Operation assist control system

Abstract

To reduce difficulty and burden of operation of an operator and enable stable operation of a work machine.SOLUTION: An operating unit 60a is configured to allow an operator to perform travel operations and attachment operations. The travel operation is an operation for causing the lower traveling body 11 to travel. The attachment operation is an operation of moving an attachment 15 relative to the lower traveling body 11. One of the traveling operation and the attachment operation is an automatic operation that is automatically performed by the controller 70 when a condition set in the controller 70 is satisfied. The operation that is different from either the traveling operation or the attachment operation is a manual operation performed by the operator.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an operation assist control system that assists the operation of a work machine. [Background technology]

[0002] For example, as described in Patent Document 1, in a work machine, operation of traveling and operation of an attachment (called a work device in the document) are performed (see the abstract of the document, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-026670 Summary of the Invention [Problem to be solved by the invention]

[0004] Operating the vehicle and attachments is difficult and burdensome for the operator. Furthermore, if the operating parts (levers, pedals, etc.) shake due to vibrations from the work machine, the shaking of the operating parts may affect the movement of the work machine. This makes it difficult to operate the work machine stably.

[0005] Therefore, an object of the present invention is to provide an operation assist control system that can reduce the difficulty and burden of operation for the worker and enable stable operation of the work machine. [Means for solving the problem]

[0006] The operation assist control system includes a traveling vehicle capable of traveling, an attachment, an operation unit, and a controller. The attachment moves relative to the traveling vehicle and performs work. The operation unit is configured to enable an operator to perform a traveling operation and an attachment operation. The traveling operation is an operation to make the traveling vehicle travel. The attachment operation is an operation to move the attachment relative to the traveling vehicle. One of the traveling operation and the attachment operation is an automatic operation that is automatically performed by the controller when a condition set in the controller is satisfied. An operation different from the one of the traveling operation and the attachment operation is a manual operation performed by an operator. [Effects of the Invention]

[0007] The above configuration can reduce the difficulty and burden of operation for the worker, and also enable stable operation of the work machine. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine 10 and the like of an operation assist control system 1. FIG. [Figure 2] FIG. 2 is a block diagram of the operation assist control system 1 shown in FIG. [Figure 3] FIG. 3 is a diagram showing a hydraulic circuit 20 and the like shown in FIG. 2. [Figure 4] 3 is a diagram showing a travel target route R set by a work plan setting unit 71 shown in FIG. 2. FIG. [Figure 5] 2 is a flowchart of the operation of the operation assist control system 1 shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0009] The operation assist control system 1 will be described with reference to FIGS.

[0010] The operation assist control system 1 is a system that assists the operation of a work machine 10 shown in Fig. 1. The operation assist control system 1 includes the work machine 10, and as shown in Fig. 2, a detection unit 40, an input unit 60, a controller 70, and an output unit 80.

[0011] As shown in Figure 1, the work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a loading and unloading machine that performs loading and unloading work. The work machine 10 may be, for example, a shovel or a crane. The following describes a case where the work machine 10 is a shovel. The work machine 10 is configured to be operable by automatic operation (described later) of a controller 70. The work machine 10 is configured to be operable in response to manual operation (described later) by a worker (operator). The work machine 10 comprises a machine main body 10a, an attachment 15, a drive control unit 17 (see Figure 2), and an actuator 30.

[0012] The machine body 10a is the main body portion of the work machine 10. The machine body 10a includes a lower traveling body 11 (traveling body) and an upper rotating body 13.

[0013] The lower traveling body 11 (traveling body) can travel on a traveling surface (such as the ground). The lower traveling body 11 may be equipped with crawlers or wheels. The lower traveling body 11 supports the upper rotating body 13 so that the upper rotating body 13 can rotate.

[0014] The upper rotating body 13 is mounted so as to be able to rotate on the lower traveling body 11. The upper rotating body 13 is provided with a driver's cab 13c. The driver's cab 13c is a section where an operator can operate the work machine 10.

[0015] The attachment 15 is the part that performs work. The attachment 15 is attached to the machine body 10a and to the upper rotating body 13. The attachment 15 moves relative to the lower traveling body 11. For example, the attachment 15 includes a boom 15a, an arm 15b, a tip attachment 15c, and a specific part 15s. The boom 15a is attached to the upper rotating body 13 so as to be rotatable (able to be raised and lowered, and rotatable in the front-to-back and up-down directions). The arm 15b is attached to the boom 15a so as to be rotatable (able to be rotatable in the front-to-back and up-down directions).

[0016] The tip attachment 15c is provided at the tip of the attachment 15. The tip attachment 15c is rotatably attached to the arm 15b (forward / backward and upward / downward). The tip attachment 15c may be a bucket capable of scooping and digging a work object. The tip attachment 15c may be a device for clamping a work object (grapple, nibbler, etc.), a device for crushing a work object (breaker, etc.), or a magnet for attracting a metal work object. The "work object" is an object that is the target of work by the tip attachment 15c (work machine 10). The work object may be soil, stone, wood, metal, resin, waste, or a structure (block, etc.).

[0017] The specific portion 15s is a portion that is targeted to be placed on the attachment target path PA when the attachment 15 is automatically operated (described later). For example, the specific portion 15s may be the tip of the tip attachment 15c, the base end of the tip attachment 15c (the tip of the arm 15b), or another portion of the attachment 15.

[0018] The drive control unit 17 controls the actuator 30 shown in Fig. 2. The drive control unit 17 may include a hydraulic circuit 20 that controls the actuator 30 (hydraulic actuator) that is operated by hydraulic pressure. The drive control unit 17 may also include an electric circuit that controls the actuator 30 (electric actuator) that is operated by electricity.

[0019] As shown in Fig. 3, the hydraulic circuit 20 is a circuit for operating actuators 30 that are operated by hydraulic pressure. Hereinafter, the actuators 30 in the description of the hydraulic circuit 20 are hydraulic actuators. The hydraulic circuit 20 constitutes a system (electronic control valve system) that includes an electronically controlled control valve 25. The hydraulic circuit 20 is configured to enable control of the flow rate of diverted fluid so that each of the multiple actuators 30 is driven in accordance with a target speed command for each of the actuators 30 (each element of the actuator 30 will be described later). The hydraulic circuit 20 includes a hydraulic oil tank 20t, a pump 21, a pump displacement control unit 22, and the control valve 25.

[0020] The hydraulic oil tank 20t is a tank for storing hydraulic oil. The hydraulic oil is oil for moving (driving) the actuator 30.

[0021] The pump 21 draws hydraulic oil from the hydraulic oil tank 20t. The pump 21 supplies hydraulic oil to the actuator 30. The pump 21 may be rotated by an engine or an electric motor. Only one pump 21 may be provided, or multiple pumps 21 may be provided. The capacity of the pump 21 is variable.

[0022] The pump displacement control unit 22 controls the displacement of the pump 21. The pump displacement control unit 22 controls the displacement of the pump 21 in accordance with a command input to the pump displacement control unit 22. The command input to the pump displacement control unit 22 may be, for example, an electrical signal or a pilot oil pressure (the same applies to "command" hereinafter). The pump displacement control unit 22 controls (changes) the displacement of the pump 21 by controlling (changing) the tilt angle of the pump 21.

[0023] The control valve 25 is a valve that controls the movement of the actuator 30. The control valve 25 changes the drive speed of the actuator 30 (controls the speed) by changing the flow rate of hydraulic oil supplied to the actuator 30. The control valve 25 switches the direction of movement of the actuator 30 (for example, the direction of rotation or the direction of extension and contraction) by switching the direction of the flow of hydraulic oil. The control valve 25 is provided between the pump 21 and the actuator 30. The "between" mentioned above refers to the between the hydraulic oil oil paths (the same applies to "between" the components of the hydraulic circuit 20 below).

