Work machine

Abstract

To provide a work machine capable of suppressing reduction in a work effect by an automatic operation, by a corresponding operation at the time of abnormality.SOLUTION: A work machine includes: detection means for detecting an abnormal state of the work machine 1; and control means for allowing the work machine 1 to perform a corresponding operation according to the level of the abnormal state detected by the detection means. The corresponding operation includes: an emergency stop operation for instantaneously stopping an automatic operation; and a continuous operation for continuing the automatic operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automatically operated work machine. [Background technology]

[0002] Patent Document 1 discloses that when an automatically operated work machine falls into an abnormal state, the work machine is caused to perform an action to deal with the abnormality. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2000-186349 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, if the automatic operation of the work machine is immediately stopped as a response action in the event of an abnormality, work must be performed to restore the posture of the stopped work machine. In addition, because the work is interrupted, it becomes impossible to achieve the desired amount of work. In such a case, the effectiveness of the work achieved by the automatic operation is reduced.

[0005] An object of the present invention is to provide a work machine that is capable of suppressing a decrease in the effectiveness of automatic operation of a work process due to a response action taken in the event of an abnormality. [Means for solving the problem]

[0006] The present invention is an automatically operated work machine comprising a detection means for detecting an abnormal condition of the work machine and a control means for causing the work machine to perform a corresponding action according to the level of the abnormal condition detected by the detection means, the corresponding action including an emergency stop action for immediately stopping automatic operation and a continuing action for continuing automatic operation. Effect of the Invention

[0007] According to the present invention, a response action is performed in the work machine according to the level of the abnormal condition detected by the detection means. This response action includes an emergency stop action for immediately stopping automatic operation, and a continue action for continuing automatic operation. Even if an abnormal condition is detected, automatic operation continues if a continue action is performed as the response action. This makes it possible to minimize the reduction in the work effect of automatic operation. Therefore, it is possible to suppress the reduction in the work effect of automatic operation due to the response action in the event of an abnormality. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a diagram showing a circuit configuration of a work machine. [Diagram 3] FIG. 2 is a functional configuration diagram of a work machine. [Figure 4] 13 is a flowchart of an abnormality handling process. [Diagram 5] 13 is a flowchart of a payload malfunction response process. [Figure 6] 13 is a flowchart of a height detection function abnormality handling process. [Figure 7] 13 is a flowchart of an abnormality response process for a water temperature abnormality. [Figure 8] 4 is a flowchart of an abnormality response process for an abnormality in the remaining fuel amount. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0010] (Work machine configuration) The work machine according to this embodiment is automatically operated. As shown in Fig. 1, which is a side view of the work machine 1, the work machine 1 is a machine that performs work using an attachment 30, such as a hydraulic excavator. The work machine 1 has a machine body 24 equipped with a lower traveling body 21 and an upper rotating body 22, the attachment 30, and a cylinder 40.

[0011] The lower traveling structure 21 is a portion that causes the work machine 1 to travel, and is equipped with, for example, crawlers. The upper rotating structure 22 is attached to the upper part of the lower traveling structure 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front part of the upper rotating structure 22.

[0012] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is a tip attachment that is the tip of the attachment 30, and is attached to the arm 32 so as to be rotatable in the front-to-rear direction of the upper rotating body 22. The bucket 33 is a part that performs tasks such as excavating, leveling, and scooping soil and sand.

[0013] The end attachment is not limited to the bucket 33, but may be a lifting magnet for holding scrap iron or the like.

[0014] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. Note that the cylinder 40 may be an electric cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0015] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0016] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0017] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0018] The work machine 1 also has a sensor 50. The sensor 50 has a boom inclination angle sensor 51, an arm inclination angle sensor 52, a bucket inclination angle sensor 53, a swing angle sensor 54, and a inclination angle sensor 55.

[0019] The boom inclination angle sensor 51 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 51 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the boom inclination angle sensor 51 may be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0020] The arm inclination angle sensor 52 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 52 is a sensor that obtains the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the arm inclination angle sensor 52 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0021] The bucket inclination angle sensor 53 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 53 is a sensor that obtains the inclination angle of the bucket 33 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. Note that the bucket inclination angle sensor 53 may be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0022] The slewing angle sensor 54 detects the slewing angle of the upper rotating body 22 relative to the lower traveling body 21. The slewing angle sensor 54 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the slewing angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21 is set to 0°.

[0023] The inclination angle sensor 55 is provided on the upper rotating body 22 and detects the inclination angle of the upper rotating body 22 with respect to the horizontal plane. The inclination angle sensor 55 is, for example, an inclination (acceleration) sensor or an IMU (Inertial Measurement Unit).

[0024] The sensor 50 also has a boom head pressure sensor (not shown), a boom rod pressure sensor (not shown), and a swing angular velocity sensor (not shown). The boom head pressure sensor detects the head pressure of the boom cylinder 41. The boom rod pressure sensor detects the rod pressure of the boom cylinder 41. The swing angular velocity sensor detects the swing angular velocity of the swing device 25.

[0025] The work machine 1 also has an imaging device 27. The imaging device 27 is provided on the cab 23. In this 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 fixed to the front of the cab 23. The imaging device 27 may be provided on the attachment 30 (particularly the boom 31) or the upper rotating body 22.

[0026] The imaging device 27 captures an image of an imaging target such as a pile of earth and sand, the bed of a dump truck, or earth and sand in a bucket 33. The imaging device 27 acquires point cloud data (three-dimensional point cloud) indicating the distance from the position where the imaging device 27 is attached to the imaging target. The shape of the imaging target, etc. are identified from the point cloud data acquired by the imaging device 27.

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

[0028] The work machine 1 of this embodiment is equipped with a so-called payload function. The payload function is a function for measuring the load of soil or sand held in the bucket 33.

