System for setting target position of automatic turn control of work machine

Abstract

To display a teaching screen indicating an appropriate teaching method.SOLUTION: A system includes a mode selection part, a screen generation part, and a target position setting part. The mode selection part selects any one of a right loading turning mode and a left loading turning mode, as a control mode of automatic turning control. When the right loading turning mode is selected, the screen generation part generates a right turning teaching screen. When the left loading turning mode is selected, the screen generation part generates a left turning teaching screen. When the right loading turning mode is selected, the target position setting part sets an excavation position and an earth removal position taught in the right turning teaching screen. When the left loading turning mode is selected, the target position setting part sets an excavation position and an earth removal position taught in the left turning teaching screen.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present disclosure relates to a system for setting a target position for automatic swing control of a work machine. [Background technology]

[0002] Some working machines perform automatic swing control to automatically swing a swing body so that the working machine moves to a target position. For example, in the shovel of Patent Document 1, an operator teaches an excavation position and an earth discharge position as target positions. In detail, when the bucket is located at the excavation position, the operator presses a record switch, and the posture of the shovel at that time is stored in a memory. This teaches the excavation position. When the bucket is located at the earth discharge position, the operator presses a record switch, and the posture of the shovel at that time is stored in a memory. This teaches the earth discharge position. A controller of the working machine calculates a target trajectory of the bucket in the automatic swing control based on the stored posture. When a start condition of the automatic swing control is satisfied, the controller swings the shovel and moves the bucket up and down so that the bucket moves along the target trajectory. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. WO2019-181872 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, in the automatic turning control, the work machine is controlled in accordance with the target position taught by the operator. In order for the operator to easily teach the target position, a teaching screen showing an appropriate teaching method is required.

[0005] For example, when an operator is not familiar with teaching of a target position, a teaching screen showing a detailed teaching method is required, but when an operator is familiar with teaching of a target position, a teaching screen showing a detailed teaching method may actually reduce the efficiency of teaching.

[0006] Alternatively, in the automatic turning control, there are cases where the turning body is turned right and left from the excavation position to the soil discharge position. Therefore, a teaching screen showing an appropriate teaching method for each of the right turning and the left turning is required. [Means for solving the problem]

[0007] A first aspect of the present disclosure is a system for setting a target position for automatic swing control of a work machine. The work machine includes a swing body and a working machine. The swing body is capable of swinging around a swing center. The working machine is attached to the swing body. The target positions include an excavation position and an earth dumping position. The system includes a mode selection unit, a screen generation unit, and a target position setting unit. The mode selection unit selects either a right loading swing mode or a left loading swing mode as a control mode for the automatic swing control. The right loading swing mode swings the swing body clockwise from a current position of the working machine toward the earth dumping position. The left loading swing mode swings the swing body counterclockwise from a current position of the working machine toward the earth dumping position. When the right loading swing mode is selected, the screen generation unit generates a right swing teaching screen for teaching a target position in the right loading swing mode. The screen generating unit generates a left turning teaching screen for teaching a target position in the left loading turning mode when the left loading turning mode is selected. The target position setting unit sets the taught excavation position and earth discharge position on the right turning teaching screen when the right loading turning mode is selected. The target position setting unit sets the taught excavation position and earth discharge position on the left turning teaching screen when the left loading turning mode is selected.

[0008] A second aspect of the present disclosure is a system for setting a target position for automatic swing control of a work machine. The work machine includes a swing body and a working machine. The swing body is capable of swinging around a swing center. The working machine is attached to the swing body. The target positions include an excavation position, an earth dumping position, and an intermediate position between the excavation position and the earth dumping position. The system includes a target position setting unit. The target position setting unit acquires, as a control mode for the automatic swing control, either a right loading swing mode in which the swing body is rotated clockwise from a current position of the work machine toward the earth dumping position, or a left loading swing mode in which the swing body is rotated counterclockwise from a current position of the work machine toward the earth dumping position. The target position setting unit determines whether or not at least one of the excavation position, the earth dumping position, and the intermediate position can be set depending on whether the control mode is the right loading swing mode or the left loading swing mode.

[0009] A third aspect of the present disclosure is a system for setting a target position for automatic swing control of a work machine. The work machine includes a swing body and a working machine. The swing body is capable of swinging around a swing center. The working machine is attached to the swing body. The target positions include an excavation position and an earth discharge position. The system includes a mode selection unit, a screen generation unit, and a target position setting unit. The mode selection unit selects a teaching mode for teaching the target position from a plurality of modes. The plurality of modes include a basic mode and an advanced mode. The screen generation unit generates a basic teaching screen when the basic mode is selected. The basic teaching screen includes an excavation teaching button for teaching the excavation position, an earth discharge teaching button for teaching the earth discharge position, and assist information for assisting teaching of the target position. The screen generation unit generates an advanced mode teaching screen when the advanced mode is selected. The advanced mode teaching screen includes an excavation teaching button and an earth discharge teaching button, but does not include assist information. The target position setting unit sets an excavation position based on the position of the work machine when teaching is instructed by the excavation teaching button. The target position setting unit sets an earth discharge position based on the position of the work machine when teaching is instructed by the earth discharge teaching button. Effect of the Invention

[0010] In the system according to the first aspect of the present disclosure, a right loading turn mode and a left loading turn mode are selected, and an appropriate teaching screen is generated for each of right turning and left turning in the automatic turning control. In the system according to the second aspect of the present disclosure, a target position is appropriately set according to the right loading turn mode and the left loading turn mode. In the system according to the third aspect of the present disclosure, a basic mode and an advanced mode are selected according to whether the operator is skilled in teaching, and an appropriate teaching screen is generated. [Brief description of the drawings]

[0011] [Figure 1] FIG. [Diagram 2] 1 is a block diagram showing a configuration of a work machine and its control system. [Diagram 3] FIG. 4 is a diagram showing a flow of work performed by a work machine. [Figure 4] FIG. 4 is a top view showing the operation of the work machine in automatic turning control. [Diagram 5] FIG. 4 is a side view showing the operation of the work machine under automatic turning control. [Figure 6] 13 is a flowchart showing a process of automatic turning control. [Figure 7] FIG. 13 is a diagram showing the configuration of a display system for a guide screen and a teaching screen. [Figure 8] FIG. 13 is a diagram showing a guide screen. [Figure 9] FIG. 13 is a diagram showing a guide screen during execution of loading swing control. [Figure 10] FIG. 13 is a diagram showing a guide screen when the working machine reaches a soil unloading position. [Figure 11] FIG. 13 is a diagram showing a guide screen when the work machine is located within a first allowed area. [Figure 12] FIG. 13 is a diagram showing a guide screen during execution of return turning control. [Figure 13] FIG. 13 is a diagram showing a guide screen when the work machine reaches an excavation position. [Figure 14] FIG. 13 is a diagram showing a guide screen when the work machine is located in a prohibited area. [Figure 15] FIG. 13 is a diagram showing a control mode setting screen for selecting a rotation mode. [Figure 16] FIG. 13 is a diagram showing a guide screen when a right loading turn mode is selected. [Figure 17] FIG. 13 is a diagram showing a setting screen for selecting a teaching mode. [Figure 18] FIG. 13 is a diagram showing a guide screen when the basic mode is selected. [Figure 19] FIG. 13 shows a basic teaching screen. [Figure 20] FIG. 13 is a diagram showing a basic teaching screen when an earth unloading position is set. [Figure 21] FIG. 13 is a diagram showing a basic teaching screen when an interference avoidance position is set. [Figure 22] FIG. 13 is a diagram showing the basic teaching screen when all target positions have been set. [Figure 23] FIG. 13 is a diagram showing a basic teaching screen when the earth discharge position cannot be set. [Figure 24] FIG. 13 is a diagram showing an advanced teaching screen. [Diagram 25] FIG. 13 is a diagram showing a dialogue screen. [Figure 26] FIG. 13 is a diagram showing an advanced teaching screen when an earth unloading position is set. [Figure 27] FIG. 13 is a diagram showing the advanced teaching screen when all target positions have been set. [Figure 28] FIG. 13 shows a right turn teaching screen in the basic mode. [Figure 29] FIG. 13 shows a right turn teaching screen in the advanced mode. [Diagram 30] FIG. 13 is a diagram showing a guide screen according to a modified example. [Diagram 31] FIG. 13 is a diagram illustrating another example of the input device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A work machine according to an embodiment will now be described with reference to the drawings. Fig. 1 is a side view of a work machine 1. In this embodiment, the work machine 1 is an excavator such as a hydraulic excavator or an electric excavator.

