System and method for automatically controlling a work machine

Abstract

To stably control a working machine in a system for automatically controlling the working machine.SOLUTION: A system according to an aspect of the present disclosure is a system for automatically controlling a work machine, and includes a secondary controller and a primary controller. The secondary controller calculates a command value for operating the work machine by automatic control. The secondary controller outputs a calculation signal indicating the command value. The primary controller receives the operation signal. The primary controller determines the validity of the operation signal. When the calculation signal is valid, the primary controller accepts the calculation signal and executes automatic control of the work machine based on the calculation signal. When the operation signal is not valid, the primary controller rejects the operation signal and does not execute the automatic control of the work machine.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates to systems and methods for automatically controlling a work machine. [Background technology]

[0002] Conventionally, systems for automatically controlling work machines have been known. For example, in Patent Document 1, a work machine includes a work implement, a rotating body, a control valve, and a controller. The controller includes a processor and a memory. The controller generates signals for automatic control and outputs them to the control valve to drive the work implement and the rotating body. The controller rotates the rotating body and raises the bucket of the work implement, automatically moving the bucket from an excavation position to a predetermined loading position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2024-73906 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described automatic control, it is required to stably control the work machine even if an abnormality occurs in the controller. An object of the present disclosure is to stably control the work machine in a system for automatically controlling the work machine. [Means for solving the problem]

[0005] A system according to one aspect of the present disclosure is a system for automatically controlling a work machine, and includes a secondary controller and a primary controller. The secondary controller calculates a command value for operating the work machine through automatic control. The secondary controller outputs a calculated signal indicating the command value. The primary controller receives the calculated signal. The primary controller determines the validity of the calculated signal. If the calculated signal is valid, the primary controller accepts the calculated signal and performs automatic control of the work machine based on the calculated signal. If the calculated signal is invalid, the primary controller rejects the calculated signal and does not perform automatic control of the work machine.

[0006] A method according to another aspect of the present disclosure is a method for automatically controlling a work machine, which includes receiving a calculation signal indicative of a command value from a secondary controller that calculates a command value for operating the work machine through automatic control, determining the validity of the calculation signal, accepting the calculation signal and performing automatic control of the work machine based on the calculation signal if the calculation signal is valid, and rejecting the calculation signal and not performing automatic control of the work machine if the calculation signal is invalid. [Effects of the Invention]

[0007] According to the present disclosure, the primary controller determines whether the calculation signal from the secondary controller is valid, and if the calculation signal from the secondary controller is invalid, rejects the calculation signal. Therefore, even if an abnormality occurs in the secondary controller, the work machine can be stably controlled. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine according to an embodiment. [Figure 2] 1 is a block diagram showing the configuration of a drive system and a control system of a work machine. [Figure 3] FIG. 2 is a diagram showing a flow of work performed by a work machine. [Figure 4] FIG. 4 is a top view showing the operation of the work machine under automatic swing control. [Figure 5] FIG. 4 is a side view showing the operation of the work machine under automatic swing control. [Figure 6] 10 is a flowchart showing a process of automatic turning control. [Figure 7] FIG. 2 is a block diagram showing the flow of signals in the control system. [Figure 8] FIG. 10 is a diagram showing the transition of the state of acceptance of a calculation signal from a secondary controller in the primary controller. DETAILED DESCRIPTION OF THE INVENTION

[0009] A work machine according to an embodiment will now be described with reference to the drawings. Figure 1 is a side view of a work machine 1. In this embodiment, the work machine 1 is an excavator such as a hydraulic excavator or an electric excavator.

[0010] As shown in FIG. 1, the work machine 1 includes a vehicle body 2 and a work implement 3. The work implement 3 is movably attached to the vehicle body 2. The vehicle body 2 includes a rotating bed 4 and a running bed 5. The work implement 3 is attached to the rotating bed 4. The rotating bed 4 is rotatably connected to the running bed 5. The rotating bed 4 is rotatable around a rotation center C1. A cab 6 is disposed on the rotating bed 4. The running bed 5 includes tracks 7. Note that only one of the left and right tracks 7 is shown in FIG. 1. The work machine 1 travels when the tracks 7 are driven.

