Work machine and work machine remote control system

Abstract

To suppress a deviation between a direction of a lower traveling body and a direction of an upper rotating body that occurs while the lower traveling body is traveling.SOLUTION: A work machine 100 includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and a swing hydraulic motor 2A mounted on the upper rotating body 3. Automatic swing control of the upper rotating body 3 is performed by the swing hydraulic motor 2A so as to suppress relative rotation between the lower traveling body 1 and the upper rotating body 3 when traveling operation is being performed.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a work machine and a remote operation system for the work machine. [Background technology]

[0002] Conventionally, hydraulic excavators have been known that include an upper rotating body that is rotatably mounted on a lower traveling body (see, for example, Patent Document 1). The lower traveling body is configured to travel when a traveling lever or a traveling pedal is operated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-151688 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the lower running body is running, the upper rotating body may rotate undesirably due to various factors such as centrifugal force or wind, which may result in a misalignment between the orientation of the lower running body and the orientation of the upper rotating body.

[0005] Therefore, it is desirable to be able to suppress the misalignment between the orientation of the lower traveling body and the orientation of the upper rotating body that occurs while the lower traveling body is traveling. [Means for solving the problem]

[0006] A work machine according to an embodiment of the present disclosure comprises a lower running body, an upper rotating body mounted on the lower running body so as to be freely rotatable, and a rotating motor mounted on the upper rotating body, and performs automatic rotation control of the upper rotating body by the rotating motor so as to suppress relative rotation between the lower running body and the upper rotating body when a traveling operation is being performed. [Effects of the Invention]

[0007] The above-described work machine can suppress misalignment between the orientation of the lower traveling body and the orientation of the upper rotating body that occurs while the lower traveling body is traveling. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure; FIG. [Figure 2] 2 is a block diagram showing an example of the configuration of the work machine shown in FIG. 1. [Figure 3] 2 is a diagram showing an example of the configuration of a hydraulic system mounted on the work machine shown in FIG. 1. [Figure 4] FIG. 3 is a diagram illustrating an extracted hydraulic system portion related to the operation of the swing hydraulic motor shown in FIG. 2. [Figure 5] FIG. 1 is a top view of a work machine traveling through a work site. [Figure 6] 10 is a flowchart showing an example of the flow of an automatic turning process. [Figure 7] 10 is a flowchart showing another example of the flow of the automatic turning process. [Figure 8] 2 is a diagram showing an example of a display screen displayed on the display device shown in FIG. 1. FIG. [Figure 9] 1 is a schematic diagram showing an example of the configuration of a remote control system for a work machine according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The embodiments described below are merely examples and do not limit the present invention, and all features and combinations thereof described in the embodiments are not necessarily essential to the present invention. In addition, identical or corresponding components in each drawing are denoted by identical or corresponding reference numerals, and descriptions thereof may be omitted.

[0010] First, an overview of a work machine 100 according to an embodiment of the present disclosure will be described with reference to Figure 1. Figure 1 is a side view of the work machine 100.

[0011] The work machine 100 is a hydraulic excavator and includes a lower traveling body 1, an upper rotating body 3 mounted on the lower traveling body 1 so as to be rotatable about a rotation axis PV via a rotating mechanism 2, an attachment AT including a boom 4, an arm 5, and a bucket 6, and a cabin 10. The hydraulic excavator may be an electric excavator or a hybrid excavator equipped with an internal combustion engine such as a diesel engine and a battery-powered motor. The work machine 100 may also be a crane.

[0012] The lower traveling body 1 includes, for example, a pair of left and right crawlers driven by a traveling hydraulic motor 2M, and the left crawler is hydraulically driven by a left traveling hydraulic motor 2ML (see Figure 2) and the right crawler is hydraulically driven by a right traveling hydraulic motor 2MR (see Figure 2), thereby causing the work machine 100 to travel.

[0013] The upper swing structure 3 is driven by a swing motor to swing about a swing axis PV relative to the lower traveling structure 1. The swing motor may be an electric motor or a hydraulic swing motor 2A (see FIG. 2).

[0014] The attachment AT (an example of an attachment) is attached to the upper rotating body 3, and includes a boom 4, an arm 5, and a bucket 6. The boom 4 is attached to the center of the front of the upper rotating body 3 so that it can be raised and lowered, an arm 5 is attached to the tip of the boom 4 so that it can rotate up and down, and a bucket 6 is attached to the tip of the arm 5 so that it can rotate up and down. The bucket 6 is an example of a work tool. The bucket 6 is used, for example, for excavation work. The bucket 6 has a toe 6a and a back 6b as parts for forming a horizontal surface.

[0015] The boom 4, arm 5, and bucket 6 are hydraulically driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, which serve as hydraulic actuators, respectively, using hydraulic oil discharged from a main pump 14 (see FIG. 2).

[0016] The cabin 10 is a control room where an operator sits, and is mounted on the front left side of the upper rotating body 3.

[0017] Note that the work machine 100 may be configured such that some of the driven elements, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, are electrically driven. In other words, the work machine 100 may be a hybrid excavator, an electric excavator, or the like, in which some of the driven elements are driven by electric actuators.

[0018] Next, the specific configuration of the work machine 100 will be described with reference to Fig. 2 in addition to Fig. 1. Fig. 2 is a block diagram showing an example of the configuration of the work machine 100. In Fig. 2, mechanical power lines are indicated by double lines, hydraulic oil lines by solid lines, pilot lines by dashed lines, and electric drive and control lines by dotted lines. The same applies to Figs. 3 and 4.

[0019] The hydraulic drive system that hydraulically drives the hydraulic actuators of the work machine 100 includes the engine 11, regulator 13, main pump 14, and control valve unit 17. As described above, the hydraulic drive system of the work machine 100 also includes hydraulic actuators such as the left traveling hydraulic motor 2ML, right traveling hydraulic motor 2MR, swing hydraulic motor 2A, boom cylinder 7, arm cylinder 8, and bucket cylinder 9 that hydraulically drive the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, respectively.

[0020] The engine 11 is the main power source in the hydraulic drive system, and is mounted, for example, on the rear of the upper rotating body 3. Specifically, the engine 11 rotates at a constant speed at a preset target speed under direct or indirect control by a controller 30 (described later), and drives the main pump 14 and the pilot pump 15. The engine 11 is, for example, a diesel engine that uses diesel as fuel.

[0021] The regulator 13 controls the discharge amount of the main pump 14. For example, the regulator 13 adjusts the angle (tilt angle) of the swash plate of the main pump 14 in response to a control command from the controller 30. The regulator 13 includes, for example, a left regulator 13L and a right regulator 13R.

[0022] The main pump 14 (an example of a hydraulic pump) is mounted on the rear of the upper rotating body 3, similar to the engine 11, for example, and supplies hydraulic oil to the control valve unit 17 through a hydraulic oil line. The main pump 14 is driven by the engine 11 as described above. The main pump 14 is, for example, a variable displacement hydraulic pump, and as described above, under the control of the controller 30, the tilt angle of the swash plate is adjusted by the regulator 13, thereby adjusting the stroke length of the piston and controlling the discharge flow rate (discharge pressure). The main pump 14 includes, for example, a left main pump 14L and a right main pump 14R, as described below.

[0023] The control valve unit 17 is a hydraulic control device that controls the hydraulic system of the work machine 100. In the illustrated example, the control valve unit 17 includes control valves 171-176. The control valve unit 17 is configured to selectively supply hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171-176. The control valves 171-176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A. More specifically, the control valve 171 corresponds to the left traveling hydraulic motor 2ML, the control valve 172 corresponds to the right traveling hydraulic motor 2MR, and the control valve 173 corresponds to the swing hydraulic motor 2A. Furthermore, the control valve 174 corresponds to the bucket cylinder 9 , the control valve 175 corresponds to the boom cylinder 7 , and the control valve 176 corresponds to the arm cylinder 8 .