[0013] As shown in FIG. 1, the work machine 1 includes a work implement 3, a rotating body 4, and a running body 5. The work implement 3 is attached to the rotating body 4. The rotating body 4 is connected to the running body 5 so as to be able to rotate. The rotating body 4 is able to rotate around a rotation center C1. A cab 6 is disposed on the rotating body 4. The running body 5 includes tracks 7. Note that FIG. 1 illustrates only one of the left and right tracks 7. The tracks 7 are driven to cause the work machine 1 to run.

[0014] The work machine 3 is attached to the rotating unit 4 so as to be movable up and down. The work machine 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is attached to the rotating unit 4 so as to be rotatable. The arm 12 is attached to the boom 11 so as to be rotatable. The bucket 13 is attached to the arm 12 so as to be rotatable.

[0015] The work machine 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 operates the boom 11. The arm cylinder 15 operates the arm 12. The bucket cylinder 16 operates the bucket 13.

[0016] Fig. 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Fig. 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, a power transmission device 23, and a controller 24. The drive source 21 is controlled by a command signal from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0017] The work machine 1 includes a swing motor 25. The swing motor 25 is, for example, a hydraulic motor. The swing motor 25 is driven by hydraulic oil from the hydraulic pump 22. Alternatively, the swing motor 25 may be an electric motor. The swing motor 25 swings the swing body 4. Note that although one hydraulic pump is illustrated in FIG. 2, multiple hydraulic pumps may be provided.

[0018] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve, and is controlled by a command signal from the controller 24. The controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26.

[0019] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, and the swing motor 25 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from the controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16 and the swing motor 25. The controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The controller 24 controls the swing of the swing body 4 by controlling the control valve 27. It should be noted that the cylinders 14-16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven by an electric motor.

[0020] The power transmission device 23 transmits the driving force of the drive source 21 to the traveling body 5. The crawler belt 7 is driven by the driving force from the power transmission device 23 to travel the work machine 1. The power transmission device 23 may be, for example, a torque converter or a transmission having a plurality of speed change gears. Alternatively, the power transmission device 23 may be another type of transmission such as a hydrostatic transmission (HST) or a hydraulic mechanical transmission (HMT).

[0021] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes a memory such as a RAM or a ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0022] The control system includes an operation device 33, an input device 34, and a display 35. The operation device 33, the input device 34, and the display 35 are arranged in the cab 6. The operation device 33 can be operated by an operator. The operation device 33 includes, for example, a lever, a pedal, or a switch. The operation device 33 outputs an operation signal corresponding to an operation by the operator to the controller 24. The controller 24 controls the control valve 27 to operate the work machine 3 in response to the operation of the operation device 33 by the operator. The controller 24 controls the control valve 27 to rotate the rotating body 4 in response to the operation of the operation device 33 by the operator. The controller 24 controls the drive source 21 and the power transmission device 23 to travel the work machine 1 in response to the operation of the operation device 33 by the operator.

[0023] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may also include hardware keys. The operator inputs various settings related to the work machine 1 by operating the input device 34. The input device 34 outputs an input signal in response to the operation of the operator. The display 35 is, for example, an LCD, an OELD, or another type of display. The display 35 displays a screen in response to a display signal from the controller 24.

[0024] The control system includes an orientation sensor 36 and a height sensor 37. The orientation sensor 36 detects the orientation of the work machine 1. The orientation sensor 36 includes, for example, a sensor based on a Global Navigation Satellite System (GNSS). In detail, the orientation sensor 36 detects the orientation of the rotating unit 4. The orientation sensor 36 outputs orientation data indicating the orientation of the rotating unit 4. The orientation data is represented in east-west-north / south orientation coordinates.

[0025] The height sensor 37 detects the height of the work machine 3. For example, the height sensor 37 detects the attitude of the work machine 3. The attitude of the work machine 3 is indicated by the respective angles of the boom 11, the arm 12, and the bucket 13. The height sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the height sensor 37 may be a sensor that directly detects the height of the work machine 3. The height sensor 37 outputs height data indicating the height of the work machine 3.

[0026] The controller 24 receives an operation signal from an operation device 33. The controller 24 receives an input signal from an input device 34. The controller 24 outputs a display signal to a display 35. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives height data from a height sensor 37.

[0027] The controller 24 calculates the orientation of the work implement 3 from the orientation data. The orientation of the work implement 3 is the orientation of a predetermined working point of the work implement 3 relative to the turning center C1. Alternatively, the orientation of the work implement 3 may be the orientation of the working point relative to the traveling body 5. The working point may be, for example, the tip of the arm 12. Alternatively, the working point may be a predetermined part of the bucket 13. The orientation of the work implement 3 is indicated by east-west-north-south orientation coordinates. The controller 24 calculates the height of the work implement 3 from the height data. The height of the work implement 3 is the height of the working point of the work implement 3 from the ground. Alternatively, the height of the work implement 3 may be the height relative to a predetermined reference point of the work machine 1, such as the bottom surface of the crawler 7.

[0028] The controller 24 executes automatic rotation control for automatically controlling the rotation of the rotating body 4 based on the above-mentioned position of the work machine 3. Hereinafter, the automatic rotation control of the work machine 1 will be described.

[0029] Fig. 3 is a diagram showing a flow of work performed by the work machine 1. As shown in Fig. 3, the work machine 1 sequentially executes excavation, loading swing, earth discharge, and return swing. After performing a return swing, the work machine 1 again sequentially executes excavation, loading swing, earth discharge, and return swing. By repeating these operations, the work machine 1 loads objects such as soil and sand onto a transport vehicle such as a dump truck. In automatic swing control, the loading swing and return swing are automatically performed by the controller 24. In other words, the automatic swing control includes loading swing control and return swing control.

[0030] Fig. 4 is a top view showing the operation of the work machine 1 in the automatic turning control. Fig. 5 is a side view showing the operation of the work machine 1 in the automatic turning control. Fig. 6 is a flowchart showing the process of the automatic turning control.

[0031] As shown in Fig. 6, in step S101, the controller 24 acquires a target position. The controller 24 stores a target position set in advance by an operator. The set target position includes a direction and a height indicating the target position. As shown in Fig. 4 and Fig. 5, the target position includes an excavation position P1, an interference avoidance position P2, and an earth removal position P3.