[0011] The work implement 3 is attached to the rotating unit 4 so as to be movable up and down. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is rotatably attached to the rotating unit 4. The arm 12 is rotatably attached to the boom 11. The bucket 13 is rotatably attached to the arm 12.

[0012] The work implement 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 operates the boom 11. The arm cylinder 15 operates the arm 12. The bucket cylinder 16 operates the bucket 13.

[0013] Fig. 2 is a block diagram showing the configurations of the drive system 8 and control system 9 of the work machine 1. As shown in Fig. 2, the drive system 8 of the work machine 1 includes a drive source 21 and a hydraulic pump 22. The control system 9 includes a primary controller 24.

[0014] The drive source 21 is controlled by a command signal from the primary controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0015] The work machine 1 includes a swing motor 25. The swing motor 25 is, for example, a hydraulic motor. The swing motor 25 is driven by hydraulic oil from the hydraulic pump 22. Alternatively, the swing motor 25 may be an electric motor. The swing motor 25 swings the swing body 4. Note that although one hydraulic pump is shown in FIG. 2, multiple hydraulic pumps may be provided.

[0016] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve, and is controlled by a command signal from the primary controller 24. The primary controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26.

[0017] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, and the swing motor 25 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from the primary controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16 and the swing motor 25. The primary controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The primary controller 24 controls the swing of the swing body 4 by controlling the control valve 27. It should be noted that the cylinders 14-16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven by an electric motor.

[0018] The primary controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0019] The control system 9 includes an operating device 33, a work implement locking member 34, a swing locking member 35, and an input device 36. The operating device 33, the work implement locking member 34, and the swing locking member 35 are arranged inside the cab 6. The operating device 33 can be operated by an operator to control the travel of the work machine 1, the movement of the work implement 3, and the swing of the rotating body 4. The operating device 33 includes, for example, a lever, a pedal, or a switch. The operating device 33 outputs an operation signal in response to an operation by the operator. The primary controller 24 receives the operation signal from the operating device 33.

[0020] The operation device 33 includes a travel operation member 41, a work implement operation member 42, a swing operation member 43, and an automatic control operation member 44. The primary controller 24 controls the drive source 21 and the travelling body 3 in accordance with operation of the travel operation member 41 so as to travel the work machine 1. The primary controller 24 controls the control valve 27 in accordance with operation of the work implement operation member 42 so as to operate the work implement 3. The primary controller 24 controls the control valve 27 in accordance with operation of the swing operation member 43 so as to swing the swing body 4. The automatic control operation member 44 will be described later.

[0021] The work implement locking member 34 can be operated by an operator to lock the operation of the work implement 3. The work implement locking member 34 is, for example, a lever. The work implement locking member 34 may also be another member, such as a switch. The work implement locking member 34 outputs a work implement lock signal that indicates an operation on the work implement locking member 34. The primary controller 24 receives the work implement lock signal from the work implement locking member 34. When the operation of the work implement 3 is locked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is invalidated. When the work implement 3 is unlocked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is valid.

[0022] The swing lock member 35 can be operated by an operator to lock the swing of the swing unit 4. The swing lock member 35 is, for example, a switch. The swing lock member 35 may also be another member, such as a lever. The swing lock member 35 outputs a swing lock signal indicating an operation to the swing lock member 35. The primary controller 24 receives the swing lock signal from the swing lock member 35. When the swing of the swing unit 4 is locked by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is disabled. When the swing of the swing unit 4 is released by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is enabled.

[0023] The input device 36 can be operated by an operator. The input device 36 is, for example, a touch screen. However, the input device 36 may also include a switch. The operator operates the input device 36 to input various settings related to the work machine 1. The input device 36 outputs an input signal in response to the operator's operation. The primary controller 24 receives the input signal from the input device 36.