[0029] (Circuit configuration of work machine) 2, which is a diagram showing a circuit configuration of the work machine 1, the work machine 1 has an engine 61, a first hydraulic pump (P1 pump) 62, and a second hydraulic pump (P2 pump) 63. The first hydraulic pump 62 and the second hydraulic pump 63 are variable displacement pumps whose displacement is variable, and are driven by the engine 61. The first hydraulic pump 62 and the second hydraulic pump 63 supply pressure oil for driving the cylinder 40, the left and right travel motors 46, 47, and the swing device 25 to the cylinder 40, the left and right travel motors 46, 47, and the swing device 25, respectively.

[0030] The work machine 1 has a control valve 70. The control valve 70 has a right travel control valve 71, a left travel control valve 72, a boom control valve 73, an arm control valve 74, a bucket control valve 75, and a swing control valve 76.

[0031] The right travel control valve 71 switches the supply destination of pressure oil from the first hydraulic pump 62 between the forward and reverse sides of the right travel motor 46. This switches the right travel motor 46 between forward and reverse. The left travel control valve 72 switches the supply destination of pressure oil from the second hydraulic pump 63 between the forward and reverse sides of the left travel motor 47. This switches the left travel motor 47 between forward and reverse.

[0032] The boom control valve 73 switches the supply destination of pressure oil from the first hydraulic pump 62 between the head side and the rod side of the boom cylinder 41. This switches between advancing and retreating the rod. The same applies to the arm control valve 74 and the bucket control valve 75.

[0033] The swing control valve 76 switches the supply destination of the pressure oil from the second hydraulic pump 63 between the right swing side and the left swing side of the swing device 25. This allows the upper swing body 22 to switch between swinging to the right and swinging to the left.

[0034] The work machine 1 also has a proportional valve 80. The proportional valve 80 generates a pilot pressure according to the amount of lever operation, and supplies it to either the left or right pilot port of the control valve 70.

[0035] The proportional valve 80 includes a boom lowering proportional valve 81, a boom raising proportional valve 82, an arm pulling proportional valve 83, an arm pushing proportional valve 84, a bucket digging proportional valve 85, a bucket dump proportional valve 86, a right rotation proportional valve 87, a left rotation proportional valve 88, a right forward proportional valve 89, a right reverse proportional valve 90, a left forward proportional valve 91, and a left reverse proportional valve 92.

[0036] The boom control valve 73 is switched by the pilot pressure supplied from the boom-lowering proportional valve 81 to supply pressurized oil from the pump to the head side of the boom cylinder 41. This causes the boom 31 to rotate toward the ground (boom-lowering operation). On the other hand, the boom control valve 73 is switched by the pilot pressure supplied from the boom-raising proportional valve 82 to supply pressurized oil from the pump to the rod side of the boom cylinder 41. This causes the boom 31 to rotate away from the ground (boom-raising operation).

[0037] The arm control valve 74 is switched by the pilot pressure supplied from the arm-pull proportional valve 83 so as to supply pressure oil from the pump to the head side of the arm cylinder 42. This causes the arm 32 to rotate towards the boom 31 (arm-pull operation). On the other hand, the arm control valve 74 is switched by the pilot pressure supplied from the arm-pull proportional valve 84 so as to supply pressure oil from the pump to the rod side of the arm cylinder 42. This causes the arm 32 to rotate in the opposite direction to the boom 31 (arm-pushing operation).

[0038] The bucket control valve 75 is switched by the pilot pressure supplied from the bucket excavation proportional valve 85 so as to supply pressurized oil from the pump to the head side of the bucket cylinder 43. This causes the bucket 33 to rotate towards the arm 32 (bucket excavation operation). On the other hand, the bucket control valve 75 is switched by the pilot pressure supplied from the bucket dump proportional valve 86 so as to supply pressurized oil from the pump to the rod side of the bucket cylinder 43. This causes the bucket 33 to rotate in a direction away from the arm 32 (bucket dump operation).

[0039] The swing control valve 76 is switched to supply pressure oil from the pump to the right swing side by the pilot pressure supplied from the right swing proportional valve 87. This causes the upper swing body 22 to swing to the right (right swing operation). On the other hand, the swing control valve 76 is switched to supply pressure oil from the pump to the left swing side by the pilot pressure supplied from the left swing proportional valve 88. This causes the upper swing body 22 to swing to the left (left swing operation).

[0040] The right travel control valve 71 is switched to supply pressure oil from the pump to the forward side by the pilot pressure supplied from the right forward proportional valve 89. This causes the right crawler to move forward (right forward operation). On the other hand, the right travel control valve 71 is switched to supply pressure oil from the pump to the reverse side by the pilot pressure supplied from the right reverse proportional valve 90. This causes the right crawler to move backward (right reverse operation).

[0041] The left travel control valve 72 is switched by the pilot pressure supplied from the left forward proportional valve 91 so as to supply pressure oil from the pump to the forward side. This causes the left crawler to move forward (left forward operation). On the other hand, the left travel control valve 72 is switched by the pilot pressure supplied from the left reverse proportional valve 92 so as to supply pressure oil from the pump to the reverse side. This causes the left crawler to move backward (left reverse operation).

[0042] The sensors 50 include a boom lowering operation pressure sensor 101 , a boom raising operation pressure sensor 102 , an arm pulling operation pressure sensor 103 , an arm pushing operation pressure sensor 104 , a bucket digging operation pressure sensor 105 , and a bucket dump operation pressure sensor 106 .