[0032] The excavation position P1 is the end point of the return swing. The dumping position P3 is the end point of the loading swing. The dumping position P3 is set above the bed 101 of the transport vehicle 100. The interference avoidance position P2 is an intermediate position located between the excavation position P1 and the dumping position P3 on the trajectory of the swing of the work machine 3.

[0033] The interference avoidance position P2 is set to prevent the work machine 3 from interfering with the transport vehicle 100. The interference avoidance position P2 is set, for example, outside the side surface of the loading platform 101 of the transport vehicle 100 and above the side surface of the loading platform 101. This prevents the work machine 3 from interfering with the side surface of the loading platform 101.

[0034] In step S102, a swing mode is acquired. The controller 24 stores a swing mode selected by an operator in advance. The swing mode includes a left loading swing mode and a right loading swing mode. In the left loading swing mode, the controller 24 swings the swing body 4 counterclockwise to the dumping position P3 in the loading swing control described later. In the right loading swing mode, the controller 24 swings the swing body 4 clockwise to the dumping position P3 in the loading swing control described later. A method for setting the swing mode and a method for setting the excavation position P1, the dumping position P3, and the interference avoidance position P2 will be described later.

[0035] In step S103, the controller 24 determines whether to start the loading swing control. For example, after the operator operates the work machine 3 to perform excavation, the operator issues an instruction to start the automatic swing control via the input device 34. If a permission condition for loading swing, which will be described later, is satisfied, the controller 24 determines to start the loading swing control. If the controller 24 determines to start the loading swing control, the controller 24 executes the loading swing control in step S104.

[0036] 4 and 5, in the loading swing control, the controller 24 swings the swing body 4 so that the work machine 3 passes through an intermediate position based on the interference avoidance position P2 and moves to the earth unloading position P3, and also lifts the work machine 3. At this time, when the left loading swing mode is selected, the controller 24 swings the swing body 4 counterclockwise as shown in Fig. 4. When the right loading swing mode is selected, the controller 24 swings the swing body 4 clockwise. Note that the intermediate position based on the interference avoidance position P2 may be a position offset from the interference avoidance position P2 with a margin, or may be the interference avoidance position P2 itself.

[0037] In step S105, the controller 24 determines whether the work machine 3 has reached the unloading position P3. When the controller 24 determines that the work machine 3 has reached the unloading position P3, the controller 24 ends the loading swing control in step S106. That is, the controller 24 stops the swing body 4 at the unloading position P3. Thereafter, the operator operates the work machine 3 to unload the object from the work machine 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100.

[0038] In step S107, the controller 24 determines whether to start the return turning control. For example, after the operator discharges an object from the work machine 3, the operator issues an instruction to start the automatic turning control via the input device 34. The controller 24 determines to start the return turning control when a return turning permission condition described later is satisfied. When the controller 24 determines to start the return turning control, the controller 24 executes the return turning control in step S108.

[0039] As shown by the arrow L2 in Figures 4 and 5, in the return swing control, the controller 24 swings the swing body 4 and lowers the work machine 3 so that the work machine 3 passes through a waypoint based on the interference avoidance position P2 and moves to the excavation position P1. At this time, the controller 24 swings the swing body 4 in the opposite direction to the loading swing control. That is, when the left loading swing mode is selected, the controller 24 swings the swing body 4 clockwise to move the work machine 3 to the excavation position P1. When the right loading swing mode is selected, the controller 24 swings the swing body 4 counterclockwise to move the work machine 3 to the excavation position P1.

[0040] In step S109, the controller 24 determines whether the work machine 3 has reached the excavation position P1. If the controller 24 determines that the work machine 3 has reached the excavation position P1, the controller 24 ends the return swing control in step S110. That is, the controller 24 stops the rotating body 4 at the excavation position P1. Thereafter, the operator operates the work machine 3 to excavate the object. As a result, the object is held by the work machine 3. Then, the process returns to step S103, and the above-mentioned work is repeated.

[0041] In addition, when the operator manually operates the working machine 3 or the rotating body 4 by the operation device 33, the controller 24 may operate the working machine 3 or the rotating body 4 according to the operation of the operation device 33 by the operator. For example, after the working machine 3 reaches the earth unloading position P3 by the loading rotation control, the operator can manually move the working machine 3 to any position to unload the earth. In addition, after the working machine 3 reaches the excavation position P1 by the return rotation control, the operator can manually move the working machine 3 to any position to excavate. In addition, as described later, when the rotation mode is changed, the excavation position P1, the earth unloading position P3, and the interference avoidance position P2 are reset. When the excavation position P1, the earth unloading position P3, and the interference avoidance position P2 are reset, the process returns to step S101.

[0042] Next, a guide screen for automatic turning control and a teaching screen for setting a target position will be described. The controller 24 displays the guide screen and the teaching screen on the display 35. FIG. 7 is a diagram showing the configuration of a display system for the guide screen and the teaching screen. As shown in FIG. 7, the controller 24 includes an orientation acquisition unit 41, an altitude acquisition unit 42, a screen generation unit 43, and a turning mode selection unit 44. The orientation acquisition unit 41, the altitude acquisition unit 42, the screen generation unit 43, and the turning mode selection unit 44 are realized by the processor 31.

[0043] The orientation acquisition unit 41 acquires the current orientation of the work implement 3 of the work machine 1, the orientation of the excavation position P1 relative to the work machine 1, the orientation of the dumping position P3 relative to the work machine 1, and the orientation of the interference avoidance position P2 relative to the work machine 1. The orientation acquisition unit 41 calculates the current orientation of the work implement 3 based on the above-mentioned orientation data. The orientation acquisition unit 41 calculates the orientation of the excavation position P1 relative to the work machine 1, the orientation of the dumping position P3 relative to the work machine 1, and the orientation of the interference avoidance position P2 relative to the work machine 1 based on the set excavation position P1, dumping position P3, and interference avoidance position P2.

[0044] The height acquisition unit 42 acquires the current height of the work machine 3, the height of the excavation position P1, the height of the earth discharge position P3, and the height of the interference avoidance position P2. The height acquisition unit 42 acquires the current height of the work machine 3 from the above-mentioned height data. The height acquisition unit 42 acquires the height of the excavation position P1 from the set excavation position P1. The height acquisition unit 42 acquires the height of the earth discharge position P3 from the set earth discharge position P3. The height acquisition unit 42 acquires the height of the interference avoidance position P2 from the set interference avoidance position P2. Note that acquisition of the height of the earth discharge position P3 may be omitted.

[0045] The screen generation unit 43 generates a guide screen for automatic turning control based on the current orientation of the work implement 3 in the work machine 1, the orientation of the excavation position P1 relative to the work machine 1, and the orientation of the dumping position P3 relative to the work machine 1. The screen generation unit 43 also generates the guide screen based on the current height of the work implement 3, the height of the excavation position P1, and the height of the dumping position P3. The turning mode selection unit 44 selects the above-mentioned turning mode.

[0046] FIG. 8 is a diagram showing the guide screen G1. It is assumed that the left loading swing mode is selected in the guide screen G1 shown in FIG. 8. In FIG. 8, the automatic swing control is stopped with the work machine 3 disposed at the excavation position P1. As shown in FIG. 8, the guide screen G1 includes a main menu field 51, a payload display field 52, a status field 53, a message field 54, and an automatic swing guidance field 55. The main menu field 51 includes a menu button 510. The menu button 510 is a button for calling up a setting screen for performing various settings for the automatic swing control.