[0024] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In the illustrated example, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0025] The discharge pressure sensor 28 is configured to detect the discharge pressure of the main pump 14. In the illustrated example, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0026] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0027] The solenoid valve 31, which functions as a control valve for machine control, is disposed in a pipe connecting the pilot pump 15 and the pilot port of the control valve in the control valve unit 17, and is configured so as to be able to change the flow path area of ​​that pipe. In the illustrated example, the solenoid valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the control valve in the control valve unit 17 via the solenoid valve 31, regardless of the operation of the operating device 26 by the operator.

[0028] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when the specific operating device 26 is not being operated.

[0029] The control system of work machine 100 includes controller 30, auxiliary memory device 47, display device D1, input device D2, dial 48, output characteristics selector switch 49, and communication device T1. The control system of work machine 100 also includes, as components related to the semi-automatic driving function, solenoid valve 31, boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, swing angle sensor S5, imaging device S6, positioning device PS, boom rod pressure sensor S7R, boom bottom pressure sensor S7B, arm rod pressure sensor S8R, arm bottom pressure sensor S8B, bucket rod pressure sensor S9R, and bucket bottom pressure sensor S9B.

[0030] The operation sensor 29 is configured to detect the operation content of the operator using the operation device 26. In the illustrated example, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator and outputs the detected value to the controller 30. In the illustrated example, the controller 30 controls the opening area of ​​the solenoid valve 31 in accordance with the output of the operation sensor 29. The controller 30 then supplies the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is, in principle, a pressure corresponding to the operation direction and operation amount of the operation device 26 corresponding to each hydraulic actuator. In this way, the operation device 26 is configured to supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17.

[0031] The dial 48 is used to adjust the rotation speed of the engine 11. An output characteristics changeover switch 49 is provided on the upper surface of the dial 48. For example, the output characteristics of the shovel are changed by pressing the output characteristics changeover switch 49. The output characteristics of the shovel include, for example, the acceleration characteristics and deceleration characteristics of the hydraulic actuator for the operation device 26.

[0032] The display device D1 is provided in a location that is easily visible to an operator seated in the cabin 10, and displays various information images under the control of the controller 30. The display device D1 may be connected to the controller 30 via an in-vehicle communication network such as a CAN, or may be connected to the controller 30 via a dedicated line.

[0033] The display device D1 is not limited to a device pre-installed in the cabin 10, but may be a separately installed monitor. Furthermore, the display device D1 may be any device capable of displaying, and may be, for example, a tablet terminal or the like capable of communicating with the communication device T1.

[0034] The input device D2 is provided within reach of an operator seated in the cabin 10, accepts various operational inputs from the operator, and outputs signals corresponding to the operational inputs to the controller 30. The input device D2 includes a touch panel mounted on the display of a display device that displays various information images, a button provided at the tip of a lever portion of the operation device 26, and buttons, levers, toggles, rotary dials, etc. provided around the display device D1. A signal corresponding to the operation content of the input device D2 is taken into the controller 30. The auxiliary storage device 47 is a readable and writable non-volatile storage medium.

[0035] The controller 30 (an example of a control device) is provided, for example, inside the cabin 10, and controls the drive of the work machine 100. The functions of the controller 30 may be realized by any hardware, software, or a combination thereof. For example, the controller 30 is configured mainly with a microcomputer including a CPU, ROM, RAM, a non-volatile auxiliary storage medium, various input / output interfaces, etc. The controller 30 realizes various functions by, for example, executing various programs stored in the ROM or non-volatile auxiliary storage medium on the CPU.

[0036] For example, the controller 30 sets a target rotation speed based on an operation by an operator or the like, and performs drive control to rotate the engine 11 at a constant speed.

[0037] Furthermore, for example, the controller 30 outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14.

[0038] Furthermore, for example, the controller 30 controls the regulator 13 based on the detected value of the pilot pressure corresponding to the operating state of the operating device 26 input from the operation sensor 29, and adjusts the discharge rate of the main pump 14.

[0039] Furthermore, for example, the controller 30 performs control relating to a machine guidance function that guides (provides guidance for) the manual operation of the work machine 100 by the operator via the operation device 26. Furthermore, the controller 30 performs control relating to a machine control function that automatically assists the manual operation of the work machine 100 by the operator via the operation device 26.

[0040] Note that some of the functions of the controller 30 may be realized by another controller (control device). That is, the functions of the controller 30 may be realized in a distributed manner by a plurality of controllers. For example, the machine guidance function and the machine control function may be realized by a dedicated controller (control device).

[0041] More specifically, the controller 30 acquires information from the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, the machine body inclination sensor S4, the swing angle sensor S5, the imaging device S6, the communication device T1, the positioning device PS, the input device D2, etc. Furthermore, the controller 30 controls the solenoid valves 31 appropriately in accordance with the acquired information, and adjusts the pilot pressures acting on the control valves corresponding to the hydraulic actuators individually and automatically, thereby automatically operating each actuator.

[0042] The solenoid valve 31 is provided in a pilot line connecting the pilot pump 15 and the pilot ports of the control valves 171 to 176, and is configured to be able to change its flow path area (cross-sectional area through which hydraulic oil can flow). The solenoid valve 31 operates in response to a control command input from the controller 30. As a result, even when the operating device 26 is not being operated by an operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17 via the solenoid valve 31. The controller 30 can then apply the pilot pressure generated by the solenoid valve 31 to the pilot ports of the corresponding control valves.

[0043] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.

[0044] The boom angle sensor S1 is attached to the boom 4 and detects the elevation / depression angle of the boom 4 relative to the upper rotating structure 3 (hereinafter referred to as the "boom angle"). The boom angle sensor S1 may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), or the like. The boom angle sensor S1 may also be a potentiometer using a variable resistor, or a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder (boom cylinder 7) corresponding to the boom angle. The same applies to the arm angle sensor S2, bucket angle sensor S3, and machine body tilt sensor S4 below. A detection signal corresponding to the boom angle detected by the boom angle sensor S1 is input to the controller 30.

[0045] The arm angle sensor S2 is attached to the arm 5 and detects the rotation angle of the arm 5 relative to the boom 4 (hereinafter referred to as the “arm angle”). A detection signal corresponding to the arm angle detected by the arm angle sensor S2 is input to the controller 30.

[0046] The bucket angle sensor S3 is attached to the bucket 6 and detects the rotation angle (hereinafter referred to as the “bucket angle”) of the bucket 6 relative to the arm 5. A detection signal corresponding to the bucket angle detected by the bucket angle sensor S3 is input to the controller 30.

[0047] The machine body tilt sensor S4 detects the tilt state of the machine body (the upper rotating body 3 or the undercarriage 1) relative to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angles around two axes in the fore-aft and lateral directions of the work machine 100 (i.e., the upper rotating body 3) (hereinafter referred to as the "fore-aft tilt angle" and the "lateral tilt angle"). The detection signals corresponding to the tilt angles (fore-aft tilt angle and lateral tilt angle) by the machine body tilt sensor S4 are input to the controller 30.

[0048] The rotation angle sensor S5 outputs detection information related to the rotation state of the upper rotating body 3. The rotation angle sensor S5 detects, for example, the rotation angular velocity and rotation angle of the upper rotating body 3. The rotation angle sensor S5 includes, for example, a gyro sensor, a resolver, a rotary encoder, etc.

[0049] The imaging device S6 captures images of the area around the work machine 100. The imaging device S6 includes a camera S6F that captures images in front of the work machine 100, a camera S6L that captures images to the left of the work machine 100, a camera S6R that captures images to the right of the work machine 100, and a camera S6B that captures images behind the work machine 100.

[0050] Camera S6F is attached, for example, to the ceiling of cabin 10, i.e., inside cabin 10. Camera S6F may also be attached to the exterior of cabin 10, such as the roof of cabin 10 or the side of boom 4. Camera S6L is attached to the left end of the upper surface of the upper rotating body 3, camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0051] The imaging devices S6 (cameras S6F, S6B, S6L, and S6R) are, for example, monocular wide-angle cameras with extremely wide angles of view. The imaging devices S6 may also be stereo cameras or distance imaging cameras. Images captured by the imaging devices S6 are input to the controller 30.