[0043] The boom lowering operation pressure sensor 101 detects the pilot pressure supplied from the boom lowering proportional valve 81. The boom raising operation pressure sensor 102 detects the pilot pressure supplied from the boom raising proportional valve 82. The arm pulling operation pressure sensor 103 detects the pilot pressure supplied from the arm pulling proportional valve 83. The arm pushing operation pressure sensor 104 detects the pilot pressure supplied from the arm pushing proportional valve 84. The bucket excavation operation pressure sensor 105 detects the pilot pressure supplied from the bucket excavation proportional valve 85. The bucket dump operation pressure sensor 106 detects the pilot pressure supplied from the bucket dump proportional valve 86.

[0044] The sensor 50 also includes a turning operation pressure sensor 107, a right-traveling operation pressure sensor 108, a left-traveling operation pressure sensor 109, a P1 option operation pressure sensor (not shown), and a P2 option operation pressure sensor (not shown).

[0045] The swing operation pressure sensor 107 detects the pilot pressure supplied from the right swing proportional valve 87 and the pilot pressure supplied from the left swing proportional valve 88. The right travel operation pressure sensor 108 detects the pilot pressure supplied from the right forward proportional valve 89 and the pilot pressure supplied from the right reverse proportional valve 90. The left travel operation pressure sensor 109 detects the pilot pressure supplied from the left forward proportional valve 91 and the pilot pressure supplied from the left reverse proportional valve 92.

[0046] Here, a control valve is provided for controlling an optional actuator driven by pressure oil from a first hydraulic pump 62. The P1 option operation pressure sensor detects the pilot pressure supplied to this control valve. Also, a control valve is provided for controlling an optional actuator driven by pressure oil from a second hydraulic pump 63. The P2 option operation pressure sensor detects the pilot pressure supplied to this control valve.

[0047] Furthermore, the sensor 50 has a P1 pump pressure sensor 115 and a P2 pump pressure sensor 116. The P1 pump pressure sensor 115 detects the discharge pressure of the first hydraulic pump 62. The P2 pump pressure sensor 116 detects the discharge pressure of the second hydraulic pump 63.

[0048] The sensor 50 also has a water temperature sensor (not shown), a hydraulic oil temperature sensor (not shown), and a remaining fuel sensor (not shown). The water temperature sensor detects the temperature of the cooling water for the engine 61. The hydraulic oil temperature sensor detects the temperature of the hydraulic oil flowing through the hydraulic circuit of the work machine 1. The remaining fuel sensor detects the remaining amount of fuel in the fuel tank.

[0049] (Functional configuration of work machine) As shown in FIG. 3, which is a functional configuration diagram of the work machine 1, the work machine 1 has a controller 11, a storage device 13, and a communication device .

[0050] The storage device 13 stores a correspondence table. The correspondence table will be described later. The communication device 14 communicates with the mobile terminal 120. The mobile terminal 120 is a smartphone or tablet terminal carried by a manager who manages the work of the work machine 1, or the like.

[0051] Various detection values ​​detected by the sensor 50 are input to the controller 11. Specifically, information on the attitude of the boom 31 detected by the boom inclination angle sensor 51 is input to the controller 11. Information on the attitude of the arm 32 detected by the arm inclination angle sensor 52 is also input to the controller 11. Information on the attitude of the bucket 33 detected by the bucket inclination angle sensor 53 is also input to the controller 11. Information on the swing angle (attitude) of the upper swing body 22 with respect to the lower traveling body 21 detected by the swing angle sensor 54 is also input to the controller 11. Information on the tilt angle (attitude) of the upper swing body 22 with respect to the horizontal plane detected by the inclination angle sensor 55 is also input to the controller 11.

[0052] The controller 11 automatically operates the slewing device 25 and the attachment 30 to perform a predetermined automatic driving operation. That is, the work machine 1 is automatically driven. The predetermined automatic driving operation is specifically an operation of repeating excavation, lifting and swinging, soil removal, and return swing in this order.

[0053] The controller (detection means) 11 detects abnormal conditions of the work machine 1. Abnormal conditions include a broken wire, short circuit, drift, etc. in the sensor 50. Furthermore, abnormal conditions include a broken wire, overcurrent, sticking, etc. in the proportional valve 80. Furthermore, abnormal conditions include high temperature, overheating, etc. in the water temperature sensor and hydraulic oil temperature sensor. Furthermore, abnormal conditions include a lack of remaining fuel, running out of remaining fuel, etc. in the remaining fuel amount sensor.

[0054] The controller (control means) 11 causes the work machine 1 to perform a response action according to the level of the abnormal condition that it detects. The response action includes an emergency stop action and a continuing action. The emergency stop action is a response action that immediately stops the automatic operation of the work machine 1. The continuing action is a response action that allows the automatic operation of the work machine 1 to continue.

[0055] A correspondence table between abnormal devices and corresponding actions is shown in Table 1. For example, if an abnormality occurs in the boom inclination angle sensor 51, the arm inclination angle sensor 52, the bucket inclination angle sensor 53, the swing angle sensor 54, and the inclination angle sensor 55, an emergency stop action is performed as the corresponding action. Also, if an abnormality occurs in the boom lowering operation pressure sensor 101, the boom raising operation pressure sensor 102, the arm pulling operation pressure sensor 103, the arm pushing operation pressure sensor 104, the bucket excavation operation pressure sensor 105, and the bucket dump operation pressure sensor 106, a continuing operation is performed as the corresponding action. This correspondence table is stored in the storage device 13.

[0056] [Table 1]

[0057] Even if an abnormality is detected, if a continuation action is taken as a response action, the automatic operation continues. This makes it possible to minimize the reduction in the work effect of the automatic operation. Therefore, it is possible to suppress the reduction in the work effect of the automatic operation due to the response action at the time of the abnormality.

[0058] The response action also includes an interruption action. The interruption action is a response action that stops the automatic operation after the attitude of the work machine 1 is changed to the end attitude, which is the attitude at the end of the automatic operation. As shown in Table 1, for example, when an abnormality occurs in the boom head pressure sensor, the boom rod pressure sensor, and the swing angular velocity sensor, an interruption action is performed as the response action.