[0024] The control valve 25 changes the valve opening (specifically, the opening of the main spool) in response to a command (opening command) input to the control valve 25, thereby controlling the movement of the actuator 30. The command input to the control valve 25 may be, for example, an electrical signal or a pilot hydraulic pressure. For example, the control valve 25 is an electromagnetic control valve (electronic valve unit, solenoid valve unit) that changes the valve opening in response to an electrical signal input to the control valve 25. The control valve 25 may control the drive speed of the actuator 30 by controlling the flow rate of hydraulic oil supplied to the actuator 30 (meter-in control). The control valve 25 may control the drive speed of the actuator 30 by controlling the flow rate of hydraulic oil discharged from the actuator 30 (meter-out control). The control valve 25 controls the movement of each of the multiple actuators 30 (described below). The control valve 25 includes a travel control valve 25a and an actuator control valve 25b.

[0025] The travel control valve 25a is controlled in response to travel operations (described later). The actuator control valve 25b is controlled in response to actuator operations (described later). Note that the example shown in Figure 3 only shows the travel control valve 25a that controls one hydraulic motor (travel motor 31 in Figure 3) and the actuator control valve 25b that controls one hydraulic cylinder (boom cylinder 35a in Figure 3).

[0026] As shown in Fig. 1, the actuator 30 is a device that moves the work machine 10. The actuator 30 may be equipped with a hydraulic actuator that is operated by hydraulic pressure, or an electric actuator that is operated by electricity. The actuator 30 may be equipped with a motor that drives rotation, or may be equipped with a cylinder that drives extension and retraction (telescopic cylinder). The actuator 30 is equipped with a travel motor 31, a swing motor 33, a boom cylinder 35a, an arm cylinder 35b, and a tip attachment cylinder 35c.

[0027] The travel motor 31 drives the lower traveling body 11. For example, if the lower traveling body 11 has left and right crawlers, a travel motor 31 that drives the left crawler and a travel motor 31 that drives the right crawler are provided. The travel motor 31 may be, for example, a hydraulic motor or an electric motor (the same applies to the swing motor 33). The swing motor 33 drives the upper rotating body 13 relative to the lower traveling body 11. The boom cylinder 35a drives the boom 15a up and down relative to the upper rotating body 13. The boom cylinder 35a is, for example, a hydraulic cylinder (the same applies to the arm cylinder 35b and the tip attachment cylinder 35c). The arm cylinder 35b drives the arm 15b relative to the boom 15a. The tip attachment cylinder 35c drives the tip attachment 15c relative to the arm 15b. If the tip attachment 15c itself is drivable, for example, as a device for clamping an object, an actuator 30 for driving the tip attachment 15c may be provided.

[0028] The detection unit 40 (see FIG. 2) detects (senses) various conditions. Part or all of the detection unit 40 shown in FIG. 2 may be mounted on the work machine 10 (see FIG. 1), or may be located outside the work machine 10. The same applies to part or all of the input unit 60, controller 70, and output unit 80, which will be described later, which may be mounted on the work machine 10 or located outside the work machine 10. The detection unit 40 comprises a pressure detection unit 40p, a position detection unit 41, a direction detection unit 43, and an attitude detection unit 50.

[0029] As shown in FIG. 3, the pressure detection unit 40p detects the pressure of the hydraulic oil in the hydraulic circuit 20. The pressure detection unit 40p outputs information on the detected pressure (pressure signal). The pressure detection unit 40p includes a pump pressure detection unit 40p1 and an actuator working pressure detection unit 40p3. The pump pressure detection unit 40p1 detects the pressure of the hydraulic oil discharged by the pump 21 (pump pressure). The actuator working pressure detection unit 40p3 detects the pressure of the hydraulic oil supplied to each actuator 30 (working pressure).

[0030] The position detection unit 41 (see FIG. 2) detects the position of the object to be measured. The position detection unit 41 detects the position of a specific part (one or more parts) of the work machine 10 shown in FIG. 1 at the work site. For example, the position detection unit 41 may detect the position of a specific part of the upper rotating body 13 or the position of a specific part of the attachment 15. The position detection unit 41 may detect the position using electromagnetic waves (light, radio waves, etc.). The position detection unit 41 may use a satellite positioning system, for example, a global navigation satellite system (GNSS). In this case, the position detection unit 41 may include an antenna (e.g., a GNSS antenna) and a receiver (e.g., a GNSS receiver). The position detection unit 41 may use a (terrestrial) transmitter and receiver without using a satellite, or may use reflection of light (e.g., laser light) (e.g., a total station). The position detection unit 41 may calculate the position of the object to be measured based on position information detected by multiple devices.

[0031] The direction detection unit 43 detects the direction (orientation, posture) of the object to be measured. The direction detection unit 43 detects the direction of a specific part of the work machine 10. For example, the direction detection unit 43 may detect the direction of the upper rotating body 13, or may detect the direction of each element of the attachment 15 (such as the boom 15a). The direction detection unit 43 may use geomagnetism to detect the orientation of the object to be measured. The direction detection unit 43 may detect the direction of the object to be measured based on the positions of multiple parts of the object to be measured relative to the work site.

[0032] The attitude detection unit 50 detects the attitude of the work machine 10. The attitude detection unit 50 may be equipped with one or more types of detection devices. The attitude detection unit 50 may be equipped with a detection device (e.g., a rotary encoder) that detects information about the angle of a certain element of the work machine 10 relative to another element. The attitude detection unit 50 may be equipped with a stroke sensor that detects the stroke of a cylinder (e.g., the boom cylinder 35a) that moves the attachment 15. The attitude detection unit 50 may be equipped with an inclination sensor that detects an angle (inclination) relative to the horizontal direction. The attitude detection unit 50 may be equipped with a sensor (e.g., a gyro sensor) that detects angular velocity relative to the work site, or a sensor that detects acceleration relative to the work site. The attitude detection unit 50 may be equipped with an inertial measurement unit or the like. The attitude detection unit 50 may be equipped with a position detection unit 41 or a direction detection unit 43. The attitude detection unit 50 may be equipped with an imaging device. This imaging device captures an image of an object to be imaged. The imaging device may detect a two-dimensional image, or a three-dimensional image (distance image) having depth information. The imaging device may detect three-dimensional information of the imaging object based on a three-dimensional image (distance image) and a two-dimensional image.

[0033] This attitude detection unit 50 may detect the inclination of the work machine 10 with respect to a horizontal plane. The attitude detection unit 50 detects information (angle, angular velocity, angular acceleration, etc.) about the rotation of the upper rotating body 13 with respect to the lower traveling body 11. The attitude detection unit 50 detects information (angle, angular velocity, angular acceleration, etc.) about the rotation of the boom 15a with respect to the upper rotating body 13. The attitude detection unit 50 detects information about the rotation of the arm 15b with respect to the boom 15a. The attitude detection unit 50 detects information about the rotation of the bucket with respect to the arm 15b. As shown in FIG. 3 , the attitude detection unit 50 may include an actuator speed detection unit 51.

[0034] The actuator speed detection unit 51 detects the drive speed of the actuator 30. The actuator speed detection unit 51 may detect the drive speed of the actuator 30 itself. For example, the actuator speed detection unit 51 may detect the extension / contraction speed of a cylinder, or the rotation speed of a motor. The actuator speed detection unit 51 may detect the drive speed of the actuator 30 by detecting the speed of an object moved by the actuator 30 (for example, the attachment 15 (see FIG. 1)). The actuator speed detection unit 51 outputs information on the detected speed (a speed signal).