[0052] The boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively attached to the boom cylinder 7 and detect the pressure in the rod-side oil chamber (hereinafter referred to as the "boom rod pressure") and the pressure in the bottom-side oil chamber (hereinafter referred to as the "boom bottom pressure") of the boom cylinder 7. Detection signals corresponding to the boom rod pressure and the boom bottom pressure by the boom rod pressure sensor S7R and the boom bottom pressure sensor S7B are respectively taken into the controller 30.

[0053] The arm rod pressure sensor S8R and the arm bottom pressure sensor S8B respectively detect the pressure in the rod-side oil chamber (hereinafter referred to as "arm rod pressure") and the pressure in the bottom-side oil chamber (hereinafter referred to as "arm bottom pressure") of the arm cylinder 8. Detection signals corresponding to the arm rod pressure and the arm bottom pressure by the arm rod pressure sensor S8R and the arm bottom pressure sensor S8B are respectively input to the controller 30.

[0054] The bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B respectively detect the pressure in the rod-side oil chamber (hereinafter referred to as the "bucket rod pressure") and the pressure in the bottom-side oil chamber (hereinafter referred to as the "bucket bottom pressure") of the bucket cylinder 9. Detection signals corresponding to the bucket rod pressure and the bucket bottom pressure by the bucket rod pressure sensor S9R and the bucket bottom pressure sensor S9B are respectively input to the controller 30.

[0055] The positioning device PS is configured to acquire information relating to the position of the work machine 100. In the illustrated example, the positioning device PS is configured to measure the position and orientation of the work machine 100. Specifically, the positioning device PS is a GNSS receiver with an integrated electronic compass, and measures the latitude, longitude, and altitude of the current position of the work machine 100, and also measures the orientation of the work machine 100.

[0056] The communication device T1 communicates with external devices through a predetermined network including a mobile communication network with a base station as an end, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with mobile communication standards such as LTE (Long Term Evolution), 4G (4th Generation), and 5G (5th Generation), or a satellite communication module for connecting to a satellite communication network.

[0057] The work machine 100 operates actuators (e.g., hydraulic actuators) in response to operations by an operator inside the cabin 10, and drives driven elements such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0058] Furthermore, instead of or in addition to being configured to be operable by an operator in the cabin 10, the work machine 100 may be configured to be remotely operable from outside the work machine 100. When the work machine 100 is remotely operated, the inside of the cabin 10 may be unmanned.

[0059] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operation performed by the operator. This allows the work machine 100 to realize a function for automatically operating at least some of the driven elements, such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6, i.e., a so-called "automatic driving function" or "machine control function."

[0060] The automatic driving function may include a function for automatically operating a driven element (actuator) other than the driven element (actuator) that is the target of operation in response to an operator's operation of the operating device 26 or remote operation, i.e., a so-called "semi-automatic driving function" or "operation assistance type machine control function." Furthermore, the semi-automatic driving function may include a mode in which the operation content of the driven element (actuator) that is the target of automatic driving is automatically determined in accordance with predefined rules. Furthermore, the semi-automatic driving function may include a mode in which the work machine 100 autonomously makes various decisions and autonomously determines the operation content of the driven element (hydraulic actuator) that is the target of automatic driving in accordance with the results of those decisions (a so-called "automatic driving function").

[0061] When the operator operates the arm 5 via the operation device 26, the controller 30 may use its machine control function to automatically operate at least one of the boom 4 and the bucket 6 so that a predetermined target design plane (hereinafter simply referred to as the "design plane") coincides with the tip position of the bucket 6. Furthermore, the controller 30 may also automatically operate the arm 5 regardless of the operating state of the operation device 26 that operates the arm 5. In other words, the controller 30 may cause the attachment to perform a predetermined operation when triggered by the operation of the operation device 26 by the operator.

[0062] Next, an example of the configuration of a hydraulic system mounted on the work machine 100 will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the configuration of a hydraulic system mounted on the work machine 100.

[0063] The hydraulic system of the work machine 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and the like.

[0064] In FIG. 3, the hydraulic system is configured to circulate hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 40 or a parallel line 42 to a hydraulic oil tank.

[0065] The main pump (hydraulic pump) 14 is configured to supply hydraulic oil via a hydraulic oil line to the control valve unit 17. In the illustrated example, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0066] In the illustrated example, the control valve unit 17 includes control valves (directional control valves) 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply the hydraulic oil discharged by the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176.

[0067] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to the hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R.

[0068] The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0069] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0070] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0071] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0072] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0073] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0074] The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0075] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0076] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0077] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. The left parallel conduit 42L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, and 175L. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. The right parallel conduit 42R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0078] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge rate of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate. The same applies to the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output power (output horsepower) of the engine 11.

[0079] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0080] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR.

[0081] The left operating lever 26L is used for swing operation and operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

[0082] The operation sensor 29LA detects the operation of the left operation lever 26L in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0083] The operation sensor 29LB detects the operation of the left operation lever 26L in the left and right directions by the operator, and outputs the detected value to the controller 30.

[0084] When the left operating lever 26L is operated in the arm closing direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29LA to introduce hydraulic oil into the right pilot port of the control valve 176L and to introduce hydraulic oil into the left pilot port of the control valve 176R. On the other hand, when the left operating lever 26L is operated in the arm opening direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29LA to introduce hydraulic oil into the left pilot port of the control valve 176L and to introduce hydraulic oil into the right pilot port of the control valve 176R.

[0085] In addition, when the left operating lever 26L is operated in the left turning direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29LB to introduce hydraulic oil into the left pilot port of the control valve 173, and when the left operating lever 26L is operated in the right turning direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29LB to introduce hydraulic oil into the right pilot port of the control valve 173.

[0086] In addition, a switch NS is provided on the left operating lever 26L. In the illustrated example, the switch NS is a push button provided on the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS may be provided on the right operating lever 26R or may be provided at another position within the cabin 10.

[0087] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

[0088] The operation sensor 29RA detects the operation of the right operation lever 26R in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0089] The operation sensor 29RB detects the operation of the right operating lever 26R in the left and right directions by the operator, and outputs the detected value to the controller 30.

[0090] Specifically, when the right operating lever 26R is operated in the boom-lowering direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29RA to introduce hydraulic oil into the left pilot port of the control valve 175L and to introduce hydraulic oil into the right pilot port of the control valve 175R. On the other hand, when the right operating lever 26R is operated in the boom-raising direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29RA to introduce hydraulic oil into the right pilot port of the control valve 175L and to introduce hydraulic oil into the left pilot port of the control valve 175R.

[0091] Furthermore, when the right operating lever 26R is operated in the bucket closing direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29RB to introduce hydraulic oil into the right pilot port of the control valve 174, and when the right operating lever 26R is operated in the bucket opening direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29RB to introduce hydraulic oil into the left pilot port of the control valve 174.

[0092] The travel lever 26D is used to operate the crawlers. Specifically, the left travel lever 26DL is used to operate the left crawler. It may be configured to be interlocked with the left travel pedal.

[0093] The operation sensor 29DL detects the operation of the left travel lever 26DL in the forward / backward direction by the operator, and outputs the detected value to the controller 30.

[0094] When the left travel lever 26DL is operated in the forward / backward direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29DL, and uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 171.

[0095] The right travel lever 26DR is used to operate the right crawler and may be configured to operate in conjunction with the right travel pedal.

[0096] The operation sensor 29DR detects the operation of the right travel lever 26DR in the forward / backward direction by the operator, and outputs the detected value to the controller 30.

[0097] When the right travel lever 26DR is operated in the forward / backward direction, the controller 30 controls the solenoid valve 31 in accordance with a signal from the operation sensor 29DR, and uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 172.

