part makes the work machine perform the end posture motion for bringing the work machine 1 into the operation end posture and thereafter stops the automatic operation even when the abnormal state is detected. This allows work for changing the posture of the stopped work machine 1 to the operation end posture to be unrequired, in contrast to the case where the automatic operation is immediately stopped regardless of the posture of the work machine 1.

[0101] There is a case where the before-stop motion includes a before-stop work motion to be performed before the end posture operation. The before-stop work motion is, for example, a motion of removing soil and sand held by the bucket 33 to a soil removal position. The before-stop work motion may be a motion performed by continuing the automatic operation until a predetermined operation end condition is satisfied. The execution of the before-stop work motion enables the work amount by the automatic operation to be increased as compared with a case where the automatic operation is immediately stopped without any work performed by the work machine 1, thereby restraining the work effect provided by the automatic operation from being reduced by the response action to abnormality.

[0102] In the before-stop motion control, the continuation of the before-stop work motion by the work machine 1 until the operation end condition is satisfied enables the work amount provided by the automatic operation to be increased as compared with a case where the automatic operation is immediately stopped without any work motion performed by the work machine 1.

[0103] The operation end condition is, for example, that a next work amount is larger than a remaining work amount. The next work amount is a work amount by one time of work scheduled to be performed next time by the automatic operation, and the remaining work amount is the work amount obtained by subtracting the work amount to the present time from the target work amount of the automatic operation. Making the work machine 1 perform the before-stop work motion until the next work amount becomes larger than the remaining work amount enables the work amount by the automatic operation to be increased as compared with a case where the automatic operation is immediately stopped without any work motion performed by the work machine 1.

[0104] The operation end condition, alternatively, is that the one-time work amount, which is the amount of one time of work performed by the automatic operation, is equal to or less than a predetermined lower limit work amount. Making the work machine 1 perform the before-stop work motion until the one-time work amount is equal to or less than the lower limit work amount enables the work amount by the automatic operation to be increased as compared with a case where the automatic operation is immediately stopped without any work motion performed by the work machine 1.

[0105] The motion control part is configured to select the emergency stop control to stop the automatic operation of the work machine 1 when the abnormal state is at a level to affect the motion control in the automatic operation. When the abnormal state is at a level to affect the motion control in the automatic operation, there is a risk of an abnormality such as deviation in the motion of the work machine 1 based on the automatic operation, but the execution of the emergency stop control to immediately stop the automatic operation of the work machine allows an abnormality such as a deviation to be restrained from occurring in the motion of the work machine 1. Besides, the motion control part is configured to select and execute the before-stop motion control when the abnormal state is at a level not to affect the motion control in the automatic operation but to affect the operation function of the automatic operation. In this case, where the operation of the automatic operation can be controlled even with the presence of influence to the operation function of the automatic operation, the motion control part selects not the emergency stop control but the before-stop motion control, thereby allowing more work amount by the automatic operation to be gained as compared with a case where the automatic operation is stopped without any motion performed by the work machine 1. Besides, the motion control part selects the operation continuation control to continue the automatic operation when the abnormal state is at a level to affect neither the motion control nor the operation function of the automatic operation, thereby allowing the work amount provided by the automatic operation to be increased as compared with a case of stopping the automatic operation.

[0106] When the abnormal state is a predetermined conditional continuation permission state, the motion control part selects and executes the operation continuation control or interruption operation depending on whether or not a predetermined continuation permission condition is satisfied. Specifically, when the continuation permission condition is satisfied, the motion control part selects the operation continuation control to continue the automatic operation, thereby allowing work effect to be restrained from being reduced by the automatic operation. On the other hand, when the continuation permission condition is not satisfied, the motion control part selects the before-stop motion control to bring the work machine 1 into the operation end posture and thereafter stops the automatic operation, thereby allowing the work for changing the posture of the stopped work machine 1 to the operation end posture to be unrequired, in contrast to a case where the automatic operation is immediately stopped regardless of the posture of the work machine 1.