[0047] The main menu field 51 includes a payload start button 511 and a payload completion button 512. The payload start button 511 is a button for starting the accumulation of the loading amount to the transport vehicle 100. The payload completion button 512 is a button for completing the accumulation of the loading amount to the transport vehicle 100. The main menu field 51 includes a teaching start button 513. The teaching start button 513 is a button for carrying out teaching to set a target position. Setting of the target position will be described in detail later.

[0048] The payload display field 52 includes an identifier 520 of the transport vehicle 100, a current loading amount 521 of the transport vehicle 100, and a current loading amount 522 of the work implement 3. The status field 53 displays the selected control mode. The status field 53 includes an indication of the selected swing mode. In FIG. 8, the status field 53 shows a left mode indication 531 indicating that the left loading swing mode is selected. The message field 54 displays an assist message for the automatic swing control.

[0049] The automatic turning guidance field 55 includes a direction guide display 56, a height guide display 57, and a target position legend display 58. The direction guide display 56 indicates the current direction of the work implement 3 in the work machine 1, the direction of the excavation position P1, the direction of the earth discharge position P3, and the direction of the interference avoidance position P2. In detail, the direction guide display 56 includes a machine display 59, a direction circle display 60, a work direction display 61, an excavation direction display 62, an earth discharge direction display 63, and an interference avoidance direction display 64.

[0050] The machine display 59 shows the shape of the work machine 1 when viewed from above. The machine display 59 is displayed fixedly on the guide screen G1. The machine display 59 is displayed so that the work machine 3 faces upward on the guide screen G1. The bearing circle display 60 is displayed surrounding the machine display 59. The bearing circle display 60 has a circular shape, and is displayed with the turning center C1 of the work machine 1 as its center. The bearing circle display 60 includes a bearing coordinate display 601. The bearing coordinate display 601 shows the bearing coordinates of north, south, east and west with the turning center C1 as its center. The bearing coordinate display 601 includes multiple scales, and is arranged along the bearing circle display 60.

[0051] The work direction display 61, the excavation direction display 62, the earth discharge direction display 63, and the interference avoidance direction display 64 are each arranged along the direction circle display 60. The work direction display 61, the excavation direction display 62, the earth discharge direction display 63, and the interference avoidance direction display 64 have different aspects from each other. For example, the work direction display 61, the excavation direction display 62, the earth discharge direction display 63, and the interference avoidance direction display 64 have different shapes from each other. The work direction display 61, the excavation direction display 62, the earth discharge direction display 63, and the interference avoidance direction display 64 have different colors from each other.

[0052] The work orientation display 61 indicates the current orientation of the work machine 3. The work orientation display 61 is fixedly displayed on the guide screen G1. The work orientation display 61 is fixedly displayed so as to point to the upper end of the orientation circle display 60 on the guide screen G1. The excavation orientation display 62 and the soil discharge orientation display 63 are displayed by icons having different designs. The excavation orientation display 62 and the soil discharge orientation display 63 have different colors. The excavation orientation display 62 indicates the orientation of the excavation position P1 relative to the work machine 1. The soil discharge orientation display 63 indicates the orientation of the soil discharge position P3 relative to the work machine 1. The interference avoidance orientation display 64 indicates the orientation of the interference avoidance position P2 relative to the work machine 1.

[0053] The height guide display 57 is disposed to the side of the orientation guide display 56 on the guide screen G1. The height guide display 57 indicates the current height of the work machine 3, the height of the excavation position P1, the height of the earth discharge position P3, and the height of the interference avoidance position P2. In detail, the height guide display 57 includes a gauge display 65, a working height display 66, an excavation height display 67, and an earth discharge height display 68. The gauge display 65 extends in the vertical direction on the guide screen G1. The gauge display 65 includes a plurality of scales 651 indicating height, and is disposed along the gauge display 65.

[0054] The working height display 66, the excavation height display 67, and the soil discharge height display 68 are each arranged along the gauge display 65. The working height display 66, the excavation height display 67, and the soil discharge height display 68 are each different in appearance. For example, the working height display 66, the excavation height display 67, and the soil discharge height display 68 have each different shapes. The working height display 66, the excavation height display 67, and the soil discharge height display 68 have each different colors.

[0055] The working height display 66 indicates the current height of the work machine 3. The working height display 66 has the same form as the working orientation display 61. For example, the working height display 66 has the same shape as the working orientation display 61. The working height display 66 has the same color as the working orientation display 61. The working height display 66 is fixedly displayed on the guide screen G1. The working height display 66 is fixedly displayed so as to point to the center of the gauge display 65 on the guide screen G1. The working height display 66 is fixedly displayed so as to be aligned in the left-right direction with the rotation center C1 of the orientation guide display 56.

[0056] The excavation height display 67 and the soil discharge height display 68 are displayed by icons having different designs. The excavation height display 67 and the soil discharge height display 68 have different colors. The excavation height display 67 indicates the height of the excavation position P1. The excavation height display 67 has the same form as the excavation direction display 62. For example, the excavation height display 67 is displayed by an icon having the same design as the excavation direction display 62. The excavation height display 67 has the same color as the excavation direction display 62.

[0057] The soil discharge height display 68 indicates the height of the soil discharge position P3 or the height of the interference avoidance position P2. The soil discharge height display 68 has the same form as the soil discharge direction display 63. For example, the soil discharge height display 68 is shown by an icon with the same design as the soil discharge direction display 63. The soil discharge height display 68 has the same color as the soil discharge direction display 63.

[0058] In setting the target position described later, if the discharge position P3 is set before the interference avoidance position P2, the discharge height display 68 is provisionally displayed at the height of the discharge position P3 in the height guide display 57. If the interference avoidance position P2 is then set, the provisionally displayed discharge height display 68 is deleted, and the discharge height display 68 is displayed at the height of the interference avoidance position P2. If the discharge position P3 and the interference avoidance position P2 are at different heights, the discharge height display 68 is displayed at the height of the interference avoidance position P2.

[0059] The guide screen G1 includes a first allowed area A1, a second allowed area A2, and a prohibited area A3. The first allowed area A1 and the second allowed area A2 are areas in which the execution of automatic turning control is permitted. In detail, the first allowed area A1 is an area in which the execution of return turning control is permitted. The second allowed area A2 is an area in which the execution of loading turning control is permitted. The prohibited area A3 is an area in which the execution of automatic turning control is prohibited.

[0060] The screen generator 43 determines the first allowed area A1, the second allowed area A2, and the prohibited area A3 based on the direction of the earth unloading position P3 relative to the work machine 1 and the direction of the interference avoidance position P2 relative to the work machine 1, and generates a guide screen G1 showing the first allowed area A1, the second allowed area A2, and the prohibited area A3. The first allowed area A1, the second allowed area A2, and the prohibited area A3 are each displayed as a sector with the turning center C1 as its center. The first allowed area A1, the second allowed area A2, and the prohibited area A3 are displayed within a direction circle display 60. In the guide screen G1, the first allowed area A1, the second allowed area A2, and the prohibited area A3 are displayed in different colors.

[0061] The screen generator 43 determines the range between the direction of the interference avoidance position P2 and the direction of the reverse interference avoidance position as the first allowed area A1. The reverse interference avoidance position is located on the opposite side of the interference avoidance position P2 with respect to the soil unloading position P3 in the direction opposite to the return swing direction. The return swing direction is the swing direction of the swing body 4 in the return swing control, and is the direction from the soil unloading position P3 through the interference avoidance position P2 toward the excavation position P1.