[0098] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0099] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The controller 30 also receives the output of a control pressure sensor 19 provided upstream of the throttle (negative control throttle) 18 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The throttle 18 includes a left throttle 18L and a right throttle 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0100] A left throttle 18L is disposed in the left center bypass pipe 40L between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0101] Specifically, as shown in FIG. 3 , when the work machine 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L. On the other hand, when any hydraulic actuator is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulating sufficient hydraulic oil to the hydraulic actuator to be operated and ensuring the drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0102] With the above-described configuration, the hydraulic system of Fig. 3 can suppress unnecessary energy consumption in the main pump 14 when in a standby state. The unnecessary energy consumption includes pumping loss caused by the hydraulic oil discharged from the main pump 14 in the center bypass pipe 40. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 3 can reliably supply the necessary and sufficient amount of hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0103] That is, the controller 30 controls the regulator 13 so that the discharge amount is the smaller of a first discharge amount calculated so that the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge amount, does not exceed the output power (output horsepower) of the engine 11, and a second discharge amount calculated based on the control pressure detected by the control pressure sensor 19.

[0104] Next, a configuration for the controller 30 to operate the actuator using the machine control function will be described with reference to Fig. 4. Fig. 4 is a diagram of a portion of the hydraulic system. Specifically, Fig. 4 is a diagram of the hydraulic system portion related to the operation of the swing hydraulic motor 2A.

[0105] 4, the hydraulic system includes a solenoid valve 31. The solenoid valve 31 includes solenoid valves 31DL and 31DR for operating the swing hydraulic motor 2A.

[0106] In the example shown in Fig. 4, the left operating lever 26L is used for turning operations. Specifically, the left operating lever 26L uses hydraulic oil discharged by the pilot pump 15 to apply a pilot pressure corresponding to operation in the left or right direction to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left turning direction (left direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. Furthermore, when the left operating lever 26L is operated in the right turning direction (right direction), the controller 30 applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0107] The operation sensor 29LB detects the operation of the left operation lever 26L in the left and right directions by the operator, and outputs the detected value to the controller 30.

[0108] The solenoid valve 31DL operates in response to a control command (current command) output by the controller 30. The pilot pressure is adjusted by hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL. The solenoid valve 31DR operates in response to a control command (current command) output by the controller 30. The pilot pressure is adjusted by hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. The solenoid valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the solenoid valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0109] A pilot pressure sensor 32DL that detects pilot pressure is provided in a pilot line that connects the solenoid valve 31DL and one port (the left port of the control valve 173) of the control valve 173. A pilot pressure sensor 32DR that detects pilot pressure is provided in a pilot line that connects the solenoid valve 31DR and the other port (the right port of the control valve 173). Values ​​detected by the pilot pressure sensors 32DL and 32DR are transmitted to the controller 30.

[0110] With this configuration, in response to a left rotation operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL. Moreover, regardless of a left rotation operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the solenoid valve 31DL. In other words, the controller 30 can rotate the upper rotating body 3 left in response to a left rotation operation by the operator or regardless of a left rotation operation by the operator.

[0111] Furthermore, in response to a right turn operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. Furthermore, regardless of a right turn operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 173 via the solenoid valve 31DR. In other words, the controller 30 can rotate the upper rotating body 3 to the right in response to a right turn operation by the operator or regardless of a right turn operation by the operator.

[0112] The above explanation with reference to FIG. 4 relates to a configuration in which the controller 30 operates the swing hydraulic motor 2A using the machine control function, but it also applies to a configuration in which the controller 30 operates the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, etc. using the machine control function.

[0113] Furthermore, although an electric control lever has been described as the operating device 26, a hydraulic control lever may be used instead of an electric control lever. The pilot pressure generated by the hydraulic control lever can be applied to the pilot port of the control valve of the control valve unit that drives the actuator via a proportional valve and a pressure reducing valve. When it is desired to stop the object of operation, the controller 30 can reduce the amount of hydraulic oil flowing into the pilot port by opening the pressure reducing valve. This allows the controller 30 to stop the object of operation. In this way, even when a hydraulic control lever is used, the same control as with an electric control lever can be achieved.

[0114] Next, an example of the flow of processing by the controller 30 to automatically operate the swing hydraulic motor 2A when the undercarriage 1 is traveling (hereinafter referred to as "automatic swing processing") will be described with reference to Figures 5 and 6. Figure 5 is a top view of the work machine 100 traveling at a work site, and shows the transition of the state of the work machine 100 when it makes a right turn. Figure 6 is a flowchart showing an example of the flow of the automatic swing processing. The controller 30 repeatedly executes this automatic swing processing at a predetermined control cycle when the undercarriage 1 is traveling.

[0115] Specifically, work machine 100A in Fig. 5 corresponds to work machine 100 before the traveling operation of the lower traveling structure 1 is started, and work machine 100B in Fig. 5 corresponds to work machine 100 after the traveling operation of the lower traveling structure 1 has finished. In the example shown in Fig. 5, controller 30 does not execute automatic turning processing. Therefore, when the work machine 100 turns along the trajectory TR, a deviation of angle θ occurs between the orientation of the lower traveling structure 1 and the orientation of the upper rotating structure 3.

[0116] Specifically, in work machine 100A, which is work machine 100 before the lower running body 1 starts traveling, the longitudinal axis 1X of the lower running body 1 and the longitudinal axis 3X of the upper rotating body 3 are aligned, and the angle between the longitudinal axis 1X of the lower running body 1 and the longitudinal axis 3X of the upper rotating body 3 is zero degrees. On the other hand, in work machine 100B, which is work machine 100 after completing a right curve, the longitudinal axis 1X of the lower running body 1 and the longitudinal axis 3X of the upper rotating body 3 do not match, and the angle between the longitudinal axis 1X of the lower running body 1 and the longitudinal axis 3X of the upper rotating body 3 is angle θ. Note that the longitudinal axis 1X of the lower running body 1 is the central axis of the lower running body 1 that extends in the longitudinal direction of the lower running body 1, perpendicular to the swing axis PV, and the longitudinal axis 3X of the upper rotating body 3 is the central axis of the upper rotating body 3 that extends in the longitudinal direction of the upper rotating body 3, perpendicular to the swing axis PV.

[0117] The angle θ caused by the vehicle turning to the right is the angle when the longitudinal axis 3X rotates counterclockwise around the turning axis PV relative to the longitudinal axis 1X in a top view. This is because, while the vehicle is turning to the right, a force (centrifugal force) acts on the upper rotating body 3, tending to turn (rotate) the upper rotating body 3 to the left (counterclockwise) around the turning axis PV in a top view.

[0118] The angle θ caused by the vehicle turning left is the angle when the longitudinal axis 3X rotates clockwise around the turning axis PV relative to the longitudinal axis 1X in a top view. This is because, while the vehicle is turning left, a force (centrifugal force) acts on the upper rotating body 3, tending to turn (rotate) the upper rotating body 3 to the right (clockwise) around the turning axis PV in a top view.

[0119] 5 illustrates an example in which the angle θ occurs when the vehicle makes a right turn, but the angle θ can also occur when the lower traveling body 1 is traveling straight ahead. For example, the angle θ can occur when only the left crawler gets stuck in a hole and the upper rotating body 3 tilts downward to the left, causing the upper rotating body 3 to unintentionally turn left, or when only the right crawler gets stuck in a hole and the upper rotating body 3 tilts downward to the right, causing the upper rotating body 3 to unintentionally turn right.

[0120] The controller 30 executes an automatic rotation process to bring this angle θ closer to zero. Specifically, as shown in FIG. 6, the controller 30 determines whether the relative rotation angle between the lower traveling body 1 and the upper rotating body 3 has exceeded a predetermined angle (step ST1). In the illustrated example, the controller 30 calculates the difference between the rotation angle at the start of the traveling operation and the rotation angle at the current time based on the output of the rotation angle sensor S5. The controller 30 then compares the calculated relative rotation angle with a predetermined angle stored in advance in the auxiliary storage device 47 or the like to determine whether the relative rotation angle has exceeded the predetermined angle. Note that the predetermined angle may be calculated dynamically.