[0035] As shown in FIG. 2, the input unit 60 is used to input information (input device). The input unit 60 is operated by an operator and outputs a signal in accordance with the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or a switch. The input unit 60 may be provided on a tablet, a smartphone, or a personal computer. The input unit 60 may be provided on the work machine 10, and may be provided in the operator's cab 13c (see FIG. 1), for example. The input unit 60 may be provided on a remote control device for remotely controlling the work machine 10. Information input to the input unit 60 may include information used for operation assist control, which will be described later. The input unit 60 includes an operation unit 60a and an automatic operation switching unit 67.

[0036] The operation unit 60a is operated by an operator. Operations for moving the work machine 10 are input to the operation unit 60a. The operation unit 60a may be provided in the driver's cab 13c (see FIG. 1), or may be provided on a remote operation device for remotely operating the work machine 10. The operation unit 60a may include a lever or a pedal. The operation unit 60a may output an electric signal according to the operation amount (the amount of operation input to the operation unit 60a). For example, the operation unit 60a may be a lever (electric lever) that outputs an electric signal according to the operation amount. The operation unit 60a may output pilot hydraulic pressure according to the operation amount. The operation unit 60a includes a travel operation unit 61, a swing operation unit 63, and an attachment operation unit 65. Note that in FIG. 2, "attachment" is written as "ATT."

[0037] The travel operation unit 61 is configured so that an operator can perform travel operations. The travel operations are operations for causing the lower travel structure 11 (see FIG. 1) to travel.

[0038] The swing operation unit 63 is configured to enable a worker to perform a swing operation (an example of an attachment operation described later). The swing operation is an operation for swinging the upper swing body 13 (see FIG. 1) relative to the lower traveling body 11 (see FIG. 1).

[0039] The attachment operating unit 65 is configured to enable an operator to perform an operation (an example of an attachment operation) to change the posture of the attachment 15 (see FIG. 1). The attachment operating unit 65 includes a boom operating unit 65a, an arm operating unit 65b, and a tip attachment operating unit 65c. The boom operating unit 65a is configured to enable an operator to perform an operation (boom operation) to rotate the boom 15a relative to the upper rotating body 13. The arm operating unit 65b is configured to enable an operator to perform an operation (arm operation) to rotate the arm 15b relative to the boom 15a. The tip attachment operating unit 65c is configured to enable an operator to perform an operation (tip attachment operation) to rotate the tip attachment 15c relative to the arm 15b.

[0040] The automatic operation switching unit 67 is configured so that the operator can switch (select) whether or not automatic operation by the controller 70 is performed (details of the function will be described later). The automatic operation switching unit 67 may be, for example, a physical switch or a physical button. The automatic operation switching unit 67 may also be a switch or button displayed on the output unit 80. The automatic operation switching unit 67 may also be, for example, a switch (assist mode switching switch) that switches between enabling and disabling an assist mode, which will be described later.

[0041] The controller 70 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. The functions of the controller 70 are realized when a program stored in the memory unit 70b is executed by the calculation unit 70a. The controller 70 may be connected to other devices via wireless communication or wired communication. The components of the controller 70 may be connected to each other via wireless communication or wired communication. For example, information is input to the controller 70 from the detection unit 40 and the input unit 60. For example, the controller 70 outputs a command (signal) to operate the work machine 10 to the drive control unit 17. For example, the controller 70 outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 or may be located external to the work machine 10. The controller 70 may be distributed across multiple parts (a distributed system may be configured). The controller 70 includes a calculation unit 70a and a memory unit 70b. Focusing on the functions of the controller 70, the controller 70 includes a work plan setting unit 71 and a drive command output unit 73.

[0042] The calculation unit 70a performs calculations (processing) of information, and the storage unit 70b stores information.

[0043] The work plan setting unit 71 sets a work plan for the work machine 10. A work plan is information relating to work targets for the work machine 10. A work plan may include information on targets for travel of the work machine 10 (for example, a target travel route R (see FIG. 4) described below). A work plan may include information on targets for movement of the attachment 15 (for example, a target attachment route PA (see FIG. 1) described below). The work plan may be set based on manual input by an operator, may be set automatically by the controller 70 based on the detection results of the detection unit 40, or may be information set in advance in the controller 70 (storage unit 70b). The work plan may be stored in a storage device external to the controller 70 and set in the controller 70 by being read into the controller 70.

[0044] The drive command output unit 73 outputs a command to the drive control unit 17 to drive the actuator 30. The drive command output unit 73 may output a command (opening command) to control the opening of the control valve 25 (see FIG. 3) in order to drive the hydraulically operated actuator 30. The drive command output unit 73 may also output a command to control the electrically operated actuator 30. When the controller 70 performs automatic operations, which will be described later, the drive command output unit 73 (automatic driving controller) outputs a command to control the work machine 10 so that the work machine 10 moves in accordance with a work plan. In this case, the drive command output unit 73 controls the movement of the work machine 10 based on information detected by the detection unit 40 (posture detection unit 50, etc.).

[0045] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (such as a display), sound, or vibration. When the output unit 80 outputs light, the output unit 80 may be equipped with a display device (monitor). The output unit 80 may be provided in a tablet, a smartphone, or a personal computer. The output unit 80 may be provided in the operator's cab 13c (see FIG. 1). The output unit 80 may be provided in a remote control device for remotely controlling the work machine 10.

[0046] (Activation) The operation assistance control system 1 shown in FIG. 1 is configured to operate as follows.

[0047] The operations for moving the work machine 10 include travel operations and attachment operations. In addition, the operations for moving the work machine 10 include automatic operations and manual operations.

[0048] The traveling operation is an operation for causing the lower traveling body 11 to travel.

[0049] Attachment operation is an operation to move the attachment 15 relative to the lower running structure 11. Attachment operation includes an operation to rotate the attachment 15 relative to the lower running structure 11 by rotating the upper rotating structure 13 relative to the lower running structure 11. Attachment operation includes an operation to change the attitude of the attachment 15. Changes in the attitude of the attachment 15 include rotation (raising and lowering) of the boom 15a relative to the upper rotating structure 13, rotation of the arm 15b relative to the boom 15a, and rotation of the tip attachment 15c relative to the arm 15b. When the tip attachment 15c itself operates, such as when the tip attachment 15c is a device that clamps a work object, the operation of the tip attachment 15c itself is included in the change in attitude of the attachment 15. In the work machine 10, traveling operation and attachment operation may be performed simultaneously (combined operations of traveling operation and attachment operation may be performed).

[0050] Manual operation is operation by an operator. Manual operation is manual operation of the operating unit 60a (see Figure 2) by an operator. Manual operation includes operation by hand and operation by foot. Manual operation may be operation by an operator in the cab 13c, or operation by an operator using a remote control device outside the work machine 10 (remote operation). Manual operation may be operation in which the work machine 10 moves based solely on operation by the operator (fully manual operation), or may be semi-automatic operation. Semi-automatic operation is operation in which the controller 70 automatically controls the work machine 10 based on operation by the operator (for example, a machine control (MC) system). Details of semi-automatic operation are as follows: A work plan is set in the controller 70. Then, the operator operates, for example, only some of the elements of the attachment 15 (for example, only the boom 15a). At this time, the controller 70 automatically controls elements that are not operated by the operator (for example, the arm 15b and the tip attachment 15c) so that the work machine 10 moves in accordance with the work plan. At this time, the controller 70 controls the operation of the work machine 10 based on information detected by the attitude detection unit 50 (see Figure 2). As a result, the work machine 10 moves in accordance with the work plan. This semi-automatic control is included in manual operation, but is not included in automatic operation.