[0062] The prohibited area A3 is located in the opposite direction to the return turning direction relative to the first allowed area A1. The screen generator 43 determines a range of a predetermined angle from the reverse interference avoidance position in the opposite direction to the return turning direction as the prohibited area A3. The predetermined angle may be a fixed value. The predetermined angle may be manually set by the operator. The screen generator 43 determines a range of the turning range of the turning body 4 excluding the first allowed area A1 and the prohibited area A3 as the second allowed area A2.

[0063] As shown in Fig. 8, the controller 24 permits loading swing control when the work machine 3 is located within the second allowed area A2. When the work machine 3 is located within the second allowed area A2, a message indicating that loading swing control is possible is displayed in the message field 54. Furthermore, when the work machine 3 is located within the second allowed area A2, a loading swing range display 69 and a loading swing direction display 70 are displayed on the guide screen G1.

[0064] The loading swing range display 69 indicates the range between the current orientation of the work machine 3 in the loading swing control and the orientation of the dumping position P3. The loading swing direction display 70 indicates the swing direction of the swing body 4 in the loading swing control (hereinafter referred to as the loading swing direction). The loading swing range display 69 and the loading swing direction display 70 are displayed along the orientation circle display 60. For example, the loading swing range display 69 indicates the range between the current orientation of the work machine 3 on the orientation circle display 60 and the orientation of the dumping position P3 in a color different from the other ranges of the orientation circle display 60. The loading swing direction display 70 is indicated by an arrow pointing in the loading swing direction.

[0065] The controller 24 decides to start the above-mentioned loading swing control when the operator instructs the start of automatic swing control while the working machine 3 is located within the second allowed area A2, and the current height of the working machine 3 is equal to or higher than the threshold. That is, the above-mentioned permission condition for loading swing is that the working machine 3 is located within the second allowed area A2, and the current height of the working machine 3 is equal to or higher than the threshold. Note that, if the current height of the working machine 3 is lower than the threshold, the controller 24 automatically raises the working machine 3 to a position equal to or higher than the threshold. For example, the threshold is the height of the excavation position P1, or a height set based on the height of the excavation position P1.

[0066] Fig. 9 is a diagram showing a guide screen G1 during execution of loading swing control. As shown in Fig. 9, during execution of loading swing control, in the orientation guide display 56, a machine display 59 and a work orientation display 61 are displayed fixedly, and an excavation orientation display 62, an earth removal orientation display 63, an interference avoidance orientation display 64, and an orientation coordinate display 601 are displayed so as to rotate around the swing center C1 in accordance with the swing of the swing body 4. The first allowed area A1, the second allowed area A2, and the prohibited area A3 are also displayed so as to rotate around the swing center C1 in accordance with the swing of the swing body 4. The loading swing range display 69 is displayed so as to decrease in accordance with the swing of the swing body 4.

[0067] During loading swing control, the working height display 66 is fixedly displayed in the height guide display 57, while the scale 651 of the gauge display 65, the excavation height display 67, and the soil discharge height display 68 are displayed sliding vertically in accordance with the vertical movement of the work implement 3. During loading swing control, a message indicating that loading swing control is in progress is displayed in the message column 54. During loading swing control, a display indicating that automatic swing control is in progress is lit in the status column 53.

[0068] As shown in Fig. 10, when the working machine 3 reaches the unloading position P3, the controller 24 ends the loading swing control. A message to the effect that the automatic swing control is stopped is displayed in the message field 54. The operator operates the working machine 3 to unload the soil.

[0069] 11, when the work machine 3 is located within the first allowed area A1, the controller 24 permits return swing control. When the work machine 3 is located within the first allowed area A1, a message indicating that return swing control is possible is displayed in the message field 54. Furthermore, when the work machine 3 is located within the first allowed area A1, a return swing range display 71 and a return swing direction display 72 are displayed on the guide screen G1.

[0070] The return swing range display 71 indicates the range between the orientation of the excavation position P1 in the return swing control and the current orientation of the work machine 3. The return swing direction display 72 indicates the return swing direction. The return swing range display 71 and the return swing direction display 72 are displayed along the orientation circle display 60. The return swing range display 71 is shown in a color different from the loading swing range display 69. The return swing direction display 72 is shown by an arrow pointing in the return swing direction.

[0071] When the operator instructs the start of the automatic swing control while the working machine 3 is located within the first permitted area A1, the controller 24 determines the start of the above-mentioned return swing control. That is, the permission condition for the above-mentioned return swing is that the working machine 3 is located within the first permitted area A1. FIG. 12 is a diagram showing a guide screen G1 during the execution of the return swing control. As shown in FIG. 12, during the execution of the return swing control, in the orientation guide display 56, the machine display 59 and the work orientation display 61 are displayed fixedly, and the excavation orientation display 62, the soil discharge orientation display 63, the interference avoidance orientation display 64, and the orientation coordinate display 601 are displayed so as to rotate around the swing center C1 according to the swing of the swing body 4. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are also displayed so as to rotate around the swing center C1 according to the swing of the swing body 4. The return swing range display 71 is displayed so as to decrease according to the swing of the swing body 4.

[0072] Furthermore, while the return swing control is being executed, the working height display 66 in the height guide display 57 is fixedly displayed, while the scale 651 of the gauge display 65, the excavation height display 67, and the soil discharge height display 68 are displayed sliding vertically in accordance with the vertical movement of the work implement 3. While the return swing control is being executed, a message to the effect that the return swing control is being executed is displayed in the message column 54. While the return swing control is being executed, an indication indicating that the automatic swing control is being executed is lit in the status column 53.

[0073] As shown in Fig. 13, when the work machine 3 reaches the excavation position P1, the controller 24 ends the return swing control. A message to the effect that the automatic swing control will be stopped is displayed in the message field 54. Then, as shown in Fig. 8, when the work machine 3 is located within the second permitted area A2, a guide screen G1 that permits the loading swing control is displayed.

[0074] As shown in Fig. 14, when the work machine 3 is located in the prohibited area A3, the controller 24 does not permit the start of automatic turning control. When the work machine 3 is located in the prohibited area A3, a message to the effect that the automatic turning control is not permitted is displayed in the message field 54. In this case, the turning range displays 69, 71 and turning direction displays 70, 72 described above are not displayed.

[0075] 8 to 14 show the guide screen G1 when the above-mentioned left loading turning mode is selected. Fig. 15 shows the control mode setting screen S1 for selecting the turning mode. The operator can select the turning mode by the control mode setting screen S1 shown in Fig. 15.

[0076] FIG. 16 is a diagram showing the guide screen G2 when the right loading and turning mode is selected. As shown in FIG. 16, when the right loading and turning mode is selected, the excavation direction display 62, the soil discharge direction display 63, and the interference avoidance direction display 64 are displayed in a direction opposite to the direction when the left loading and turning mode is selected. When the right loading and turning mode is selected, the first allowed area A1, the second allowed area A2, and the prohibited area A3 are displayed in a direction opposite to the direction when the left loading and turning mode is selected. Similarly, when the right loading and turning mode is selected, the turning range displays 69, 71 and the turning direction displays 70, 72 are displayed in a direction opposite to the direction when the left loading and turning mode is selected. Also, when the right loading and turning mode is selected, the status column 53 displays a right mode display 532 indicating that the right loading and turning mode is selected.