[0059] Even if an abnormal state is detected, if an interruption operation is performed as a response operation, the automatic operation is stopped after the posture of the work machine 1 becomes the end posture. As a result, unlike the case where the automatic operation is stopped with the posture of the work machine 1 remaining as it is, there is no need to perform an operation to change the posture of the stopped work machine 1 to the end posture.

[0060] Here, depending on the type of abnormal equipment, the controller (control means) 11 causes the work machine 1 to perform a predetermined task in the interruption operation, and then changes the posture of the work machine 1 to an end posture and stops the automatic operation. The predetermined task is, for example, discharging the soil held by the bucket 33 to a soil discharge position, or continuing the automatic operation until a predetermined condition is met.

[0061] By making the work machine 1 perform a specified task, the posture of the work machine 1 is changed to an end posture and automatic operation is stopped, so that the amount of work performed by automatic operation increases compared to when automatic operation is stopped without the work machine 1 performing any task. Therefore, it is possible to suppress a decrease in the effectiveness of work performed by automatic operation due to response operations in the event of an abnormality.

[0062] In this embodiment, the controller (control means) 11, in the interruption operation, causes the work machine 1 to perform a predetermined operation until a predetermined condition is met. Here, when an abnormality occurs in the payload function, the predetermined condition is that the amount of work to be performed in one operation next time by automatic operation is greater than the remaining amount of work of the target amount of work of automatic operation. The amount of work to be performed in one operation next time by automatic operation is, for example, the average excavation load. The average excavation load is the average value of the load of soil and sand repeatedly excavated by automatic operation until the occurrence of the abnormality. The remaining amount of work of the target amount of work of automatic operation is, for example, the remaining target soil volume. The remaining target soil volume is a value obtained by subtracting the amount of soil discharged up to now from the target soil volume for automatic operation. The average excavation load and the remaining target soil volume may be set arbitrarily.

[0063] For example, in the task of loading earth and sand into a dump truck, if the average excavation load is smaller than the remaining target soil volume, which is the remaining load relative to the target load of the dump truck, the dump truck can still be loaded with earth and sand, so automatic driving continues. Then, if the average excavation load becomes larger than the remaining target soil volume, the dump truck can no longer be loaded with earth and automatic driving is terminated. In this way, by having the machine perform a specified task until the average excavation load (the amount of work to be performed in one go by automatic driving next time) becomes larger than the remaining target soil volume (the remaining amount of work out of the target work volume of automatic driving), the amount of work performed by automatic driving can be increased compared to when automatic driving is stopped without the work machine 1 performing any task.

[0064] Furthermore, when an abnormality occurs in the function for detecting the height of the pile of earth and sand (height detection function), the predetermined condition is that the amount of work performed in one go by automatic operation falls below a certain amount. The amount of work performed in one go by automatic operation is, for example, the amount of excavated earth. The certain amount is set arbitrarily. If the amount of excavated earth scooped by the bucket 33 is greater than the certain amount, the automatic operation continues because the earth and sand have been sufficiently scooped. Then, when the amount of excavated earth falls below the certain amount, it is determined that the earth and sand cannot be sufficiently scooped, and the automatic operation ends. In this way, by having the machine perform a predetermined operation until the amount of excavated earth (the amount of work performed in one go by automatic operation) falls below the certain amount, the amount of work performed by automatic operation can be increased compared to when the automatic operation is stopped without the work machine 1 performing any operation.

[0065] In this embodiment, the controller (control means) 11 causes the work machine 1 to perform an emergency stop operation when the abnormal condition is at a level that affects operational control of the automatic driving. Also, the controller (control means) 11 causes the work machine 1 to perform an interruption operation when the abnormal condition is at a level that does not affect operational control of the automatic driving but does affect the operating functions of the automatic driving. Also, the controller (control means) 11 causes the work machine 1 to perform a continuation operation when the abnormal condition is at a level that does not affect operational control and operating functions of the automatic driving.

[0066] For example, if an abnormality occurs in any of the boom inclination angle sensor 51, the arm inclination angle sensor 52, or the bucket inclination angle sensor 53, an abnormality occurs in the payload function, making it impossible to correctly measure the load (work volume) related to the bucket 33. In this case, therefore, by having the work machine 1 perform an emergency stop operation, it is possible to prevent a decrease in the work volume.

[0067] Furthermore, if an abnormality occurs in either the turning angle sensor 54 or the tilt angle sensor 55, there is a risk of an abnormality such as deviation in the automatic driving operation. In this case, therefore, by having the work machine 1 perform an emergency stop operation, it is possible to prevent an abnormality such as deviation in the operation of the work machine 1.

[0068] For example, if an abnormality occurs in any of the boom head pressure sensor, the boom rod pressure sensor, and the swing angular velocity sensor, the payload function will be impaired, but it is possible to control the operation of the automatic driving. Therefore, by having the work machine 1 perform an interruption operation, it is possible to increase the amount of work performed by the automatic driving compared to when the automatic driving is stopped without the work machine 1 performing any work.

[0069] For example, if an abnormality occurs in the imaging device 27, the function of detecting the height of the pile of earth and sand (height detection function) will be impaired, but it is possible to control the operation of the automatic driving. Therefore, by having the work machine 1 perform an interruption operation, it is possible to increase the amount of work performed by the automatic driving compared to when the automatic driving is stopped without the work machine 1 performing any work. Note that, in the event of an abnormality in the imaging device 27, it is possible to have the work machine 1 perform an emergency stop operation, taking into consideration the fact that it will no longer be possible to detect obstacles.