[0121] If it is determined that the relative rotation angle does not exceed the predetermined angle (NO in step ST1), the controller 30 ends the current automatic turning process. That is, the controller 30 repeats the determination in step ST1.

[0122] When it is determined that the relative rotation angle exceeds the predetermined angle (YES in step ST1), the controller 30 executes automatic swing control (step ST2). In the illustrated example, the controller 30 automatically operates the swing hydraulic motor 2A so that the relative rotation angle becomes zero. When the automatic swing control shown in FIG. 6 is executed in the example shown in FIG. 5, the controller 30 operates the swing hydraulic motor 2A so that the relative rotation angle becomes zero, thereby automatically swinging the upper swing body 3 to the right.

[0123] The controller 30 may be configured to limit the rotation speed of the upper swing body 3 to a predetermined upper limit when the relative rotation angle is set to zero. This is to prevent the operator from being surprised by a sudden swing operation. Specifically, the controller 30 may be configured to determine the magnitude of the swing torque to be generated by the swing hydraulic motor 2A when executing the automatic swing control shown in FIG. 6 based on at least one of the posture of the attachment AT and the weight of the object being lifted by the attachment AT. The posture of the attachment AT is determined based on, for example, the outputs of the boom angle sensor S1, the arm angle sensor S2, and the bucket angle sensor S3. The weight of the object being lifted by the attachment AT is determined based on, for example, the output of the boom bottom pressure sensor S7B.

[0124] In the example shown in FIG. 6 , the controller 30 executes this automatic turning process while the undercarriage 1 is traveling. Therefore, even during turning (curving), the controller 30 executes automatic turning control if the relative rotation angle exceeds a predetermined angle. That is, even during turning (curving), the controller 30 automatically operates the turning hydraulic motor 2A to turn the upper rotating body 3 and bring the relative rotation angle closer to zero. However, the controller 30 may be configured not to execute automatic turning control during turning. That is, even when the relative rotation angle exceeds a predetermined angle, the controller 30 may be configured not to start automatic turning control until the turning travel transitions to straight travel. This is because the centrifugal force acting on the upper rotating body 3 during straight travel is smaller than that during turning travel, making it easier to accurately turn the upper rotating body 3. In the illustrated example, the controller 30 determines whether the vehicle is turning or straight based on the output of the operation sensor 29. For example, the controller 30 determines that the vehicle is turning when the amount of operation of the left travel lever 26DL is different from the amount of operation of the right travel lever 26DR, and determines that the vehicle is traveling straight when the amount of operation of the left travel lever 26DL is the same as the amount of operation of the right travel lever 26DR.

[0125] Alternatively, the controller 30 may be configured to execute automatic swing control when the work machine 100 is stopped after a traveling operation has ended. In other words, the controller 30 may be configured not to execute automatic swing control while a traveling operation is being performed. In particular, if the work machine 100 is an autonomous work machine such as an unmanned excavator, the controller 30 may be configured to execute automatic swing control after a traveling operation has ended. This is because, in an autonomous work machine, no operator will feel uncomfortable even if a discrepancy occurs between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 while the machine is traveling. In addition, this is because the controller 30 can execute automatic swing control with higher accuracy when the machine is stopped compared to when the machine is traveling.

[0126] The traveling motions include, for example, straight traveling motions, turning traveling motions, pivot turn motions, and spin turn motions. The straight traveling motions include forward straight traveling motions and backward straight traveling motions. The turning traveling motions include forward turning traveling motions and backward turning traveling motions. The pivot turn motion is a motion in which one of the left and right crawlers is stopped while the other is rotated. The spin turn motion is a motion in which the left and right crawlers are simultaneously rotated in opposite directions.

[0127] In the above example, the controller 30 calculates the relative rotation angle as the difference between the rotation angle at the start of the traveling operation and the rotation angle at the current time. However, if the upper rotating body 3 is intentionally rotated during traveling, the controller 30 may calculate the relative rotation angle as the difference between the rotation angle at the end of the intentional rotation and the rotation angle at the current time. This is to avoid the relative rotation angle resulting from the intentional rotation being canceled (returned to zero). In other words, the relative rotation angle returned to zero by the automatic rotation control may be the relative rotation angle resulting from an unintentional rotation.

[0128] Furthermore, in a work machine 100 that is capable of switching control modes, the controller 30 may be configured to execute automatic turning processing only when a specific control mode is selected.

[0129] Specifically, the construction machine 100 may be configured to operate by selecting one control mode from a plurality of control modes including at least a normal mode selected when performing excavation work, etc., and a traveling mode selected when performing traveling operations. Switching between control modes may be achieved by operating a predetermined button, or may be performed automatically based on the outputs of various sensors. The controller 30 may be configured to execute automatic swing processing while the undercarriage 1 is traveling when the traveling mode is selected, and not execute automatic swing processing even when the undercarriage 1 is traveling when the normal mode is selected.

[0130] The control mode may include at least one of a crane mode and a one-lever travel mode. When the crane mode or the one-lever travel mode is selected, the automatic rotation process may not be executed while the lower traveling body 1 is traveling.

[0131] The crane mode is a control mode selected by the operator when lifting a heavy load using a hook attached to a bucket link in a shovel serving as the work machine 100. In the crane mode, the work machine 100 is typically configured to slow down the movement of the attachment AT compared to when the normal mode is selected. This is to prevent the attachment AT from being moved suddenly.

[0132] The one-lever travel mode is a control mode selected by the operator when realizing the travel operation of the work machine 100 using one operating lever. In the illustrated example, the one-lever travel mode is realized using the left operating lever 26L. In the one-lever travel mode, the controller 30 moves the undercarriage 1 forward when the left operating lever 26L is tilted forward, turns the undercarriage 1 to the right when the left operating lever 26L is tilted right, turns the undercarriage 1 to the left when the left operating lever 26L is tilted left, and moves the undercarriage 1 backward when the left operating lever 26L is tilted rearward. In the one-lever travel mode, the controller 30 moves the lower running body 1 diagonally forward to the right when the left operating lever 26L is tilted diagonally forward to the right; moves the lower running body 1 diagonally forward to the left when the left operating lever 26L is tilted diagonally forward to the left; moves the lower running body 1 diagonally backward to the right when the left operating lever 26L is tilted diagonally backward to the right; and moves the lower running body 1 diagonally backward to the left when the left operating lever 26L is tilted diagonally backward to the left. In the one-lever travel mode, the rotation of the upper rotating body 3 is realized, for example, by using a left-right slide switch provided at the tip of the left operating lever 26L. The left-right slide switch is configured to be operated with the thumb of the left hand. Specifically, the controller 30 rotates the upper rotating body 3 to the right when the right portion of the left-right slide switch is pressed with the thumb, and rotates the upper rotating body 3 to the left when the left portion of the left-right slide switch is pressed with the thumb. The left-right slide switch is typically configured to return to a neutral state when the thumb is released. The controller 30 may also be configured to execute automatic turning control when the one-lever driving mode is selected as the control mode.

[0133] The controller 30 may also be configured to execute an automatic swing process when a predetermined button is pressed. In the illustrated example, the predetermined button, an "automatic swing control button," is one of the input devices D2 and is provided at the tip of the left operation lever 26L. Typically, the automatic swing control button is provided separately from the left-right slide switch provided at the tip of the left operation lever 26L. The controller 30 may also be configured to switch between a state in which the automatic swing process is executed (ON state) and a state in which the automatic swing process is not executed (OFF state) each time the automatic swing control button is pressed. In this case, if a misalignment occurs between the orientation of the lower traveling body and the orientation of the upper rotating body during traveling operation, the operator can press the automatic swing control button to start automatic swing control and eliminate the misalignment. Alternatively, the controller 30 may be configured to execute the automatic swing process only while the automatic swing control button is pressed.