[0077] Next, a teaching screen for setting a target position will be described. In the work machine 1 according to this embodiment, the operator operates the work implement 3 to teach the target position, and the controller 24 sets the target position. As shown in Fig. 7, the controller 24 includes a teaching mode selection unit 45 and a target position setting unit 46. The teaching mode selection unit 45 and the target position setting unit 46 are realized by the processor 31.

[0078] The teaching mode selection unit 45 selects a teaching mode for teaching a target position. Fig. 17 is a diagram showing a setting screen S2 for selecting a teaching mode. As shown in Fig. 17, the teaching mode includes a basic mode and an advanced mode. The operator selects the teaching mode from the basic mode and the advanced mode using the setting screen S2 for selecting the teaching mode shown in Fig. 17.

[0079] Fig. 18 is a diagram showing the guide screen G1 when the basic mode is selected. However, the target position has not yet been set in the guide screen G1 shown in Fig. 18. As shown in Fig. 18, when the target position has not yet been set, a message prompting the user to carry out teaching is displayed in the message field 54 of the guide screen G1.

[0080] As shown in Fig. 18, the guide screen G1 in the basic mode includes a teaching start button 513. The guide screen G1 shown in Fig. 8 described above is also the guide screen G1 in the basic mode and includes the teaching start button 513. When the teaching start button 513 is operated, the screen generator 43 generates a basic teaching screen for setting a target position. The basic teaching screen is a teaching screen when the basic mode is selected.

[0081] Fig. 19 is a diagram showing the basic teaching screen T1. As shown in Fig. 19, the basic teaching screen T1 is displayed as a pop-up on the guide screen G1. The basic teaching screen T1 includes an excavation teaching button 73, an interference avoidance teaching button 74, an earth removal teaching button 75, an assist information 76, a registration button 77, and a detailed information button 78.

[0082] The excavation teaching button 73 is a button for teaching the excavation position P1. The soil discharge teaching button 75 is a button for teaching the soil discharge position P3. The interference avoidance teaching button 74 is a button for teaching the interference avoidance position P2. The target position setting unit 46 sets the excavation position P1 based on the position of the work machine 3 when teaching is instructed by the excavation teaching button 73. The target position setting unit 46 sets the interference avoidance position P2 based on the position of the work machine 3 when teaching is instructed by the interference avoidance teaching button 74. The target position setting unit 46 sets the soil discharge position P3 based on the position of the work machine 3 when teaching is instructed by the soil discharge teaching button 75.

[0083] The assist information 76 is information for assisting teaching of the target position. The assist information 76 includes an image showing the positional relationship between the work machine 1, the excavation position P1, the earth unloading position P3, the interference avoidance position P2, and the transport vehicle 100. In detail, the assist information 76 includes an image 761 showing the work machine 1 and the transport vehicle 100. The image 761 showing the work machine 1 and the transport vehicle 100 depicts the work machine 1 and the transport vehicle 100 three-dimensionally, for example. Alternatively, the image 761 showing the work machine 1 and the transport vehicle 100 may depict the work machine 1 and the transport vehicle 100 two-dimensionally.

[0084] The assist information 76 also includes point displays 762-764 indicating the excavation position P1, the interference avoidance position P2, and the soil discharge position P3, respectively. The point display 762 indicating the excavation position P1 is displayed in correspondence with the excavation teaching button 73. The point display 763 indicating the interference avoidance position P2 is displayed in correspondence with the interference avoidance teaching button 74. The point display 764 indicating the soil discharge position P3 is displayed in correspondence with the soil discharge teaching button 75.

[0085] The registration button 77 is a button for instructing teaching using any one of the excavation teaching button 73, the interference avoidance teaching button 74, and the earth discharge teaching button 75. In detail, on the basic teaching screen T1, the operator selects any one of the excavation teaching button 73, the interference avoidance teaching button 74, and the earth discharge teaching button 75. Then, with any one of the excavation teaching button 73, the interference avoidance teaching button 74, and the earth discharge teaching button 75 selected, the operator operates the registration button 77 to instruct teaching of the target position.

[0086] For example, the operator moves the working machine 3 to a position to be set as the soil discharge position P3. As shown in FIG. 19, the operator selects the soil discharge teaching button 75 and operates the registration button 77 to instruct teaching of the soil discharge position P3. The target position setting unit 46 sets the position of the working machine 3 at the time the registration button 77 is operated as the soil discharge position P3. When the soil discharge position P3 is set, as shown in FIG. 20, the soil discharge direction display 63 and the soil discharge height display 68 are displayed on the guide screen G1. In addition, a mark M1 indicating that the setting of the soil discharge position P3 has been completed is displayed on the soil discharge teaching button 75.

[0087] The operator moves the work machine 3 to a position to be set as the interference avoidance position P2. The operator selects the interference avoidance teaching button 74 and operates the registration button 77 to instruct teaching of the interference avoidance position P2. The target position setting unit 46 sets the position of the work machine 3 at the time the registration button 77 is operated as the interference avoidance position P2. Once the interference avoidance position P2 is set, an interference avoidance orientation display 64 is displayed on the guide screen G1, as shown in FIG. 21. In addition, a mark M2 indicating that setting of the interference avoidance position P2 has been completed is displayed on the interference avoidance teaching button 74.

[0088] The operator moves the work machine 3 to a position to be set as the excavation position P1. The operator selects the excavation teaching button 73 and operates the registration button 77 to instruct teaching of the excavation position P1. The target position setting unit 46 sets the position of the work machine 3 at the time the registration button 77 is operated as the excavation position P1. When the excavation position P1 is set, as shown in FIG. 22, an excavation orientation display 62 and an excavation height display 67 are displayed on the guide screen G1. In addition, a mark M3 indicating that setting of the excavation position P1 has been completed is displayed on the excavation teaching button 73.

[0089] When all of the settings of the excavation position P1, the interference avoidance position P2, and the soil discharge position P3 have been completed, a message indicating that teaching of all target positions has been completed is displayed in the message field 54, as shown in Fig. 22. Also, as shown in Fig. 8, a mark M4 indicating that teaching of all target positions has been completed is displayed on the teaching start button 513 of the guide screen G1.

[0090] The excavation position P1, the interference avoidance position P2, and the earth unloading position P3 can be set in any order. However, the range in which the target positions can be set may be limited depending on the target position and the turning mode that have been set in advance. The target position setting unit 46 determines whether or not to teach at least one of the excavation position P1, the earth unloading position P3, and the interference avoidance position P2 depending on whether the control mode is the right loading turning mode or the left loading turning mode.

[0091] For example, when the left loading swing mode is selected, the dumping position P3 can be set within a range of a predetermined angle (hereinafter, settable range) from the previously registered interference avoidance position P2 by left swing. Therefore, a position outside the settable range is not set as the dumping position P3. In that case, for example, after the interference avoidance position P2 is registered, if the dumping teaching button 75 is selected in a state in which the work machine 3 is located outside the settable range of the dumping position P3, as shown in FIG. 23, a message is displayed in the message field 54 to the effect that teaching of the dumping position P3 cannot be performed. Also, in this state, when the operator operates the detailed information button 78, detailed information 765 is displayed on the basic teaching screen T1. The detailed information 765 indicates the conditions necessary for setting the target position. For example, the detailed information 765 indicates that the dumping position P3 is set within a range of a predetermined angle from the interference avoidance position P2 in the loading swing direction.