[0051] In manual travel operation, the worker operates the travel operation unit 61 (see FIG. 2). In response to the operation of the travel operation unit 61, the travel motor 31 is driven and the lower travel structure 11 travels.

[0052] In manual attachment operation, the worker operates one or both of the swivel operation unit 63 (see FIG. 2) and the attachment operation unit 65 (see FIG. 2). The upper swivel structure 13 swivels relative to the lower traveling structure 11 in response to the operation of the swivel operation unit 63. The attachment 15 changes its posture in response to the operation of the attachment operation unit 65.

[0053] Automatic operation is an operation that is automatically performed by the controller 70. Automatic operation is an operation in which the controller 70 automatically moves the work machine 10 without being based on operation by an operator. In automatic operation, the controller 70 controls the operation of the work machine 10 (automatically drives) so that the work machine 10 moves automatically in accordance with a work plan (for example, an attachment target path PA, which will be described later). Automatic operation is performed when conditions set in the controller 70 are satisfied (described later).

[0054] (Automatic driving operation) Traveling operation by automatic operation (automatic travelling operation) is performed, for example, as follows: The controller 70 (more specifically, the work plan setting unit 71 (see FIG. 2)) sets a travelling work plan before (in advance of) the automatic travelling operation is performed. The travelling work plan includes, for example, a travelling target route R and a travelling target speed shown in FIG. 4.

[0055] The travel target route R is information on a target route (target travel route) of a specific portion of the lower travel structure 11 (for example, the center of rotation of the upper rotating structure 13 relative to the lower travel structure 11). The travel target route R is information including, for example, position information (coordinates) of multiple target points P and information on the order of each target point P. Specifically, for example, the target point P has a travel start point P1 and a travel end point P5. The target point P may have travel passing points (P2, P3, P4). The travel passing points (P2, P3, P4) are set between the travel start point P1 and the travel end point P5. The number of travel passing points (P2, P3, P4) may be 0 (do not have to be set), 1, or multiple. The sections (R1, R2, R3, R4) between each target point P are linear in the example shown in FIG. 4, but may also be curved. The sections (R1, R2, R3, R4) may be curves that smoothly connect the target points P together.

[0056] The target traveling speed is information about a target speed of the lower traveling body 11 when the lower traveling body 11 travels along the target traveling route R. The target traveling speed may be a constant speed or may differ for each traveling position, for example, may differ for each section (R1, R2, R3, R4).

[0057] A specific example of processing by the controller 70 (see FIG. 2) for this automatic traveling operation is as follows. The controller 70 acquires information on the position and orientation of the lower traveling structure 11. Specifically, the controller 70 acquires the position and orientation of the upper rotating structure 13 detected by the position detection unit 41 (see FIG. 2) and the direction detection unit 43 (see FIG. 2). The controller 70 acquires the swing angle of the upper rotating structure 13 relative to the lower traveling structure 11 detected by the attitude detection unit 50 (see FIG. 2). The controller 70 calculates the position and orientation of the lower traveling structure 11 based on the position and orientation of the upper rotating structure 13 and the swing angle of the upper rotating structure 13. Then, based on the position and orientation of the lower traveling structure 11, the controller 70 calculates target speeds for each of the left and right traveling motors 31 (see FIG. 1) for traveling the work machine 10 along the target traveling route R. The controller 70 outputs a command to the drive control unit 17 (see FIG. 2) so that the traveling motors 31 are driven in accordance with the target speeds. Further specific examples of the processing of automatic driving operations by the controller 70 will be described later.

[0058] (Automatic attachment operation) Attachment operation by automatic operation (automatic attachment operation) is performed, for example, as follows. The controller 70 (more specifically, the work plan setting unit 71) shown in FIG. 2 sets a work plan for the movement (turning and posture change) of the attachment 15 shown in FIG. 1. The work plan for the movement of the attachment 15 includes, for example, an attachment target path PA and an attachment target speed. The attachment target path PA is information on the target path of a specific portion 15s of the attachment 15. Similar to the travel target path R (see FIG. 4), the attachment target path PA has information on the positions of multiple target points P and information on the order of each target point P. The attachment target speed is information on the target speed of the specific portion 15s when the specific portion 15s moves along the attachment target path PA. The information on the attachment target speed may be time information related to the target point P. This time information may be the time between two points, or may be information on the time of day, etc. The time between two points is a target value for the movement time of the specific part 15s between two adjacent (sequential) target points P. The time information is information such as the time at which the specific part 15s reaches the target point P. The attachment target speed may be adjusted by adjusting the time information.

[0059] A specific example of processing by the controller 70 for automatic attachment operation is the following bird. The controller 70 may execute automatic attachment operation such that the attachment 15 repeats (loops) a specific pattern of movement. The "specific pattern of movement" may be, for example, movement to capture and release a work object. Specifically, this movement may be movement in which the attachment 15 captures the work object (e.g., excavates soil), lifts the captured work object and rotates (lifts and rotates), releases the work object (e.g., dumps soil), and rotates (returns and rotates) back to the capture position of the work object. The "specific pattern" may also be, for example, movement to perform ground leveling work. Specifically, this movement may be movement in which the attachment 15 excavates the ground surface to bring it closer to the target construction surface, and then compacts and levels the ground surface.

[0060] (Operation Assist Control) The controller 70 performs operation assist control to assist the operator in performing operations. In the operation assist control, the relationships between travel operation, attachment operation, manual operation, and automatic operation are as follows: Either the travel operation or the attachment operation is an automatic operation. Either the travel operation or the attachment operation that is different from the above-mentioned "one operation" is a manual operation.

[0061] Here, we consider a case where both the traveling operation and the attachment operation are manual operations. In this case, the operator, for example, performs the attachment operation with his / her hands (e.g., both hands) and the traveling operation with his / her feet (e.g., both feet). In this way, when both the traveling operation and the attachment operation are manual operations, the difficulty of the operation (piloting) for the operator is high and the burden of the operation is large. On the other hand, in the operation assist control of this embodiment, one of the traveling operation and the attachment operation is an automatic operation. Therefore, the operator does not need to perform the operation that is automatically operated (the above-mentioned "one operation") of the traveling operation and the attachment operation. This reduces the difficulty and burden of the operation for the operator.

[0062] Furthermore, if both the travel operation and the attachment operation are manual operations, the following problem may occur. When the work machine 10 moves, the work machine 10 (body) vibrates. This causes the vibration of the work machine 10 to vibrate the operation unit 60a (see FIG. 3). Furthermore, the vibration of the work machine 10 causes the operator to vibrate, which in turn causes the operation unit 60a operated by the operator to vibrate. This makes it difficult to operate the work machine 10 as intended. For example, when the operator wants to fix the amount of operation of the operation unit 60a, it is difficult to fix the amount of operation. As a result, it is difficult for the operator to stably operate the work machine 10. On the other hand, with the operation assist control of this embodiment, one of the travel operation and the attachment operation is an automatic operation. Therefore, even if the operation unit 60a (e.g., the travel operation unit 61) for operating an automatically operated operation target (e.g., travel) vibrates, this vibration of the operation unit 60a does not affect the movement of the work machine 10. This makes it possible to operate the work machine 10 stably.