[0070] For example, if an abnormality occurs in any of the boom lowering operation pressure sensor 101, the boom raising operation pressure sensor 102, the arm pulling operation pressure sensor 103, the arm pushing operation pressure sensor 104, the bucket digging operation pressure sensor 105, or the bucket dump operation pressure sensor 106, a continuing operation is performed in the work machine 1. Even if an abnormality occurs in any of these, the operational control and driving functions of the automatic driving are not affected, so by continuing the automatic driving, the amount of work performed by the automatic driving can be increased compared to when the automatic driving is stopped.

[0071] Here, when the abnormal state detected by the controller (control means) 11 is a predetermined state, the controller causes the work machine 1 to perform either a continuing operation or an interrupting operation according to predetermined conditions. For example, as shown in Table 1, when the water temperature detected by the water temperature sensor is abnormal, the controller determines whether the water temperature is equal to or higher than a set value. If the water temperature is equal to or higher than the set value, the controller causes the work machine 1 to perform an interrupting operation. On the other hand, if the water temperature is less than the set value, the controller causes the work machine 1 to perform a continuing operation. The same applies to the hydraulic oil temperature detected by the hydraulic oil temperature sensor.

[0072] In this way, when the abnormal state is a predetermined state, either a continue operation or an interrupt operation is performed in the work machine 1 depending on the predetermined conditions. When a continue operation is performed as the response operation, automatic operation continues. This makes it possible to minimize the decrease in the work effect due to automatic operation. On the other hand, when an interrupt operation is performed as the response operation, automatic operation is stopped after the posture of the work machine 1 becomes the end posture. This eliminates the need to perform work to change the posture of the stopped work machine 1 to the end posture, unlike when automatic operation is stopped while the posture of the work machine 1 remains the same.

[0073] In the above case, when the controller (control means) 11 causes the work machine 1 to perform a continuous operation, it reduces the operating speed of the work machine 1. This makes it possible to prevent the abnormal state from worsening. For example, when an abnormality occurs in the water temperature detected by the water temperature sensor, it is possible to prevent the water temperature from rising by reducing the operating speed of the work machine.

[0074] Furthermore, when the abnormal state detected by the controller (control means) 11 is a predetermined state, the controller 1 causes the work machine 1 to perform either an emergency stop operation or an interrupt operation according to predetermined conditions. For example, as shown in Table 1, when the remaining fuel sensor is abnormal, the controller 1 determines whether the remaining fuel is equal to or less than a set value. If the remaining fuel amount is equal to or less than the set value, the controller 1 causes the work machine 1 to perform an emergency stop operation. On the other hand, if the remaining fuel amount is greater than the set value, the controller 1 causes the work machine 1 to perform an interrupt operation.

[0075] In this way, when an abnormal state is a predetermined state, either an emergency stop operation or an interruption operation is performed in the work machine 1 depending on predetermined conditions. When an emergency stop operation is performed as a response operation, it is possible to prevent abnormalities such as deviation from occurring in the operation of the work machine 1. On the other hand, when an interruption operation is performed as a response operation, automatic operation is stopped after the posture of the work machine 1 becomes the end posture. As a result, unlike when automatic operation is stopped with the posture of the work machine 1 remaining as it is, there is no need to perform work to change the posture of the stopped work machine 1 to the end posture.

[0076] The controller (output means) outputs the abnormal condition that has occurred in the work machine 1 and the corresponding action taken by the work machine 1 to a mobile terminal 120 that is external to the work machine 1. Therefore, information on the abnormal condition that has occurred in the work machine 1 and the corresponding action taken by the work machine 1 can be used on the mobile terminal 120. For example, a manager who manages the work of the work machine 1 can be informed of what abnormal condition has occurred in the work machine 1 and what corresponding action has been taken by the work machine 1. Note that output to the outside may be performed after the corresponding action has been taken, or may be performed before or while the corresponding action is being taken.

[0077] (Work machine operation) Next, the operation of the work machine 1 will be described with reference to FIG. 4, which is a flowchart of the abnormality response process.

[0078] First, the controller 11 judges whether or not the work machine 1 is in an abnormal state (step S1). If it is judged in step S1 that the work machine 1 is not in an abnormal state (S1: NO), the controller 11 repeats step S1. On the other hand, if it is judged in step S1 that the work machine 1 is in an abnormal state (S1: YES), the controller 11 identifies the abnormal device (step S2).

[0079] Next, the controller 11 judges whether or not the abnormal condition is at a level that affects the automatic driving operation control (step S3). If it is judged in step S3 that the abnormal condition is at a level that affects the automatic driving operation control (S3: YES), the controller 11 causes the work machine 1 to perform an emergency stop operation (step S4), outputs the abnormal condition and the corresponding operation to the mobile terminal 120 (step S5), and ends this flow.

[0080] On the other hand, if it is determined in step S3 that the abnormal condition is not at a level that affects the operation control of the autonomous driving (S3: NO), the controller 11 determines whether or not the abnormal condition is at a level that affects the operation function of the autonomous driving (step S6).If it is determined in step S6 that the abnormal condition is at a level that affects the operation function of the autonomous driving (S6: YES), the controller 11 determines whether or not a predetermined condition is satisfied (step S7).

[0081] Here, the predetermined condition is a condition for terminating the continuation of the automatic operation. For example, if an abnormality occurs in the payload function, the predetermined condition is that the average excavation load is greater than the remaining target soil volume. Also, if an abnormality occurs in the function for detecting the height of the pile of soil (height detection function), the predetermined condition is that the excavated soil volume is equal to or less than a certain amount.

[0082] If it is determined in step S7 that the predetermined condition is not met (S7: NO), the controller 11 causes the work machine 1 to continue the automatic operation (step S8) and returns to step S7. On the other hand, if it is determined in step S7 that the predetermined condition is met (S7: YES), the controller 11 causes the attitude of the work machine 1 to be the end attitude, which is the attitude at the end of automatic operation (step S9), and stops the automatic operation (step S10). Then, the abnormal state and the corresponding action are output to the mobile terminal 120 (step S5), and this flow ends.