[0134] Next, another example of the flow of the automatic rotation processing will be described with reference to Fig. 7. Fig. 7 is a flowchart showing another example of the flow of the automatic rotation processing. The controller 30 repeatedly executes this automatic rotation processing at a predetermined control period while the lower traveling body 1 is performing a traveling operation. The example shown in Fig. 7 differs from the example shown in Fig. 6 in that the automatic rotation control is executed before relative rotation between the lower traveling body 1 and the upper rotating body 3 occurs.

[0135] Specifically, the controller 30 determines whether or not relative rotation occurs between the lower traveling body 1 and the upper rotating body 3 (step ST11). This relative rotation is unintended relative rotation unrelated to the operator's turning operation. In the illustrated example, when the controller 30 determines, based on the output of the operation sensor 29, that a turning traveling operation is being performed, it determines (estimates) that relative rotation occurs between the lower traveling body 1 and the upper rotating body 3.

[0136] If it is determined that no relative rotation occurs (NO in step ST11), the controller 30 ends the current automatic turning process. That is, the controller 30 repeats the determination in step ST11.

[0137] When it is determined that relative rotation will occur (YES in step ST11), the controller 30 executes automatic swing control (step ST12). In the illustrated example, the controller 30 automatically operates the swing hydraulic motor 2A so that the relative rotation angle is maintained at zero. When the automatic swing control shown in FIG. 7 is executed in the example shown in FIG. 5, the controller 30 operates the swing hydraulic motor 2A to automatically swing the upper swing body 3 to the right so that the relative rotation angle is maintained at zero. As a result, the force that tries to swing the upper swing body 3 to the left (for example, a force including centrifugal force) and the force that tries to swing the upper swing body 3 to the right (a force by the swing hydraulic motor 2A) cancel each other out, and the relative rotation angle is maintained at zero.

[0138] The controller 30 may be configured to limit the swing torque to a predetermined upper limit torque when the relative rotation angle is maintained at zero. This is to prevent the upper swing body 3, which is attempting to swing in one direction (left), from swinging in the other direction (right). Specifically, the controller 30 may be configured to determine the magnitude of the swing torque to be generated by the swing hydraulic motor 2A when executing the automatic swing control shown in Fig. 7, based on at least one of the attitude of the attachment AT and the weight of the object being lifted by the attachment AT.

[0139] Next, an example of a display screen 85 displayed on the image display unit D42 of the display device D1 will be described with reference to Fig. 8. Fig. 8 is a diagram showing an example of a display screen 85 displayed by the display device D1. The display screen 85 is displayed on the image display unit D42 while the work machine 100 is in operation.

[0140] The controller 30 generates a display screen 85 based on the image information input from the imaging device S6 and various information received from the controller 30. The information received from the controller 30 includes the turning angle and the detection results of various sensors.

[0141] The image display unit D42 displays a display screen 85 including a date and time display area 42a, a driving mode display area 42b, an attachment display area 42c, a fuel efficiency display area 42d, an engine control status display area 42e, a coolant temperature display area 42g, a remaining fuel amount display area 42h, an RPM level display area 42i, a urea water remaining amount display area 42j, a hydraulic oil temperature display area 42k, a first image display area 421, a second image display area 422, and a third image display area 423. The display screen 85 may include other display areas.

[0142] The travel mode display area 42b, the attachment display area 42c, the engine control state display area 42e, and the rotation speed level display area 42i are areas that display setting state information, which is information related to the setting state of the work machine 100. The fuel economy display area 42d, the coolant temperature display area 42g, the remaining fuel amount display area 42h, the remaining urea water amount display area 42j, and the hydraulic oil temperature display area 42k are areas that display operating state information, which is information that represents the operating state of the work machine 100 based on the detection results of various sensors.

[0143] The date and time display area 42a is an area that displays the current date and time. The driving mode display area 42b is an area that displays the current driving mode. The attachment display area 42c is an area that displays an image representing the currently attached attachment. The fuel efficiency display area 42d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 42d includes an average fuel efficiency display area 42d1 that displays lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 42d2 that displays instantaneous fuel efficiency.

[0144] The engine control status display area 42e is an area that displays the control status of the engine 11. The coolant temperature display area 42g is an area that displays the current temperature status of the engine coolant. The remaining fuel amount display area 42h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0145] The rotation speed level display area 42i is an area that displays the current level set by the dial 48 as an image. A number indicating the selected level is displayed in the rotation speed level display area 42i. The number "1" displayed in the rotation speed level display area 42i indicates that the selected rotation speed level is the "first level." The number "n" displayed in the rotation speed level display area 42i indicates that the selected rotation speed level is the "nth level." "n" is a natural number. When the operator rotates the dial 48, the number displayed in the rotation speed level display area 42i changes.

[0146] The urea water remaining amount display area 42j is an area that displays the remaining amount of urea water stored in the urea water tank using an image. The hydraulic oil temperature display area 42k is an area that displays the temperature of the hydraulic oil in the hydraulic oil tank.

[0147] 8, the first image display area 421 and the second image display area 422 are areas that display image information captured by the imaging device S6. A right-hand image is displayed in the first image display area 421, and a rearward image is displayed in the second image display area 422. A bird's-eye image is displayed in the third image display area 423. The right-hand image is an image that shows the space to the right of the work machine 100, and the rearward image is an image that shows the space behind the work machine 100. The bird's-eye image is an image that shows the state of the work machine 100 as seen from directly above.

[0148] The right image is a real viewpoint image generated by the controller 30, and includes a right frame image 421a that is an image of the right frame of the upper rotating body 3. The right image is generated based on an image acquired by the camera S6R.

[0149] The rear image is a real viewpoint image generated by the controller 30, and includes the counterweight image 422a. The rear image is generated based on an image acquired by the camera S6B.

[0150] The overhead image is a virtual viewpoint image generated by the controller 30. The overhead image may include a composite image generated based on images acquired by each of the cameras S6B, S6L, and S6R. In this case, the overhead image shows the space around the work machine 100. In the illustrated example, the overhead image includes a lower running structure graphic 1G, an upper rotating structure graphic 3G, an arrow image AG, and a message image MG, but does not include a composite image generated based on images acquired by each of the cameras S6B, S6L, and S6R.

[0151] The lower running body graphic 1G is a graphic representing the lower running body 1, and the upper rotating body graphic 3G is a graphic representing the upper rotating body 3. In the illustrated example, the upper rotating body graphic 3G is displayed so that the graphic portion representing the attachment AT included in the upper rotating body graphic 3G always faces upward on the display screen 85. Therefore, the lower running body graphic 1G is configured to rotate with respect to the upper rotating body graphic 3G when the upper rotating body 3 rotates. Specifically, the lower running body graphic 1G rotates to the left (counterclockwise) when the upper rotating body 3 rotates to the right (clockwise), and rotates to the right (clockwise) when the upper rotating body 3 rotates to the left (counterclockwise). The lower track body graphic 1G and upper revolving body graphic 3G shown in FIG. 8 indicate that the upper revolving body 3 of the work machine 100, in which the longitudinal axis 1X of the lower track body 1 and the longitudinal axis 3X of the upper revolving body 3 were aligned before the start of a traveling operation, has unintentionally swung to the left during a traveling operation. However, when a traveling operation is being performed, the graphic portion representing the crawler included in the lower track body graphic 1G, rather than the graphic portion representing the attachment AT included in the upper revolving body graphic 3G, may be displayed so as to always face upward on the display screen 85. In this case, the upper revolving body graphic 3G may be configured to rotate with respect to the lower track body graphic 1G when the upper revolving body 3 rotates. Specifically, the upper revolving body graphic 3G may rotate to the right (clockwise) when the upper revolving body 3 rotates to the right (clockwise), and may rotate to the left (counterclockwise) when the upper revolving body 3 rotates to the left (counterclockwise).

[0152] Furthermore, the controller 30 may be configured to change the display mode of at least one of the lower body graphic 1G and the upper body graphic 3G during execution of the automatic swing control so that the operator can recognize that the automatic swing control is being executed. In the example shown in Fig. 8, the controller 30 is configured to fill in the upper body graphic 3G, which is normally filled in white, with green during execution of the automatic swing control. Note that the lower body graphic 1G is configured to always be filled in white.