[0107] In addition, the motion control part, which reduces the motion speed of the work machine 1 when selecting the motion continuation control in the conditional continuation permission state, can restrain the abnormal state from being deteriorated. For example, reducing the motion speed of the work machine 1 when there occurs an abnormality in the water temperature detected by the water temperature sensor makes it possible to restrain the water temperature from being increased.

[0108] Besides, the motion control part is configured to select and execute the emergency stop control or the before-stop motion control depending on whether or not a predetermined emergency stop condition is satisfied when the abnormal state is a predetermined conditional emergency stop state. Specifically, when the emergency stop condition is satisfied, the motion control part selects the emergency stop control to immediately stop the automatic operation of the work machine 1, thereby allowing an abnormality such as a deviation to be inhibited from occurring in the motion of the work machine 1. On the other hand, when the emergency stop condition is not satisfied, the motion control part selects the before-stop motion control to stop the automatic operation after bringing the work machine 1 into the operation end posture, thereby allowing the work for changing the posture of the stopped work machine 1 to the end posture to be unrequired, in contrast to a case where the automatic operation is immediately stopped regardless of the posture of the work machine 1.

[0109] The controller 11 further includes an information output part that outputs, to the outside of the work machine 1, information on the abnormal state detected by the abnormal state detection part and the response action control selected in accordance with the abnormal state, thereby enabling the information on the abnormal state having occurred in the work machine 1 and the response action control to be performed in accordance with the abnormal state to be used outside the work machine 1. The output of the information, for example, can inform a manager who manages the work of the work machine 1 of what abnormal state occurs in the work machine 1 and what response action control has been performed.

[0110] Although the embodiment of the present invention has been described above, specific examples are merely examples, and the present invention is not particularly limited, and specific configurations and the like can be appropriately changed in design. Further, the functions and effects described in the embodiments of the present invention are merely listed for the most suitable actions and effects generated from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention.

[0111] As has been described, there is provided a work machine to be automatically operated, the work machine being capable of restraining work effect provided by the automatic operation from being reduced by a response action to abnormality. The work machine includes an abnormal state detection part and a motion control part. The abnormal state detection part detects an abnormal state of the work machine. The motion control part selects a response action control that corresponds to a level of the abnormal state detected by the abnormal state detection part from among a plurality of response action controls that are prepared in advance, and executes the selected response action control. The plurality of response action controls include an emergency stop control to immediately stop the automatic operation and an operation continuation control to continue the automatic operation.

[0112] The motion control part, continuing the automatic operation, even if the abnormal state is detected, when the response action control selected in accordance with the abnormal state is the operation continuation control, can restrain work effect provided by the automatic operation from being reduced by the response action to abnormality.

[0113] It is preferable that the plurality of response action controls further include a before-stop motion control that stops the automatic operation after making the work machine perform a pre-determined before-stop motion, which includes an end posture motion for bringing the work machine into an operation end posture that is a posture at the end of the automatic operation.

[0114] The before-stop motion may further include a before-stop work motion performed before the end posture motion. In this case, it is preferable that the motion control part is configured to make the work machine perform the end posture motion and stop the automatic operation, after making the work machine perform the before-stop work motion, in the before-stop motion control.

[0115] The motion control part may be configured to make the work machine perform the before-stop work motion until a predetermined operation end condition is satisfied, in the before-stop motion control.

[0116] The operation end condition is, for example, that a next work amount, which is an amount of one time of work scheduled to be performed next time by the automatic operation, is larger than a remaining work amount, which is a remaining work amount out of a target work amount of the automatic operation.

[0117] The operation end condition is, for example, that a one-time work amount, which is an amount of one time of work performed by the automatic operation, is equal to or less than a predetermined lower limit work amount.

[0118] It is preferable that the motion control part is configured to select the emergency stop control when the abnormal state is at a level to affect a motion control in the automatic operation, configured to select the before-stop motion control when the abnormal state is at a level not to affect the motion control in the automatic operation but to affect an operation function of the automatic operation, and configured to select the operation continuation control when the abnormal state is at a level to affect neither the motion control nor the operation function of the automatic operation.