[0083] On the other hand, when it is determined in step S6 that the abnormal condition is not at a level that affects the operation function of the automatic driving (S6: NO), the controller 11 causes the work machine 1 to continue the automatic driving (step S11). Then, the controller 11 determines whether or not the work by the automatic driving has ended (step S12).

[0084] If it is determined in step S12 that the work by automatic driving has not ended (S12: NO), the controller 11 returns to step S11. On the other hand, if it is determined in step S12 that the work by automatic driving has ended (S12: YES), the controller 11 sets the posture of the work machine 1 to the end posture, which is the posture at the end of automatic driving (step S9), and stops the automatic driving (step S10). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S5), and ends this flow.

[0085] Next, the operation of the work machine 1 will be described with reference to Fig. 5, which is a flowchart of the payload function abnormality response processing. This flow is specialized for the abnormality in the payload function.

[0086] First, the controller 11 determines whether or not there is an abnormality in the payload function (step S21). If it is determined in step S21 that there is no abnormality in the payload function (S21: NO), the controller 11 ends this flow.

[0087] On the other hand, if it is determined in step S21 that there is an abnormality in the payload function (S21: YES), the controller 11 determines whether the average excavation load is greater than the remaining target soil volume (step S22). Here, the average excavation load is the average value of the load of soil repeatedly excavated by automatic operation until the occurrence of the abnormality. The remaining target soil volume is a value obtained by subtracting the soil volume discharged up to now from the soil volume targeted by automatic operation.

[0088] If it is determined in step S22 that the average excavation load is not greater than the remaining target soil volume (S22: NO), the controller 11 causes the work machine 1 to continue automatic operation (step S23) and returns to step S22. On the other hand, if it is determined in step S22 that the average excavation load is greater than the remaining target soil volume (S22: YES), the controller 11 causes the attitude of the work machine 1 to be the end attitude, which is the attitude at the end of automatic operation (step S24), and stops automatic operation (step S25). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S26), and ends this flow.

[0089] Next, the operation of the work machine 1 will be described with reference to Fig. 6, which is a flow chart of the height detection function abnormality response process. This flow is specialized for an abnormality in the function for detecting the height of a pile of earth and sand.

[0090] First, the controller 11 determines whether or not the height detection function is abnormal (step S31). If it is determined in step S31 that the height detection function is not abnormal (S31: NO), the controller 11 ends this flow.

[0091] On the other hand, if it is determined in step S31 that the height detection function is abnormal (S31: YES), the controller 11 uses the previous height of the soil and sand (step S32) and causes the work machine 1 to perform excavation (step S33).

[0092] Next, the controller 11 judges whether the amount of excavated soil is equal to or less than a certain amount (step S34). If it is judged in step S34 that the amount of excavated soil is not equal to or less than the certain amount (S34: NO), the controller 11 causes the work machine 1 to continue automatic operation (step S35) and returns to step S33. Specifically, in step S35, the controller 11 causes the work machine 1 to discharge soil.

[0093] On the other hand, if it is determined in step S34 that the amount of excavated soil is equal to or less than the certain amount (S34: YES), the controller 11 causes the work machine 1 to discharge soil (step S36). Then, the controller 11 sets the attitude of the work machine 1 to the end attitude, which is the attitude at the end of automatic driving (step S37), and stops the automatic driving (step S38). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S39), and ends this flow.

[0094] Next, the operation of the work machine 1 will be described with reference to Fig. 7, which is a flowchart of the process for dealing with an abnormality in water temperature. This flow is specialized for an abnormality in the temperature of the engine cooling water. Note that when the temperature of the hydraulic oil is abnormal, the same operation as this flow is performed.

[0095] First, the controller 11 judges whether or not the temperature of the cooling water is abnormal (step S41). If it is judged in step S41 that the temperature of the cooling water is not abnormal (S41: NO), the controller 11 ends this flow. On the other hand, if it is judged in step S41 that the temperature of the cooling water is abnormal (S41: YES), the controller 11 judges whether or not the temperature of the cooling water is equal to or higher than a set value (step S42).

[0096] If it is determined in step S42 that the cooling water temperature is equal to or higher than the set value (S42: YES), the controller 11 determines whether or not the bucket 33 is holding earth and sand (step S43). If it is determined in step S43 that the bucket 33 is holding earth and sand (S43: YES), the controller 11 causes the work machine 1 to discharge earth and sand (step S44). Then, the controller 11 sets the attitude of the work machine 1 to the end attitude, which is the attitude at the end of automatic driving (step S45), and stops the automatic driving (step S46). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S47), and ends this flow.

[0097] In step S43, when it is determined that the bucket 33 is not holding earth and sand (S43: NO), the controller 11 sets the posture of the work machine 1 to the end posture, which is the posture at the end of automatic operation (step S45), stops the automatic operation (step S46), and outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S47), and ends this flow.

[0098] In step S42, when it is determined that the cooling water temperature is not equal to or higher than the set value (S42: NO), the controller 11 reduces the operating speed of the work machine 1 (step S48). Then, the controller 11 causes the work machine 1 to continue the automatic operation (step S49). Then, the controller 11 determines whether or not the work performed by the automatic operation has ended (step S50).

[0099] If it is determined in step S50 that the work by automatic driving has not ended (S50: NO), the controller 11 returns to step S49. On the other hand, if it is determined in step S50 that the work by automatic driving has ended (S50: YES), the controller 11 sets the posture of the work machine 1 to the end posture, which is the posture at the end of automatic driving (step S45), and stops the automatic driving (step S46). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S47), and ends this flow.