[0063] Travel operations may be automatic and attachment operations may be manual (the automatic travel assist mode described below may be executed). In this case, the operator does not need to perform manual travel operations. This allows the operator to concentrate on operating the attachment. Also, in this case, even if the travel operation unit 61 (see Figure 3) shakes due to vibrations of the work machine 10, this shaking of the travel operation unit 61 does not affect the travel of the work machine 10. This makes it possible to drive the work machine 10 stably. For example, when the goal is to have the work machine 10 travel straight, it is possible to prevent the work machine 10 from deviating while traveling.

[0064] Travel operations may be manual and attachment operations may be automatic (the automatic attachment assist mode, described below, may be executed). In this case, the operator does not need to manually operate the attachment. This allows the operator to concentrate on travel operations and only needs to operate the positioning of the work machine 10. Also, in this case, even if the attachment operating unit 65 (see Figure 3) shakes due to vibrations of the work machine 10, this shaking of the attachment operating unit 65 does not affect the movement of the attachment 15. This allows the attachment 15 to be moved stably and makes it possible to prevent the attachment 15 from behaving in a way that is not intended by the operator.

[0065] (Switching between automatic operation and non-automatic operation) The controller 70 may switch between the presence and absence of automatic operation according to a condition set in the controller 70 (automatic operation switching condition).

[0066] The automatic operation switching condition may include a condition for performing an automatic operation (automatic operation execution condition) or a condition for stopping an automatic operation (automatic operation stop condition). Only one of these conditions may be set, or multiple conditions may be set. When multiple conditions are set, the controller 70 may execute (or stop) the automatic operation when at least one of the multiple conditions is satisfied, or may execute (or stop) the automatic operation when two or more or all of the multiple conditions are satisfied. When multiple conditions are set, a priority may be set for each condition. Then, when multiple conditions are satisfied simultaneously, the controller 70 may perform the process (for example, execute or stop the automatic operation) corresponding to the condition with the highest priority.

[0067] The controller 70 may switch between the presence and absence of automatic operation by switching between enabling (ON) and disabling (OFF) the mode in which automatic operation is performed (assist mode) (see steps S22 and S42 in FIG. 5, which will be described later). The controller 70 may switch between the presence and absence of automatic operation by switching between driving and stopping (pausing) the target to be operated by automatic operation (for example, the traveling motor 31) while leaving the mode in which automatic operation is performed (assist mode) on (see step S24 in FIG. 5, which will be described later). The above-mentioned "assist mode" is a mode in which automatic operation is performed, and is a mode in which the controller 70 performs operation assistance control. The assist mode may include an automatic traveling assist mode in which traveling operation is performed automatically, and may include an automatic attachment assist mode in which attachment operation is performed automatically.

[0068] The process to be performed by the controller 70 when a condition set as an automatic operation switching condition is no longer satisfied can be set in various ways. For example, when a condition for performing an automatic operation is satisfied and the condition for performing the automatic operation is no longer satisfied while the automatic operation is being performed, the controller 70 may stop the automatic operation, or may execute (continue) the automatic operation until the condition for stopping the automatic operation is satisfied. Furthermore, when the condition for stopping the automatic operation is satisfied and the automatic operation is stopped, and then the condition for stopping the automatic operation is no longer satisfied, the controller 70 may execute (e.g., resume) the automatic operation, or may stop the automatic operation until the condition for performing the automatic operation is satisfied.

[0069] The switching between the presence and absence of automatic operation may include, for example, switching by the automatic operation switching unit 67 shown in FIG. 2, or may include switching according to the operation content of manual operation, or may include switching according to the operation of the operation unit 60a that operates the operation target of automatic operation.

[0070] (Switching by automatic operation switching unit 67) The controller 70 may switch between the presence and absence of automatic operation depending on the switching state of the automatic operation switching unit 67 (see steps S21, S22, S41, and S42 in FIG. 5, which will be described later). The automatic operation switching unit 67 can switch between the presence and absence of automatic operation by the controller 70 by operation by the operator.

[0071] For example, the condition for performing an automatic operation may include the automatic operation switching unit 67 selecting to perform the automatic operation (ON) (see step S21 in FIG. 5). The condition for stopping the automatic operation may include the automatic operation switching unit 67 not selecting to perform the automatic operation (OFF is selected) (see step S41 in FIG. 5).

[0072] [Switching Example A1] The controller 70 may switch between enabling and disabling the assist mode depending on the selection state (ON or OFF) of the automatic operation switching unit 67 (see steps S21, S22, S41, and S42 in FIG. 5, which will be described later). For example, the automatic operation switching unit 67 may be an assist mode switching switch that switches between enabling and disabling the assist mode. [Switching Example A2] The controller 70 may switch between driving and stopping an object to be operated by automatic operation (for example, the traction motor 31 (see FIG. 1)) while keeping the assist mode enabled depending on the selection state (ON or OFF) of the automatic operation switching unit 67.

[0073] In addition, the automatic operation switching unit 67 that switches between enabling and disabling the assist mode (see [Switching Example A1] above) and the automatic operation switching unit 67 that switches between driving and stopping the object to be operated by automatic operation (see [Switching Example A2] above) may be provided separately.

[0074] (Switching according to manual operation (linking)) The controller 70 may switch between the presence and absence of automatic operation depending on the operation content of the manual operation. In particular, the controller 70 may switch between the presence and absence of automatic operation depending on whether a specific operation set in the controller 70 is being performed manually (see step S24 in FIG. 5, described later). By switching in this manner, the presence or absence of automatic operation can be linked with the manual operation. This eliminates the need for an operator to perform an operation (such as a switch operation) solely to switch between the presence and absence of automatic operation. This makes it possible to eliminate or reduce interruptions to work by the work machine 10, improving the work efficiency of the work machine 10.

[0075] For example, the condition for stopping the automatic operation may include that the specific operation is performed manually (see the case of YES in step S24 of FIG. 5). The condition for performing the automatic operation may include that the specific operation is not performed manually (see the case of NO in step S24 of FIG. 5).

[0076] [Switching Example B1] The controller 70 may switch between driving and stopping the operation target for automatic operation (for example, the traveling motor 31 (see FIG. 1)) while keeping the assist mode active, depending on whether the specific operation is being performed by manual operation (see step S24 in FIG. 5). Specifically, when the operation target for automatic operation (for example, the traveling motor 31) is being driven by automatic operation, the specific operation is performed by manual operation. In this case, the controller 70 stops driving the operation target for automatic operation (for example, the traveling motor 31). Then, when the specific operation by manual operation is no longer being performed, the controller 70 drives (for example, resumes driving) the operation target for automatic operation (for example, the traveling motor 31).

[0077] [Switching Example B2] The controller 70 may switch between enabling and disabling the assist mode depending on whether the specific operation is performed manually or not.

[0078] The "specific operation" can be set in various ways. For example, if the specific operation is an attachment operation, the specific operation may be a rotation operation of the upper rotating body 13 relative to the lower traveling body 11 shown in FIG. 1, or an operation to move a specific element of the attachment 15 (such as the boom 15a). The specific operation may be the performance of any attachment operation, or the absence of attachment operation. The specific operation may also be an operation to perform a specific task (such as excavation or leveling). As in the case where the specific operation is an attachment operation, the specific operation can be set in various ways when the specific operation is a traveling operation.

[0079] The specific operation may be set by various methods (see step S14 in FIG. 5). For example, the specific operation may be set manually by an operator using the input unit 60 (see FIG. 2). The specific operation may be set in advance in the controller 70 (for example, before an automatic operation), and for example, the setting of the previous automatic operation may be used.