[0092] When the advanced mode is selected, the screen generator 43 generates an advanced teaching screen for setting a target position. Fig. 24 is a diagram showing an advanced teaching screen T2. ​​As shown in Fig. 24, the advanced teaching screen T2 displays an excavation teaching button 73, an interference avoidance teaching button 74, and an earth removal teaching button 75 instead of the teaching start button 513 on the above-mentioned guide screen G1.

[0093] The excavation teaching button 73, the interference avoidance teaching button 74, and the soil removal teaching button 75 are arranged in the main menu field 51 of the guide screen G1. The above-mentioned assist information 76, the registration button 77, and the detailed information button 78 are not displayed on the advanced teaching screen T2.

[0094] When the operator operates the earth discharge teaching button 75, a dialogue screen D1 shown in Fig. 25 is displayed. The dialogue screen D1 is displayed as a pop-up on the guide screen G1. The dialogue screen D1 includes an image showing an example of the posture of the work machine 3 when setting the earth discharge position P3. The dialogue screen D1 includes a registration button 77. When the operator operates the registration button 77, the position of the work machine 3 at that time is set as the earth discharge position P3.

[0095] When the earth discharge position P3 is set, as shown in FIG. 26, the dialogue screen D1 is cleared, and an earth discharge direction display 63 and an earth discharge height display 68 are displayed on the guide screen G1. Also, a mark M1 indicating that the setting of the earth discharge position P3 has been completed is displayed on the earth discharge teaching button 75. Similarly, when the interference avoidance position P2 is set by the interference avoidance teaching button 74, as shown in FIG. 27, the interference avoidance direction display 64 is displayed on the guide screen G1. At this time, the display of the earth discharge height display 68 may be updated with the height of the interference avoidance position P2. Also, a mark M2 indicating that the setting of the interference avoidance position P2 has been completed is displayed on the interference avoidance teaching button 74.

[0096] When the excavation position P1 is set by the excavation teaching button 73, the excavation direction display 62 and the excavation height display 67 are displayed on the guide screen G1. Also, a mark M3 indicating that the setting of the excavation position P1 is complete is displayed on the excavation teaching button 73. When the settings of the excavation position P1, the interference avoidance position P2, and the soil discharge position P3 are all complete, a message indicating that the teaching of all target positions has been completed is displayed in the message field 54, similar to the basic teaching screen T1.

[0097] The above-mentioned basic teaching screen T1 and advanced teaching screen T2 are both teaching screens when the left loading turn mode is selected (hereinafter, referred to as left turning teaching screens). The left turning teaching screens T1 and T2 are screens for teaching the target position in the left loading turn mode.

[0098] When the right loading turn mode is selected, the screen generator 43 generates right turn teaching screens T3 and T4 shown in Fig. 28 and Fig. 29. The right turn teaching screens T3 and T4 are screens for teaching a target position in the right loading turn mode. Fig. 28 is a diagram showing the right turn teaching screen T3 in the basic mode. Fig. 29 is a diagram showing the right turn teaching screen T4 in the advanced mode.

[0099] The arrangement of the excavation teaching button 73 and the earth discharge teaching button 75 is different between the right turning teaching screens T3, T4 and the left turning teaching screens T1, T2. For example, as shown in Fig. 19 and Fig. 24, on the left turning teaching screens T1, T2, the excavation teaching button 73 is arranged on the right side, and the earth discharge teaching button 75 is arranged on the left side. As shown in Fig. 28 and Fig. 29, on the right turning teaching screens T3, T4, the excavation teaching button 73 is arranged on the left side, and the earth discharge teaching button 75 is arranged on the right side.

[0100] 19 and 24, on the left turning teaching screens T1 and T2, a left mode display 531 indicating that the left loading turning mode is selected is displayed in the status column 53. On the right turning teaching screens T3 and T4, a right mode display 532 indicating that the right loading turning mode is selected is displayed in the status column 53.

[0101] As shown in Fig. 19 and Fig. 28, in the left turning teaching screen T1 and the right turning teaching screen T3 in the basic mode, an image 761 showing the work machine 1 and the transport vehicle 100 is displayed in reverse left and right in the assist information 76. For example, as shown in Fig. 19, in the left turning teaching screen T1, the transport vehicle 100 is illustrated on the left side of the work machine 1 in the image 761. As shown in Fig. 28, in the right turning teaching screen T3, the transport vehicle 100 is illustrated on the right side of the work machine 1 in the image 761. Also, in the assist information 76, point displays 762-764 respectively showing the excavation position P1, the earth discharge position P3, and the interference avoidance position P2 are displayed in reverse left and right in the left turning teaching screen T1 and the right turning teaching screen T3.

[0102] In the display system of the work machine 1 according to the present embodiment described above, by selecting the right loading turning mode and the left loading turning mode, appropriate teaching screens T1-T4 are generated for right turning and left turning, respectively, in the automatic turning control.

[0103] Whether or not at least one of the excavation position, the earth-discharging position, and the intermediate position can be set is determined according to the right loading and turning mode and the left loading and turning mode, so that the excavation position P1, the interference avoidance position P2, and the earth-discharging position P3 are appropriately set according to the right loading and turning mode and the left loading and turning mode.

[0104] By selecting either the basic mode or the advanced mode depending on whether the operator is skilled in teaching, appropriate teaching screens T1-T4 are generated.

[0105] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0106] The work machine 1 may be remotely operable. The operation device 33, the input device 34, and the display 35 may be disposed outside the work machine 1. The target position may be acquired by manual input by an operator instead of the direction sensor 36 and the height sensor 37. Alternatively, the target position may be acquired by a sensor disposed outside the work machine 1. Other equipment including a loading platform may be used instead of the transport vehicle 100. For example, a hopper for receiving dumped soil may be disposed instead of the transport vehicle 100. A part of the above-mentioned automatic turning control process may be executed by a controller external to the work machine 1. The process for displaying the guide screens G1, G2, and the teaching screens T1-T4 may be executed by a controller external to the work machine 1.

[0107] The automatic turning control process may be distributed and executed by a plurality of controllers. The process for displaying the guide screens G1, G2 and the teaching screens T1-T4 may be distributed and executed by a plurality of controllers.

[0108] The automatic turning control process is not limited to that of the above embodiment and may be changed. The automatic turning control process may be omitted. In that case, the guide screens G1 and G2 may be displayed during manual operation by the operator. The process for generating the guide screens G1 and G2 is not limited to that of the above embodiment and may be changed. The process for setting the target position and the process for generating the teaching screens T1-T4 are not limited to that of the above embodiment and may be changed. The configuration of the guide screens G1 and G2 is not limited to that of the above embodiment and may be changed. For example, as shown in FIG. 30, the azimuth circle display may be an arc shape. The configuration of the teaching screens T1-T4 is not limited to that of the above embodiment and may be changed.

[0109] The target position is not limited to the position in the above embodiment and may be changed. For example, the target position may include a waypoint different from the interference avoidance position. In the automatic turning control, the controller 24 may control the work machine 1 so that the work machine 3 reaches the above-mentioned excavation position P1 or a position offset from the earth removal position P3.

[0110] In the above embodiment, the input device 34 is a touch screen, and the operator operates by touching the guide screens G1, G2 and the teaching screens T1-T4. However, the input device 34 is not limited to a touch screen, and may be another device. FIG. 31 is a diagram showing another example of the input device 34. As shown in FIG. 31, the input device 34 is provided in the operation device 33. The operation device 33 is an operation lever for operating the work machine 3.