[0100] Next, the operation of the work machine 1 will be described with reference to Fig. 8, which is a flow chart of the abnormality response process for an abnormality in the amount of remaining fuel. This flow is specialized for an abnormality in the amount of remaining fuel.

[0101] First, the controller 11 judges whether or not there is an abnormality in the remaining fuel amount (step S61). If it is judged in step S61 that there is no abnormality in the remaining fuel amount (S61: NO), the controller 11 ends this flow. On the other hand, if it is judged in step S61 that there is an abnormality in the remaining fuel amount (S61: YES), the controller 11 judges whether or not the remaining fuel amount is equal to or less than a set value (step S62).

[0102] If it is determined in step S62 that the remaining fuel amount is equal to or less than the set value (S62: YES), the controller 11 causes the work machine 1 to perform an emergency stop operation (step S63), outputs the abnormal state and the corresponding operation to the mobile terminal 120 (step S64), and ends this flow. On the other hand, if it is determined in step S62 that the remaining fuel amount is not equal to or less than the set value (S62: NO), the controller 11 determines whether or not the bucket 33 holds earth and sand (step S65).

[0103] If it is determined in step S65 that the bucket 33 is holding earth and sand (S65: YES), the controller 11 causes the work machine 1 to discharge earth and sand (step S66). Then, the controller 11 sets the attitude of the work machine 1 to the end attitude, which is the attitude at the end of automatic driving (step S67), and stops the automatic driving (step S68). Then, the controller 11 outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S64), and ends this flow.

[0104] In step S65, when it is determined that the bucket 33 is not holding earth and sand (S65: NO), the controller 11 sets the posture of the work machine 1 to the end posture, which is the posture at the end of automatic operation (step S67), stops the automatic operation (step S68), and outputs the abnormal state and the corresponding action to the mobile terminal 120 (step S64), and ends this flow.

[0105] (effect) As described above, according to the construction machine 1 of this embodiment, a response action is performed in the construction machine 1 according to the level of the abnormal condition detected by the controller (detection means) 11. This response action includes an emergency stop action that immediately stops automatic operation, and a continue action that continues automatic operation. Even if an abnormal condition is detected, automatic operation continues if a continue action is performed as the response action. This makes it possible to minimize the reduction in the work effect due to automatic operation. Therefore, it is possible to suppress the reduction in the work effect due to automatic operation caused by the response action in the event of an abnormality.

[0106] The response action also includes an interruption action that stops the automatic driving after changing the posture of the work machine 1 to an end posture, which is the posture at the end of automatic driving. Even if an abnormal state is detected, if an interruption action is performed as the response action, the automatic driving is stopped after the posture of the work machine 1 becomes the end posture. This eliminates the need to perform an operation to change the posture of the stopped work machine 1 to the end posture, unlike the case where automatic driving is stopped with the posture of the work machine 1 remaining as it is.

[0107] Furthermore, in the interruption operation, after the work machine 1 has performed a predetermined task, the posture of the work machine 1 is changed to the end posture and the automatic operation is stopped. The predetermined task is, for example, discharging the soil held by the bucket 33 to the discharge position, or continuing the automatic operation until a predetermined condition is met. This increases the amount of work due to the automatic operation compared to when the automatic operation is stopped without the work machine 1 performing any task. Therefore, it is possible to suppress a decrease in the effectiveness of the work due to the automatic operation due to the response operation in the event of an abnormality.

[0108] Furthermore, in the interruption operation, a predetermined task is performed by the work machine 1 until a predetermined condition is met. This makes it possible to increase the amount of work performed by the automatic operation, compared to when the automatic operation of the work machine 1 is stopped without performing any task.

[0109] In addition, the predetermined condition is that the amount of work to be performed in one operation next time by automatic driving is greater than the remaining amount of work in the target amount of work for automatic driving. By having the predetermined work performed until the amount of work to be performed in one operation next time by automatic driving becomes greater than the remaining amount of work in the target amount of work for automatic driving, the amount of work performed by automatic driving can be increased compared to when automatic driving is stopped without the work machine 1 performing any work.

[0110] In addition, the predetermined condition is that the amount of work performed in one go by automatic driving falls below a certain amount. By having the predetermined work performed until the amount of work performed in one go by automatic driving falls below the certain amount, the amount of work performed by automatic driving can be increased compared to when the automatic driving is stopped without the work machine 1 performing any work.

[0111] Furthermore, when the abnormal state is at a level that affects the operation control of the automatic driving, an emergency stop operation is performed in the work machine 1. When the abnormal state is at a level that affects the operation control of the automatic driving, there is a risk that an abnormality such as deviation may occur in the operation of the automatic driving. In this case, by having the work machine 1 perform an emergency stop operation, it is possible to suppress the occurrence of an abnormality such as deviation in the operation of the work machine 1. Furthermore, when the abnormal state is at a level that does not affect the operation control of the automatic driving but at a level that affects the operation function of the automatic driving, an interruption operation is performed in the work machine 1. Even if the operation function of the automatic driving is affected, it is possible to control the operation of the automatic driving. Thus, in this case, by having the work machine 1 perform an interruption operation, it is possible to earn a larger amount of work by the automatic driving compared to when the automatic driving is stopped without the work machine 1 performing any work. Furthermore, when the abnormal state is at a level that does not affect the operation control and operation function of the automatic driving, a continuation operation is performed in the work machine 1. In this case, by continuing the automatic driving, it is possible to increase the amount of work by the automatic driving compared to when the automatic driving is stopped.