[0080] (Switching according to the operation of the operation unit to be automatically operated) Of the operation units 60a shown in Fig. 2, those that are used by the worker to operate the operation target of automatic operation are referred to as "automatically operated object operation units." Specifically, when the travel operation is an automatic operation, the automatically operated object operation unit is the travel operation unit 61. When the attachment operation is an automatic operation, the automatically operated object operation unit is the turning operation unit 63 and the attachment operation unit 65. The following mainly describes the case where the travel operation is automatically operated and the automatically operated object operation unit is the travel operation unit 61.

[0081] The controller 70 may switch between the presence and absence of automatic operation in accordance with the operation of the travel operation unit 61 (see step S23 in FIG. 5, which will be described later). In particular, the controller 70 may switch between the presence and absence of automatic operation in accordance with whether an operation that exceeds the operation amount threshold has been performed on the travel operation unit 61 while the controller 70 is executing automatic operation (during automatic operation execution). The "operation amount threshold" is set in advance in the controller 70 (before determining whether to switch between the presence and absence of automatic operation). The magnitude of the operation amount threshold is set as follows: The operation amount threshold is set so that the operation amount corresponding to the amount of shaking of the operation unit 60a due to vibration of the work machine 10 (see FIG. 1) is equal to or less than the operation amount threshold, and so that the operation amount when the operator intentionally operates the operation unit 60a exceeds the operation amount threshold.

[0082] The conditions for performing automatic operation may include that an operation exceeding the operation amount threshold is not performed by the travel operation unit 61 when the automatic operation is being executed (see the case of NO in step S23 in FIG. 5, which will be described later). The conditions for stopping automatic operation may include that an operation exceeding the operation amount threshold is performed by the travel operation unit 61 when the automatic operation is being executed (see the case of YES in step S23 in FIG. 5).

[0083] [Switching Example C1] The controller 70 may switch between enabling and disabling the assist mode depending on whether an operation exceeding the operation amount threshold is performed on the driving operation unit 61 during automatic operation execution (see step S42 in FIG. 5 if NO in step S23). For example, if an operation exceeding the operation amount threshold is performed on the driving operation unit 61 during automatic operation execution, the controller 70 disables the assist mode.

[0084] [Switching Example C1a] For example, if an operation exceeding the operation amount threshold is performed by the driving operation unit 61 during automatic operation execution, the controller 70 disables the automatic operation (assist mode). Then, the operation target (in this example, the driving motor 31 (see FIG. 1)) that was being operated by the automatic operation is manually operated by the driving operation unit 61. In this case, in an emergency during automatic operation (in this example, during automatic driving operation), the operator can disable (stop) the automatic operation simply by intuitively operating the driving operation unit 61 (the unit operating the automatic operation target). In this case, the operator does not need to perform time-consuming operations such as operating a switch. Then, the operator can manually operate the driving operation with the driving operation unit 61. Therefore, for example, even if a sudden lane change is required during automatic operation, the operator can manually operate the driving operation so as to immediately change lane.

[0085] In the above [Switching Example C1a], when manual operation of the travel operation unit 61 is stopped, the controller 70 maintains the disablement of automatic operation (leaving the assist mode disabled). Then, the operation target that was being operated automatically (in this example, the travel motor 31 (see FIG. 1)) is stopped in response to the operation of the travel operation unit 61. In this case, the operator can stop the operation target that was being operated automatically (the travel motor 31) simply by intuitively operating the travel operation unit 61 (the automatic operation target operation unit) during automatic operation (during automatic travel operation) and then stopping this operation. In this case, the operator does not need to perform time-consuming operations such as operating a switch. Therefore, for example, even if an emergency stop is required during automatic operation, the operator can immediately stop the travel motor 31 manually.

[0086] [Switching example C2] The controller 70 may switch between driving and stopping the object to be operated by automatic operation (for example, the traveling motor 31 (see Figure 1)) while keeping the assist mode enabled, depending on whether an operation exceeding the operation amount threshold is performed on the traveling operation unit 61 during automatic operation execution.

[0087] (Further concrete examples of operation) A further specific example of the operation of the operation assist control system 1 shown in FIG. 2 (mainly the processing of the controller 70) will be described with reference to the flowchart shown in FIG. 5. Unless otherwise specified, the following description will be given in accordance with the order of operation of the operation assist control system 1. Note that this order can be changed in various ways. The following example will mainly describe a case where the traveling operation is automatically performed and the attachment operation is manually performed. Each step shown in FIG. 5 will be described with reference to FIG. 5.

[0088] 1 is placed in an idling state. Specifically, the drive source of the actuator 30 is in a driven state (for example, a state in which the engine is running, or a state in which the power is on), and the actuator 30 is placed in a non-moving state.

[0089] In steps S12 to S14, automatic operation information is set in the controller 70 shown in Figure 2. This setting is performed while the work machine 10 is in an idling state.

[0090] In step S12, a target position for automatic operation is set in the controller 70 (more specifically, the work plan setting unit 71). For example, the positions (coordinates) of each target point P on the travel target route R shown in FIG. 4 are set in the controller 70 shown in FIG.

[0091] In step S13, a target speed for automatic operation (for example, a target traveling speed) is set in the controller 70.

[0092] In step S14, a condition for stopping the driving operation by automatic operation (automatic driving operation stop condition) is set in the controller 70. For example, the above-mentioned "specific operation" for performing switching according to the operation content of manual operation (see [Switching Example B1] above, step S24) is set in the controller 70.

[0093] In step S21, the controller 70 determines whether the automatic operation switching unit 67 is in a state (ON) that selects automatic operation. The controller 70 determines whether to enable the automatic driving assist mode. If the automatic operation switching unit 67 is ON (YES in step S21), the controller 70 advances the processing flow to step S22. If the automatic operation switching unit 67 is not ON (OFF) (NO in step S21), the controller 70 waits until the automatic operation switching unit 67 is turned ON.

[0094] In step S22, the controller 70 enables (ON) a mode for performing automatic operation (in this example, the automatic driving assistance mode).

[0095] In step S23, the controller 70 determines whether an operation exceeding the operation amount threshold has been performed on the operating unit to be automatically operated (the driving operation unit 61 in this example). If the operation amount of the driving operation unit 61 is equal to or less than the operation amount threshold (NO in step S23), the controller 70 advances the processing flow to step S24. If the operation amount of the driving operation unit 61 exceeds the operation amount threshold (YES in step S23), the controller 70 advances the processing flow to step S42, and disables (OFF) the mode for performing automatic operation (the automatic driving assist mode in this example).

[0096] In step S24, the controller 70 determines whether or not a specific operation is being performed by manual operation (in this example, attachment operation). If a specific operation is being performed (YES in step S24), the controller 70 does not perform an automatic operation. In this case, the controller 70 keeps the mode for performing automatic operation (in this example, the automatic driving assist mode) enabled and waits until the specific operation is no longer being performed (until NO in step S24). Note that if YES in step S24, the controller 70 may return the processing flow to step S23. If a specific operation is not being performed (NO in step S24), the controller 70 advances the processing flow to step S31 and executes the automatic operation.

[0097] In steps S31 to S35, the controller 70 executes the automatic operation (in this example, the automatic driving operation) in accordance with the automatic operation setting (see steps S12 and S13). The following describes the case where the controller 70 controls the actuator 30 that is operated by hydraulic pressure.

[0098] In step S31, the controller 70 calculates a command value for moving an automatically operated object at a target speed. Specifically, the controller 70 calculates a command value (travel target speed command value) for each of the left and right travel motors 31 to move them at the target speed. The controller 70 outputs the calculated command value to the travel control valve 25a (see FIG. 3) to control the travel control valve 25a. As a result, the left and right travel motors 31 (see FIG. 1) are automatically operated by the controller 70, and the travel of the lower travel structure 11 (see FIG. 1) is automatically operated by the controller 70.