[0153] The arrow image AG is an image that indicates the rotation direction of the upper rotating body 3 that is rotated by the automatic rotation control. The arrow image AG shown in Fig. 8 is displayed as an arc with an arrowhead at the right end, indicating that the rotation direction by the automatic rotation control is to the right (clockwise direction). In other words, the arrow image AG shown in Fig. 8 indicates that the upper rotating body 3, which has unintentionally rotated to the left during a traveling operation, is being rotated to the right to eliminate the misalignment between the orientation of the lower traveling body and the orientation of the upper rotating body.

[0154] The message image MG is a text image that is displayed when automatic turning control is being executed. In the illustrated example, the message image MG pops up when automatic turning control is started and disappears when automatic turning control is completed. The text image displayed as the message image MG is, for example, "Automatic turning control in progress." The message image MG may also be displayed in a blinking manner.

[0155] The controller 30 may also be configured to output a voice message while the automatic turning control is being executed. Specifically, the controller 30 may be configured to output a mechanical voice such as "Automatic turning in progress" while the automatic turning control is being executed.

[0156] The first image display area 421 is displayed to the right with the center point 424 as the reference. The second image display area 422 is displayed below with the center point 424 as the reference. In this embodiment, the bottom of the image display unit D42 corresponds to the rear of the upper rotating body 3. That is, the image display unit D42 displays image information captured by the imaging device S6 in the direction captured by the imaging device S6 with the center point 424 as the reference. Since the image information captured in the direction captured with the center point 424 as the reference is displayed, the operator can intuitively recognize in which direction the situation is represented by the image information when referring to the image information. Therefore, improved operability can be achieved.

[0157] Note that this embodiment shows an example of the arrangement of image information, and is not limited to this arrangement. For example, the first image display area 421, the second image display area 422, and the third image display area 423 may be arranged regardless of the imaging direction.

[0158] Next, a case where an operator remotely controls the work machine 100 will be described. Fig. 9 is a schematic diagram showing an example configuration of a remote operation system SYS according to an embodiment of the present disclosure. In the example shown in Fig. 9, the work machine 100 and the remote operation room RC are connected via a communication network NT. This enables transmission and reception of information between the work machine 100 and the remote operation room RC.

[0159] The work machine 100 transmits detection results from various sensors provided on the work machine 100 to the remote control room RC using the communication device T1 provided on the work machine 100. For example, the work machine 100 transmits image information captured by the imaging device S6, the turning angle, and detection results from the various sensors to the remote control room RC.

[0160] The remote control system SYS is provided with a remote control room RC. The remote control room RC is provided with a display device DR, an operation device R26, an operation sensor R29, an operation seat DS, a remote controller R30, and a communication device T2. An automatic rotation control button is provided at the tip of the operation device R26.

[0161] The remote controller R30 displays on the display device DR a display screen based on the image information captured by the imaging device S6, the turning angle, and the detection results of the various sensors. The display device DR displays a screen based on information transmitted from the work machine 100 so that the operator OP in the remote control room RC can visually confirm the surroundings of the work machine 100. This allows the operator OP seated in the operator's seat DS to confirm the situation around the work machine 100 while in the remote control room RC.

[0162] Furthermore, the operator OP operates the operation device R26. Then, the operation sensor R29 detects the operation content received by the operation device R26. Then, the controller 30 generates a control signal corresponding to the operation content (including pressing the automatic swing control button). Then, the communication device T2 transmits the generated control signal to the work machine 100. When the remote controller R30 transmits the control signal, the work machine 100 can be remotely operated.

[0163] The controller 30 of the work machine 100 can start the execution of various controls, including automatic swing control, in response to control signals from the remote controller R30. Note that the remote controller R30 may also execute various controls, including automatic swing control, without going through the controller 30. In this case, the controller 30 may be omitted.

[0164] The remote operation system SYS described above may also be used as a system for operating an autonomously operated construction machine such as an unmanned excavator. Specifically, the remote controller R30 may perform autonomous control of the construction machine 100 by transmitting a control signal generated independently of the operation of the operation device R26 to the controller 30.

[0165] 1, the work machine 100 according to the embodiment of the present disclosure includes a lower traveling body 1, an upper rotating body 3 rotatably mounted on the lower traveling body 1, and a hydraulic swing motor 2A as a swing motor mounted on the upper rotating body 3. The work machine 100 is configured to perform automatic swing control of the upper rotating body 3 by the hydraulic swing motor 2A so as to suppress relative rotation between the lower traveling body 1 and the upper rotating body 3 when traveling.

[0166] This configuration brings about an effect of suppressing deviation between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 that occurs while the lower traveling body 1 is traveling.

[0167] 1, the work machine 100 may be equipped with a swing brake SB that uses frictional force to brake the relative rotation between the lower traveling body 1 and the upper rotating body 3 when a traveling operation is being performed. The work machine 100 may be configured so that braking by the swing brake SB is released when automatic swing control is being executed.

[0168] This configuration has the effect of suppressing wear on the turning brake SB due to the automatic turning control.

[0169] Furthermore, the work machine 100 may be configured so that the control mode can be switched between at least a first control mode and a second control mode. The work machine 100 may be configured to execute automatic swing control when in the first control mode. In the illustrated example, the first control mode is a traveling mode, and the second control mode is a normal mode.

[0170] This configuration has the effect of enabling automatic turning control to be executed at appropriate timing, while preventing automatic turning control from being executed at inappropriate timing.

[0171] The running motion may also include a straight running motion, a curved running motion, a pivot turn motion, and a spin turn motion.

[0172] This configuration brings about the effect of appropriately eliminating undesirable misalignment between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3, which may occur in various situations.

[0173] In addition, the work machine 100 may be configured to execute automatic rotation control when the relative rotation angle between the lower traveling body 1 and the upper rotating body 3 during traveling operation becomes equal to or greater than a predetermined angle.

[0174] This configuration has the effect of efficiently eliminating any discrepancy between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 that occurs while the lower traveling body 1 is traveling. This is because, even when undesired left turns and undesired right turns occur randomly, when the relative rotation angle in one direction becomes equal to or greater than a predetermined angle, the upper rotating body 3 is rotated in the other direction by the amount of the relative rotation angle, thereby eliminating any discrepancy between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 that occurs while the lower traveling body 1 is traveling.

[0175] Furthermore, the work machine 100 may be configured to execute automatic swing control before relative rotation between the lower traveling body 1 and the upper swing body 3 occurs.

[0176] This configuration has the effect of improving the riding comfort of the operator compared to a case where a misalignment occurs between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 while the lower traveling body 1 is traveling and then the misalignment is eliminated, because this configuration can suppress the occurrence of undesired rotation of the upper rotating body 3.

[0177] The traveling operation may also include an operation of traveling while maintaining the angle θ between the longitudinal axis 1X of the lower traveling body 1 and the longitudinal axis 3X of the upper rotating body 3 at a predetermined angle. The predetermined angle may include an angle other than 0 degrees. For example, the traveling operation may be an operation of traveling while maintaining the angle θ between the longitudinal axis 1X of the lower traveling body 1 and the longitudinal axis 3X of the upper rotating body 3 at 90 degrees (so-called crab traveling operation).

[0178] This configuration has the effect of being able to accommodate a case where the operator causes the lower traveling body 1 to travel with the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 intentionally changed.

[0179] The work machine 100 may also be configured to determine the magnitude of the swing torque generated by the swing hydraulic motor 2A when performing automatic swing control, based on the attitude of the attachment AT attached to the upper swing body 3.

[0180] This configuration has the effect of preventing the swing speed of the upper swing body 3 from becoming excessively high or low during execution of automatic swing control. This is because, when the swing radius is small, if a swing torque of the same magnitude as that generated when the swing radius is large is generated, the swing speed of the upper swing body 3 may become excessively high. Conversely, when the swing radius is large, if a swing torque of the same magnitude as that generated when the swing radius is small is generated, the swing speed of the upper swing body 3 may become excessively low.