[0112] Furthermore, when the abnormal state is a predetermined state, either a continue operation or an interrupt operation is performed in the work machine 1 depending on predetermined conditions. When a continue operation is performed as the response operation, automatic operation continues. This makes it possible to minimize the decrease in the work effect due to automatic operation. On the other hand, when an interrupt operation is performed as the response operation, automatic operation is stopped after the posture of the work machine 1 becomes the end posture. This eliminates the need to perform work to change the posture of the stopped work machine 1 to the end posture, unlike when automatic operation is stopped while the posture of the work machine 1 remains the same.

[0113] Furthermore, when a continuous operation is performed by the work machine 1, the operating speed of the work machine 1 is reduced. This makes it possible to prevent the abnormal state from worsening. For example, when an abnormality occurs in the water temperature detected by the water temperature sensor, the operating speed of the work machine 1 is reduced, making it possible to prevent the water temperature from rising.

[0114] Furthermore, when the abnormal state is a predetermined state, either an emergency stop operation or an interruption operation is performed on the work machine 1 depending on predetermined conditions. When an emergency stop operation is performed as the response operation, it is possible to prevent the occurrence of abnormalities such as deviation in the operation of the work machine 1. On the other hand, when an interruption operation is performed as the response operation, the automatic operation is stopped after the posture of the work machine 1 becomes the end posture. As a result, unlike when the automatic operation is stopped with the posture of the work machine 1 remaining as it is, there is no need to perform work to change the posture of the stopped work machine 1 to the end posture.

[0115] Furthermore, the abnormal condition that has occurred in the work machine 1 and the corresponding action taken by the work machine 1 are output to the outside of the work machine 1. Therefore, information on the abnormal condition that has occurred in the work machine 1 and the corresponding action taken by the work machine 1 can be used outside the work machine 1. For example, a manager who manages the work of the work machine 1 can be informed of what abnormal condition has occurred in the work machine 1 and what corresponding action has been taken by the work machine 1.

[0116] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and the like can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferable actions and effects resulting 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. [Explanation of symbols]

[0117] 1. Work Machinery 11 Controller (detection means, control means) 13 Storage device 14 Communication equipment 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 27 Imaging Device 30 Attachment 31 Boom 32 Arm 33 Bucket 34 Link member 40 Cylinder 41 Boom cylinder 42 Arm Cylinder 43 Bucket Cylinder 46,47 Driving motor 50 Sensors 51 Boom tilt angle sensor 52 Arm inclination angle sensor 53 Bucket tilt angle sensor 54 Rotation angle sensor 55 Inclination Angle Sensor 61 Engine 62 First hydraulic pump 63 Second hydraulic pump ( 70 Control valve 71 Right travel control valve 72 Left traction control valve 73 Boom control valve 74 Arm Control Valve 75 Bucket Control Valve 76 Swing control valve 80 Proportional Valve 81 Boom lowering proportional valve 82 Boom raising proportional valve 83 Arm Pull Proportional Valve 84 Arm-operated proportional valve 85 Bucket Excavator Proportional Valve 86 Bucket dump proportional valve 87 Right-turn proportional valve 88 Left-turn proportional valve 89 Right forward proportional valve 90 Right reverse proportional valve 91 Left forward proportional valve 92 Left reverse proportional valve 101 Boom lowering operation pressure sensor 102 Boom raising operation pressure sensor 103 Arm pull operation pressure sensor 104 Arm push operation pressure sensor 105 Bucket digging operation pressure sensor 106 Bucket dump operation pressure sensor 107 Turning operation pressure sensor 108 Right travel operation pressure sensor 109 Left travel operation pressure sensor 115 P1 Pump Pressure Sensor 116 P2 Pump Pressure Sensor 120 Mobile Devices

Claims

1. An automatically operated work machine, A detection means for detecting an abnormal state of the working machine; a control means for causing the work machine to perform a corresponding operation in accordance with the level of the abnormal condition detected by the detection means; having The corresponding operation is: Emergency stop action to immediately stop automatic operation, Continuation action to continue automatic operation, A work machine comprising:

2. The corresponding operation is:

2. The work machine according to claim 1, further comprising an interruption operation for stopping automatic operation after the posture of the work machine is set to an end posture which is a posture at the end of automatic operation.

3. 3. The work machine according to claim 2, wherein the control means, after causing the work machine to perform a specified task in the interruption operation, changes the posture of the work machine to the end posture and stops automatic operation.

4. 4. The work machine according to claim 3, wherein said control means causes said work machine to perform said predetermined work during said interruption operation until a predetermined condition is satisfied.

5. 5. The work machine according to claim 4, wherein the predetermined condition is that the amount of work to be performed in one operation next time by automatic operation is greater than the remaining amount of work of a target amount of work for automatic operation.

6. 5. The work machine according to claim 4, wherein the predetermined condition is that an amount of work performed in one automatic operation has fallen below a certain amount.

7. The control means When the abnormal state is at a level that affects operation control of automatic driving, the emergency stop operation is performed on the work machine; When the abnormal condition is at a level that does not affect the operation control of the automatic driving but affects the operation function of the automatic driving, the work machine is caused to perform the interruption operation; 3. The work machine according to claim 2, wherein the work machine is caused to perform the continuous operation when the abnormal state is at a level that does not affect operational control and operation functions of an automatic operation.

8. 3. The work machine according to claim 2, wherein the control means causes the work machine to perform either the continuing operation or the interrupting operation in accordance with a predetermined condition when the abnormal state detected by the detection means is a predetermined state.

9. 9. The work machine according to claim 8, wherein the control means reduces the operating speed of the work machine when causing the work machine to perform the continuous operation.

10. 3. The work machine according to claim 2, wherein the control means, when the abnormal state detected by the detection means is a predetermined state, causes the work machine to perform either the emergency stop operation or the interruption operation in accordance with predetermined conditions.

11. 2. The work machine according to claim 1, further comprising an output means for outputting the abnormal state and the corresponding operation to an outside source.

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