[0099] In step S32, the controller 70 acquires position information (body coordinates) of the work machine 10. Specifically, the controller 70 acquires information detected by the position detection unit 41 (for example, GNSS, etc.).

[0100] In step S33, the controller 70 calculates the deviation between the target position and the position information (actual position) of the work machine 10. Based on this deviation, the controller 70 controls the pump 21 (see FIG. 3) and the travel control valve 25a (see FIG. 3) (performs feedback control) so that the work machine 10 travels to the target position.

[0101] In step S34, the attachment is operated manually. Specifically, the operator operates one or both of the turning operation unit 63 and the attachment operation unit 65. The operator performs manual attachment operation while the automatic traveling operation is being performed. At this time, a combined operation of traveling operation and attachment operation is performed.

[0102] In step S35, the controller 70 performs the following process: The controller 70 controls the pump 21 (see FIG. 3) and the control valve 25 (see FIG. 3) so that each actuator 30 follows the target speed of the corresponding actuator 30. At this time, the controller 70 controls the actuator 30 operated by automatic operation (automatic operation ACT in FIG. 5) and the actuator 30 operated by manual operation (manual operation ACT in FIG. 5) so that each follows the target speed.

[0103] (Specific example of control of pump 21 and control valve 25) A specific example of this process is as follows. The controller 70 acquires the operating pressure of each actuator 30 detected by the actuator operating pressure detection unit 40p3 shown in FIG. 3. The controller 70 calculates an opening command value (feedback command value) for the travel control valve 25a so that the highest operating pressure among the operating pressures of the actuators 30 is equal to the pump pressure detected by the pump pressure detection unit 40p1. This feedback command value is a command value for feedback control (pressure feedback control) based on the operating pressures, and is a command value for the opening of the main spool of the travel control valve 25a. Specifically, in the example shown in FIG. 3, it is assumed that the operating pressure of the boom cylinder 35a (the operating pressure detected by the actuator operating pressure detection unit 40p3) is higher than the operating pressure of the travel motor 31 (the operating pressure detected by the actuator operating pressure detection unit 40p3). In this case, the controller 70 feedback-controls the opening of the main spool of the travel control valve 25a so that the operating pressure of the boom cylinder 35a is equal to the pump pressure.

[0104] The controller 70 calculates the target speeds for the left and right traveling motors 31 (see FIG. 1) so that the work machine 10 travels at the target traveling speed along the target traveling route R shown in FIG. 4. The controller 70 calculates the target flow rate for the traveling motor 31, which corresponds to the target speed of the traveling motor 31 (so that the traveling motor 31 is driven at the target speed). The controller 70 calculates an opening command value (feedforward command value) for the traveling control valve 25a shown in FIG. 3 based on the target flow rate. This feedforward command value is a command value for feedforward control based on the target speed of the traveling motor 31, and is a command value for the opening of the main spool of the traveling control valve 25a.

[0105] Then, the controller 70 outputs to the travel control valve 25a an opening command of a command value obtained by adding together the feedback command value and the feedforward command value for the travel control valve 25a.

[0106] The controller 70 also controls the displacement of the pump 21 so that the pump 21 discharges hydraulic oil at a flow rate (target discharge flow rate) required to drive each actuator 30 at a target speed. For example, the controller 70 calculates a flow rate (travel target discharge flow rate) required to drive the travel motor 31 shown in FIG. 1 and a flow rate (attachment target discharge flow rate) required to drive each actuator 30 corresponding to an attachment operation. The controller 70 calculates the sum of the travel target discharge flow rate and the attachment target discharge flow rate as the target discharge flow rate. The controller 70 calculates the target displacement of the pump 21 based on the rotation speed of the pump 21 and the target discharge flow rate. The controller 70 outputs a command (displacement command) to the pump displacement control unit 22 to set the displacement of the pump 21 to the calculated target displacement.

[0107] The controller 70 calculates the attachment target discharge flow rate based on the amount of manual attachment operation. The controller 70 then feedback-controls the displacement command for the pump 21 (see FIG. 3) so that the flow rate (actual flow rate) of hydraulic oil actually supplied to the actuators 30 operated by the attachment operation becomes the attachment target flow rate. The "actuators 30 operated by the attachment operation" are the swing motor 33, boom cylinder 35a, arm cylinder 35b, and end attachment cylinder 35c. Specifically, the controller 70 calculates the attachment total deviation flow rate, which is the difference between the actual flow rate of the actuators 30 operated by the attachment operation and the attachment target flow rate (a specific example of this calculation will be described later). The controller 70 then changes (corrects, feedback-controls) the displacement command for the pump 21 (see FIG. 3) so that the attachment total deviation flow rate becomes zero.

[0108] The controller 70 calculates the above-mentioned attachment total deviation flow rate, for example, as follows. The controller 70 calculates the deviation flow rate of each of the actuators 30 moved by the attachment operation. Specifically, the deviation flow rate of the boom cylinder 35a shown in FIG. 3 is calculated as follows. The controller 70 calculates the speed deviation between a target speed based on the manual operation of the boom cylinder 35a and the actual speed of the boom cylinder 35a (the speed detected by the actuator speed detection unit 51). The controller 70 calculates a flow rate corresponding to this speed deviation as the deviation flow rate of the boom cylinder 35a. Similar to the deviation flow rate of the boom cylinder 35a, the controller 70 also calculates deviation flow rates for the swing motor 33, arm cylinder 35b, and tip attachment cylinder 35c shown in FIG. 1. The controller 70 calculates the sum of these deviation flow rates as the attachment total deviation flow rate. The controller 70 then changes the capacity command of the pump 21 (see FIG. 3) so that the attachment total deviation flow rate becomes zero. 3 may be controlled by various methods. For example, if a plurality of pumps 21 are provided in the hydraulic circuit 20, the capacity of each pump 21 is controlled individually.

[0109] In step S41, the controller 70 shown in FIG. 2 determines whether the automatic operation switching unit 67 is in a state (OFF) that selects not to perform automatic operation. The controller 70 determines whether to disable the automatic driving assist mode. If the automatic operation switching unit 67 is OFF (YES in step S41), the controller 70 advances the processing flow to step S42. If the automatic operation switching unit 67 is ON (NO in step S41), the controller 70 maintains the state in which the automatic driving assist mode is enabled, and returns the processing flow to step S23.

[0110] In step S42, the controller 70 disables (turns off) the mode in which automatic operation is performed (automatic driving assist mode).

[0111] (Effects of the first invention) The operation assist control system 1 shown in FIG. 1 provides the following effects. The operation assist control system 1 includes a travellable lower traveling body 11 (traveling body), an attachment 15, an operation unit 60a (see FIG. 2), and a controller 70. The attachment 15 moves relative to the lower traveling body 11 to perform work. The operation unit 60a is configured to enable a worker to perform travel operations and attachment operations. Travel operations are operations that cause the lower traveling body 11 to travel. Attachment operations are operations that move the attachment 15 relative to the lower traveling body 11.

[0112] [Configuration 1] One of the traveling operation and the attachment operation is an automatic operation that is automatically performed by the controller 70 when a condition set in the controller 70 is satisfied. The other of the traveling operation and the attachment operation that is different from the "one of the operations" is a manual operation performed by the operator.

[0113] With the above [Configuration 1], the operator does not need to perform the automatically operated operation (the above "one of the operations") between the travel operation and the attachment operation. This reduces the difficulty and burden of the operation on the operator. Furthermore, with the above [Configuration 1], even if the operation unit 60a (see FIG. 2) (automatically operated object operation unit) that can operate the automatically operated operation object shakes due to vibrations of the work machine 10, this shaking does not affect the movement of the work machine 10. This allows the work machine 10 to be operated stably.