[0119] The motion control part may be configured to judge whether or not a predetermined continuation permission condition is satisfied when the abnormal state detected by the abnormal state detection part is a predetermined conditional continuation permission state, configured to select the operation continuation control when the continuation permission condition is satisfied, and configured to select the before-stop motion control when the continuation permission condition is not satisfied.

[0120] In this case, it is preferable that the motion control part is configured to reduce a motion speed of the work machine when selecting the operation continuation control in the conditional continuation permission state.

[0121] The motion control part may be configured to judge whether or not a predetermined emergency stop condition is satisfied when the abnormal state detected by the abnormal state detection part is a predetermined conditional emergency stop requirement state, configured to select the emergency stop control when the emergency stop condition is satisfied, and configured to select the before-stop motion control when the emergency stop condition is not satisfied.

[0122] The work machine, preferably, further includes an information output part configured to output, to the outside, information on the abnormal state and the response action control selected in accordance with the abnormal state.

Claims

1. A work machine to be automatically operated, comprising: an abnormal state detection part that detects an abnormal state of the work machine; a motion control part that selects a response action control that corresponds to a level of the abnormal state detected by the abnormal state detection part from among a plurality of response action controls that are prepared in advance and executes the selected response action control, the plurality of response action control including an emergency stop control to immediately stop an automatic operation of the work machine and an operation continuation control to continue the automatic operation.

2. The work machine according to claim 1, wherein the plurality of response action controls further include a before-stop motion control to stop the automatic operation after making the work machine perform a predetermined before-stop motion, the before-stop motion including an end posture motion for bringing the work machine into an operation end posture that is a posture at an end of the automatic operation.

3. The work machine according to claim 2, wherein the before-stop motion further includes a before-stop work motion to be performed before the end posture motion, and the motion control part is configured to make the work machine perform the end posture motion and stop the automatic operation, after making the work machine perform the before-stop work motion, in the before-stop motion control.

4. The work machine according to claim 3, wherein the motion control part is configured to make the work machine perform the before-stop work motion until a predetermined operation end condition is satisfied in the before-stop motion control.

5. The work machine according to claim 4, wherein the operation end condition is that a next work amount, which is an amount of one time of work scheduled to be performed next time by the automatic operation, is larger than a remaining work amount, which is a remaining work amount out of the target work amount of the automatic operation.

6. The work machine according to claim 4, wherein the operation end condition is that a one-time work amount, which is an amount of one time of work performed by the automatic operation, is equal to or less than a predetermined lower limit work amount.

7. The work machine according to claim 2, wherein the motion control part is configured to select the emergency stop control when the abnormal state is at a level to affect a motion control in the automatic operation, configured to select the before-stop motion control when the abnormal state is at a level not to affect the motion control in the automatic operation but to affect an operation function of the automatic operation, and configured to select the operation continuation control when the abnormal state is at a level to affect neither the motion control nor the operation function of the automatic operation.

8. The work machine according to claim 2, wherein the motion control part is configured to judge whether or not a predetermined continuation permission condition is satisfied when the abnormal state detected by the abnormal state detection part is a predetermined conditional continuation permission state, configured to select the operation continuation control when the continuation permission condition is satisfied, and configured to select the before-stop motion control when the continuation permission condition is not satisfied.

9. The work machine according to claim 8, wherein the motion control part is configured to reduce a motion speed of the work machine when selecting the operation continuation control in the conditional continuation permission state.

10. The work machine according to claim 2, wherein the motion control part is configured to judge whether or not a predetermined emergency stop condition is satisfied when the abnormal state detected by the abnormal state detection part is a predetermined conditional emergency stop requirement state, configured to select the emergency stop control when the emergency stop condition is satisfied, and configured to select the before-stop motion control when the emergency stop condition is not satisfied.

11. The work machine according to claim 1, further comprising an information output part configured to output, to the outside, information on the abnormal state and the response action control selected in accordance with the abnormal state.

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