[0111] The input device 34 includes a selection switch 91 and a plurality of decision buttons 92-94. The selection switch 91 is a slide switch. The operator can change the button selected on the guide screen G1, G2 or the teaching screen T1-T4 by sliding the selection switch 91. For example, on the teaching screen T1, T2 shown in FIG. 19 or FIG. 24, the operator switches the selection between the excavation teaching button 73, the interference avoidance teaching button 74, and the soil removal teaching button 75 by sliding the selection switch 91. The selection is confirmed by the operator pressing any of the decision buttons 92-94.

[0112] The above-mentioned input device 34 may also be used for operating the guide screens G1 and G2. For example, the automatic rotation control may be started by pressing any of the decision buttons 92-94. A slide switch and the decision buttons 92-94 may be used to select the payload start button 511 and the payload complete button 512. The above-mentioned input device 34 may also be used for selecting the rotation mode on the control mode setting screen S1. The above-mentioned input device 34 may also be used for selecting the teaching mode on the teaching mode setting screen S2.

[0113] The guide screens G1, G2 or the teaching screens T1-T4 may be operated by a combination of multiple decision buttons 92-94. For example, the lock may be released by pressing one of the decision buttons 92-94, and the automatic turning control may be started by pressing another button.

[0114] When the work machine 3 enters the first allowed area A1 while the loading swing control is being executed, the controller 24 may output a notification by voice or vibration. When the work machine 3 is located in the first allowed area A1, the controller 24 may permit the operator to intervene in manual operation of the work machine 3. This allows the operator to know from the notification that manual operation is possible without looking at the display. [Industrial Applicability]

[0115] According to the present disclosure, by selecting the right loading turning mode and the left loading turning mode, an appropriate teaching screen is generated for each of right turning and left turning in the automatic turning control. A target position is appropriately set according to the right loading turning mode and the left loading turning mode. An appropriate teaching screen is generated by selecting the basic mode and the advanced mode according to whether the operator is skilled in teaching. [Explanation of symbols]

[0116] 1: working machine, 3: working equipment, 4: rotating body, 41: direction acquisition unit, 43: Screen generation section, 44: Swing mode selection section, 45: Teaching mode selection section, 46: Target position setting section, 73: Excavation teaching button, 75: Soil discharge teaching button, 76: Assist information, G1, G2: Guide screen, T1, T3: Basic teaching screen, T2, T4: Advanced teaching screen, T1, T2: Left turning teaching screen, T3, T4: Right turning teaching screen

Claims

1. A system for setting target positions for automatic rotation control of a work machine including a rotating body that can rotate around a rotation center and a work implement attached to the rotating body, the target positions including an excavation position and an earth removal position, a mode selection unit that selects, as a control mode for the automatic swing control, one of a right loading swing mode in which the swing body is rotated clockwise from the current position of the working machine toward the earth unloading position, and a left loading swing mode in which the swing body is rotated counterclockwise from the current position of the working machine toward the earth unloading position; a screen generating unit that generates a right turn teaching screen for teaching the target position in the right loading turn mode when the right loading turn mode is selected, and generates a left turn teaching screen for teaching the target position in the left loading turn mode when the left loading turn mode is selected; a target position setting unit which sets the excavation position and the earth discharge position taught on the right turning teaching screen when the right loading turning mode is selected, and which sets the excavation position and the earth discharge position taught on the left turning teaching screen when the left loading turning mode is selected; A system comprising:

2. The target position includes at least one intermediate position located between the excavation position and the soil discharge position, the target position setting unit determines whether or not to teach at least one of the excavation position, the earth-discharging position, and the intermediate position depending on whether the control mode is the right loading swing mode or the left loading swing mode. The system of claim 1 .

3. Each of the right turning teaching screen and the left turning teaching screen includes an excavation teaching button for teaching the excavation position and an earth discharge teaching button for teaching the earth discharge position, The arrangement of the excavation teaching button and the earth removal teaching button is different between the right turning teaching screen and the left turning teaching screen. The system of claim 1 .

4. On the right turn teaching screen, the excavation teaching button is disposed on the left side, and the earth removal teaching button is disposed on the right side, On the left turning teaching screen, the excavation teaching button is disposed on the right side, and the earth removal teaching button is disposed on the left side. The system of claim 3.

5. the target position is located between the excavation position and the soil discharge position, and includes an interference avoidance position for avoiding interference with equipment including a loading platform that is disposed at the soil discharge position; Each of the right turning teaching screen and the left turning teaching screen includes an image showing a positional relationship between the work machine, the excavation position, the soil discharge position, the interference avoidance position, and the equipment, In the right turning teaching screen and the left turning teaching screen, the positions of the work machine, the excavation position, the soil discharge position, the interference avoidance position, and the equipment are displayed in a left-right reversed manner in the image. The system of claim 1 .

6. The right turn teaching screen includes a right mode display indicating that the right loading turn mode is selected, The left turning teaching screen includes a left mode display indicating that the left loading turning mode is selected. The system of claim 1 .

7. A system for setting target positions for automatic swing control of a work machine including a swing body that is rotatable around a swing center and a work implement attached to the swing body, the target positions including an excavation position, an earth-discharging position, and a waypoint between the excavation position and the earth-discharging position, The system includes a target position setting unit that acquires, as a control mode for the automatic rotation control, either a right loading rotation mode in which the rotating body rotates clockwise from the current position of the work machine toward the soil discharge position, or a left loading rotation mode in which the rotating body rotates counterclockwise from the current position of the work machine toward the soil discharge position, and determines whether or not to set at least one of the excavation position, the soil discharge position, and the intermediate position depending on whether the control mode is the right loading rotation mode or the left loading rotation mode.

8. A mode selection unit is further provided which selects either the right loading turning mode or the left loading turning mode as a control mode of the automatic turning control. The system of claim 7.

9. A system for setting target positions for automatic rotation control of a work machine including a rotating body that can rotate around a rotation center and a work implement attached to the rotating body, the target positions including an excavation position and an earth removal position, a mode selection unit that selects a teaching mode for teaching the target position from a plurality of modes including a basic mode and an advanced mode; a screen generating unit which, when the basic mode is selected, generates a basic teaching screen including an excavation teaching button for teaching the excavation position, an earth discharge teaching button for teaching the earth discharge position, and assist information for assisting the teaching of the target position, and, when the advanced mode is selected, generates an advanced teaching screen including the excavation teaching button and the earth discharge teaching button but not including the assist information; a target position setting unit that sets the excavation position based on the position of the working machine when teaching is instructed by the excavation teaching button, and sets the earth discharge position based on the position of the working machine when teaching is instructed by the earth discharge teaching button; A system comprising:

10. The assist information includes an image showing a positional relationship between the work machine and the target position. The system of claim 9.

11. The target position is located between the excavation position and the soil discharge position, and includes an interference avoidance position for avoiding interference with equipment including a loading platform. The system of claim 9.

12. The image shows a positional relationship between the work machine, the excavation position, the soil discharge position, the interference avoidance position, and the equipment. The system of claim 11.

13. The work machine further includes an orientation acquisition unit that acquires a current orientation of the work implement, The image generation unit generates a guide screen including a work orientation display indicating a current orientation of the work machine, The basic teaching screen is displayed as a pop-up on the guide screen. The system of claim 9.

14. The work machine further includes an orientation acquisition unit that acquires a current orientation of the work implement, The image generating unit generates, as the advanced teaching screen, a guide screen including a work orientation display indicating a current orientation of the work machine, the excavation teaching button, and the earth removal teaching button. The system of claim 8.

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