[0181] Furthermore, the work machine 100 may be configured to determine the magnitude of the swing torque generated by the swing hydraulic motor 2A when executing automatic swing control, based on the weight of an object being lifted by the attachment AT attached to the upper swing body 3. The object being lifted by the attachment AT may be, for example, soil and sand taken into the bucket 6, or a clay pipe hoisted up using a hook attached to the bucket link.

[0182] This configuration also has the effect of preventing the rotation speed of the upper rotating body 3 from becoming excessively high or low during execution of automatic rotation control. This is because, when the weight of the object is light, if a rotation torque of the same magnitude as that generated when the weight of the object is heavy is generated, the rotation speed of the upper rotating body 3 may become excessively high. Conversely, when the weight of the object is heavy, if a rotation torque of the same magnitude as that generated when the weight of the object is light is generated, the rotation speed of the upper rotating body 3 may become excessively low.

[0183] Furthermore, the work machine 100 may be configured to execute automatic swing control when a predetermined button is pressed. In other words, the work machine 100 may be configured not to execute automatic swing control when the predetermined button is not pressed. In the illustrated example, the predetermined button is an automatic swing control button provided at the tip of the left operation lever 26L, and the controller 30 is configured to switch between a state in which automatic swing processing is executed (ON state) and a state in which automatic swing processing is not executed (OFF state) each time the automatic swing control button is pressed.

[0184] This configuration has the effect of allowing the operator to select whether or not to start the execution of automatic swing control, and therefore, this configuration can prevent the execution of automatic swing control from being started even when the operator does not want it to.

[0185] Furthermore, the work machine 100 may be configured to display a predetermined image on the display device D1 when automatic swing control is being executed. In the illustrated example, the work machine 100 is configured to display an image such as that shown in Fig. 8 on the display device D1 when automatic swing control is being executed.

[0186] This configuration has the effect of informing the operator that automatic swing control is being executed, and therefore, this configuration can prevent the operator, who is unaware that automatic swing control is being executed, from feeling uncomfortable about the automatic swing of the upper swing body 3.

[0187] Furthermore, as shown in FIG. 9, the remote control system SYS according to an embodiment of the present disclosure has a work machine 100 and a control device (remote controller R30) that performs automatic rotation control of the rotation motor (swing hydraulic motor 2A) so as to suppress relative rotation between the lower traveling body 1 and the upper rotating body 3 during traveling operation.

[0188] This configuration brings about an effect of suppressing deviation between the orientation of the lower traveling body 1 and the orientation of the upper rotating body 3 that occurs while the lower traveling body 1 is traveling.

[0189] The preferred embodiments of the present disclosure have been described above. However, the present invention is not limited to the above-described embodiments or the embodiments described below. Various modifications, substitutions, etc. may be applied to the above-described or the embodiments described below without departing from the scope of the present invention. Furthermore, each of the features described with reference to the above-described or the embodiments described below may be combined as appropriate unless technically inconsistent. [Explanation of symbols]

[0190] 1···Undercarriage 1G···Undercarriage figure 1X···Front and rear axles 2···Swing mechanism 2A···Swing hydraulic motor 2ML···Left travel hydraulic motor 2M···Travel hydraulic motor 2MR···Right travel hydraulic motor 3···Upper rotating body 3G···Upper rotating body figure 3X···Front and rear axles 4···Boom 5···Arm 6···Bucket 6a···Toe 6b···Rear side 7···Boom cylinder 8···Arm cylinder 9···Bucket cylinder 10···Cabin 11··Engine 13···Regulator 13L···Left regulator 13R···Right regulator 14···Main pump 14L···Left main pump 14R···Right main pump 15···Pilot pump 17···Control valve unit 18···Throttle 18L Left throttle 18R Right throttle 19 Control pressure sensor 19L Left control pressure sensor 19R Right control pressure sensor 26 Control device 26D Travel lever 26DL Left travel lever 26DR Right travel lever 26L Left control lever 26R Right control lever 28, 28L, 28R Discharge pressure sensor 29, 29LA, 29LB, 29RA, 29RB, 29DL, 29DR Operation sensor 30 Controller 31, 31DL, 31DR Solenoid valve 32, 32DL, 32DR Pilot pressure sensor 40 Center bypass line 40L Left center bypass line 40R Right center bypass line 42 Parallel line 42a...Date and time display area 42b...Driving mode display area 42c...Attachment display area 42d...Fuel consumption display area 42e...Engine control status display area 42g...Coolant temperature display area 42h...Remaining fuel level display area 42i...RPM level display area 42j...Remaining urea water level display area 42k...Hydraulic oil temperature display area 42L...Left parallel pipe 42R...Right parallel pipe 47...Auxiliary memory device 48...Dial 49...Output characteristics selector switch 85...Display screen 100, 100A, 100B...Work machine 171-176...Control valve 421...First image display area 421a...Right frame image 422...Second image display area 422a···Counterweight image423...Third image display area 424...Center point AG...Arrow image AT...Attachment D1...Display device D2...Input device D42...Image display section DR...Display device DS...Operator's seat MG...Message image NS...Switch NT...Communication network OP...Operator PS...Positioning device R26...Operation device R29...Operation sensor R30...Remote controller RC...Remote operation room S1...Boom angle sensor S2...Arm angle sensor S3...Bucket angle sensor S4...Machine tilt sensor S5...Slewing angle sensor S6...Image capture device S7B...Boom bottom pressure sensor S7R...Boom rod pressure sensor S8B...Arm bottom pressure sensor S8R...Arm rod pressure sensor S9B...Bucket bottom pressure sensor S9R...Bucket rod pressure sensor S6B, S6F, S6L, S6R...Camera SYS...Remote control system T1...Communication device T2...Communication device TR...Trajectory

Claims

1. a lower running body; an upper rotating body rotatably mounted on the lower traveling body; a rotation motor mounted on the upper rotating body, performing automatic rotation control of the upper rotating body by the rotation motor so as to suppress relative rotation between the lower traveling body and the upper rotating body when a traveling operation is being performed; Work machinery.

2. a swing brake that brakes relative rotation between the lower traveling body and the upper rotating body by frictional force when a traveling operation is being performed, The braking by the turning brake is released when the automatic turning control is being executed.

2. The work machine according to claim 1.

3. The control mode is configured to be switched between at least a first control mode and a second control mode; The automatic turning control is executed in the first control mode.

2. The work machine according to claim 1.

4. The running motion includes a straight running motion, a curved running motion, a pivot turn motion, and a spin turn motion.

2. The work machine according to claim 1.

5. The automatic swing control is executed when a relative rotation angle between the lower traveling body and the upper rotating body during the traveling operation becomes equal to or greater than a predetermined angle.

2. The work machine according to claim 1.

6. executing the automatic swing control before relative rotation between the lower traveling body and the upper swing body occurs; 2. The work machine according to claim 1.

7. the traveling operation includes an operation of traveling while maintaining an angle between a front-rear axis of the lower traveling body and a front-rear axis of the upper rotating body at a predetermined angle, The predetermined angle includes angles other than 0 degrees.

2. The work machine according to claim 1.

8. determining the magnitude of the swing torque to be generated by the swing motor when the automatic swing control is executed based on the attitude of the attachment attached to the upper swing body; 2. The work machine according to claim 1.

9. determining the magnitude of the swing torque to be generated by the swing motor when the automatic swing control is executed based on the weight of the object being lifted by the attachment attached to the upper swing body; 2. The work machine according to claim 1.

10. Executing the automatic turning control when a predetermined button is pressed.

2. The work machine according to claim 1.

11. a predetermined image is displayed on a display device while the automatic turning control is being executed; 2. The work machine according to claim 1.

12. a work machine including a lower traveling body, an upper rotating body rotatably mounted on the lower traveling body, and a swing motor mounted on the upper rotating body; a control device that executes automatic swing control of the swing motor so as to suppress relative swing between the lower traveling body and the upper swing body during a traveling operation; A remote control system for a work machine having the above construction.

Images