[0114] (Effects of the second invention) [Configuration 2] Traveling is automatic. Attachment operation is manual.

[0115] With the above [Configuration 2], the operator does not need to manually operate the travelling operation. This allows the operator to concentrate on operating the attachment. Furthermore, with the above [Configuration 2], even if the travelling operation unit 61 (see Figure 2) shakes due to vibrations of the work machine 10, this shaking does not affect the travelling of the work machine 10. This allows the work machine 10 to travel stably.

[0116] (Effect of the third invention) [Configuration 3] Traveling is done manually. Attachment operation is done automatically.

[0117] With the above [Configuration 3], the operator does not need to manually operate the attachment. This allows the operator to concentrate on traveling operations (for example, the operator only needs to operate the positioning of the work machine 10). Furthermore, with the above [Configuration 3], even if the operation unit 60a for operating the attachment (for example, the swivel operation unit 63 and the attachment operation unit 65 shown in FIG. 2) shakes due to vibrations of the work machine 10, this shaking does not affect the movement of the attachment 15 shown in FIG. 1. This allows the attachment 15 to move stably.

[0118] (Effect of the fourth invention) [Configuration 4] When the operation assist control system 1 includes the above-mentioned [Configuration 3], the controller 70 executes automatic attachment operation so that the attachment 15 repeats a specific pattern of movement.

[0119] With the above [Configuration 4], the worker does not need to manually perform a specific pattern of attachment operation repeatedly, thereby further reducing the burden on the worker.

[0120] (Effect of the fifth invention) [Configuration 5] As shown in Fig. 2, the operation assist control system 1 includes an automatic operation switching unit 67. The automatic operation switching unit 67 can switch between automatic operation by the controller 70 and non-automatic operation by the operator (see steps S21, S22, S41, and S42 in Fig. 5).

[0121] According to the above [Configuration 5], the worker can arbitrarily switch between the presence and absence of automatic operation by operating the automatic operation switching unit 67. This improves the convenience for the worker.

[0122] (Effect of the sixth aspect of the invention) [Configuration 6] The controller 70 switches between the presence and absence of automatic operation depending on whether the specific operation set in the controller 70 is being performed manually (see step S24 in FIG. 5).

[0123] The above [Configuration 6] makes it possible to link the presence or absence of automatic operation with specific manual operations. Therefore, the worker does not need to switch between the presence or absence of automatic operation by operating a switch or the like. This further reduces the burden on the worker. In addition, it is possible to eliminate the time required to switch between the presence or absence of automatic operation by operating a switch or the like. This improves the work efficiency of the work machine 10.

[0124] (Effect of the seventh invention) [Configuration 7] The operation unit 60a includes an automatic operation target operation unit (e.g., travel operation unit 61) that allows an operator to operate an automatic operation target. If an operation exceeding an operation amount threshold set in the controller 70 is performed on the automatic operation target operation unit (e.g., travel operation unit 61) while the controller 70 is performing an automatic operation, the controller 70 disables the automatic operation (see YES in step S23 of FIG. 5). In this case, the "operation target" (the operation target that was being operated by automatic operation) is manually operated by the automatic operation target operation unit (in this example, the travel operation unit 61) (see step S42 of FIG. 5).

[0125] With the above [Configuration 7], the operator can (instantly and easily) disable automatic operation simply by intuitively operating the automatic operation target operating unit (travel operating unit 61 in this example) with an operation amount exceeding the operation amount threshold. Then, with just this operation, the operator can manually operate the operation target that was being operated automatically.

[0126] (Effect of the eighth aspect of the invention) [Configuration 8] In the above [Configuration 7], when manual operation of the automatically operated operation unit (for example, the traveling operation unit 61) is stopped, the controller 70 maintains the disabled automatic operation. In this case, the "operation target" (the operation target that was being operated automatically) is stopped in response to the operation of the automatically operated operation unit (in this example, the traveling operation unit 61).

[0127] With the above [Configuration 8], the operator can stop the drive of the operation target that was being operated automatically (instantly and easily) by simply intuitively operating the operation unit to be automatically operated (in this example, the travel operation unit 61) with an operation amount that exceeds the operation amount threshold, and then stopping this operation.

[0128] (Variation) The above-described embodiments may be modified in various ways. For example, modified examples of the above-described embodiments may be combined in various ways. For example, the number of components (including modified examples) of the above-described embodiments may be changed, or some of the components may not be provided. For example, components may be fixed or connected directly or indirectly to one another. For example, the connections of the components shown in FIGS. 2 and 3 may be changed. For example, the arrangement of the components may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in the higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, the order of the steps in the flowchart shown in FIG. 5 may be changed, or some steps may not be performed. For example, various pieces of information processed by the controller 70 may be preset in the controller 70, or may be directly set manually by an operator. The various pieces of information may be calculated by the controller 70 based on information manually set by an operator, or may be calculated by the controller 70 based on information detected by the detection unit 40. For example, the various pieces of information may not be changed, may be changed manually, or may be automatically changed by the controller 70 in response to certain conditions. For example, the controller 70 may perform substantially the same processing (calculation, determination, etc.) as the processing (calculation, determination, etc.) of the above-described embodiment (including modified examples). The various types of processing may be combined in various ways. For example, each component may have only a portion of its respective features (function, arrangement, shape, operation, etc.). [Explanation of symbols]

[0129] 1 Operation assistance control system 11 Lower running body (running body) 15 Attachments 60a Operation unit 67 Automatic operation switching unit 70 Controller

Claims

1. A travelable vehicle; an attachment that moves relative to the traveling body and performs work; an operation unit configured to allow an operator to perform a traveling operation, which is an operation to travel the traveling body, and an attachment operation, which is an operation to move the attachment relative to the traveling body; A controller; Equipped with one of the traveling operation and the attachment operation is an automatic operation that is automatically performed by the controller when a condition set in the controller is satisfied; The operation different from one of the traveling operation and the attachment operation is a manual operation by an operator. Operation assistance control system.

2. 2. The operation assist control system according to claim 1, the driving operation is the automatic operation, The attachment operation is the manual operation. Operation assistance control system.

3. 2. The operation assist control system according to claim 1, the driving operation is the manual operation, The attachment operation is the automatic operation. Operation assistance control system.

4. 4. The operation assist control system according to claim 3, the controller executes the automatic operation of the attachment so that the attachment repeats a specific pattern of movement; Operation assistance control system.

5. 2. The operation assist control system according to claim 1, An automatic operation switching unit is provided that can switch whether or not the automatic operation by the controller is performed by an operator. Operation assistance control system.

6. 2. The operation assist control system according to claim 1, the controller switches between the presence and absence of the automatic operation depending on whether the specific operation set in the controller is being performed by the manual operation. Operation assistance control system.

7. 2. The operation assist control system according to claim 1, the operation unit includes an automatic operation target operation unit for an operator to operate the operation target of the automatic operation, When the controller is executing the automatic operation, if an operation exceeding an operation amount threshold set in the controller is performed on the automatic operation target operating unit, the controller disables the automatic operation, and the operation target is manually operated by the automatic operation target operating unit. Operation assistance control system.

8. 8. The operation assist control system according to claim 7, When the manual operation of the automatic operation target operation unit is stopped, the controller maintains the disabled automatic operation, and the operation target is stopped in response to the operation of the automatic operation target operation unit. Operation assistance control system.

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