[0024] For example, the operator can set the work mode using the input device 36. The work modes include, for example, P mode and E mode. P mode and E mode are modes suitable for excavation work and earth removal work using the bucket 13. The primary controller controls the tractive force of the work machine 1 according to P mode and E mode. In E mode, the primary controller reduces the maximum tractive force more than in P mode, thereby improving fuel efficiency.

[0025] The work modes include a crane mode, which is a mode suitable for crane work in which a load is hoisted from the bucket 13. In the crane mode, the primary controller 24 monitors the load hoisted on the work implement 3, and issues a warning if the load exceeds a threshold value.

[0026] The work modes include various attachment modes. In place of the bucket 13, other attachments such as a breaker or a crusher can be attached to the work implement 3. The various attachment modes are modes suitable for the attached attachment. In the attachment mode, the primary controller 24 adjusts the flow rate of hydraulic oil according to the specific attached attachment.

[0027] The control system 9 includes a position sensor 37, an attitude sensor 38, an automatic control setting device 39, and a secondary controller 40. The position sensor 37 detects the position of the work machine 1. The position sensor 37 also detects the orientation of the work machine 1. The position sensor 37 includes, for example, a sensor using a GNSS (Global Navigation Satellite System). The position sensor 37 outputs a position signal that indicates the position of the work machine 1. The secondary controller 40 receives the position signal from the position sensor 37.

[0028] The attitude sensor 38 detects the attitude of the work machine 1. The attitude sensor 38 includes, for example, an IMU (Inertial Measurement Unit). The attitude sensor 38 detects the attitude of the work machine 1. The attitude of the work machine 1 includes the tilt angle of the vehicle body 2 and the attitude of the work implement 3. The tilt angle of the vehicle body 2 includes the pitch angle and roll angle of the vehicle body 2. The attitude of the work implement 3 includes the respective angles of the boom 11, arm 12, and bucket 13. The attitude sensor 38 outputs an attitude signal that indicates the attitude of the work machine 1. The secondary controller 40 receives the attitude signal from the attitude sensor 38.

[0029] The automatic control setting device 39 is operated by an operator to set control parameters for automatic control of the work machine 1. The control parameters will be described later. The automatic control setting device 39 outputs a control parameter signal indicative of the control parameter. The secondary controller 40 receives the control parameter signal from the automatic control setting device 39.

[0030] The secondary controller 40 includes a processor 45 such as a CPU, and a storage device 46. The processor 45 performs processing for automatic control of the work machine 1. The storage device 46 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 46 stores data and programs for automatic control of the work machine 1. The secondary controller 40 communicates with the primary controller 24.

[0031] The secondary controller 40 executes processing for automatic control of the work machine 1. The secondary controller 40 calculates command values ​​to be sent to the drive system 8 for automatic control. The primary controller 24 outputs a command signal to the drive system 8 based on the command values ​​calculated by the secondary controller 40. Automatic swing control will be described below as an example of automatic control of the work machine 1. In automatic swing control, the secondary controller 40 automatically controls the swing of the swing body 4 and the attitude of the work implement 3.

[0032] FIG. 3 is a diagram showing the flow of work performed by the work machine 1. As shown in FIG. 3, the work machine 1 sequentially performs excavation, loading swing, soil discharge, and return swing. After performing a return swing, the work machine 1 again sequentially performs excavation, loading swing, soil discharge, and return swing. By repeating these operations, the work machine 1 loads objects such as earth and sand onto a transport vehicle such as a dump truck. In automatic swing control, the loading swing and return swing are performed automatically. The automatic swing control includes loading swing control and return swing control.

[0033] Fig. 4 is a top view showing the operation of the work machine 1 under automatic turning control. Fig. 5 is a side view showing the operation of the work machine 1 under automatic turning control. Fig. 6 is a flowchart showing the processing of automatic turning control.

[0034] As shown in Fig. 6, in step S101, the secondary controller 40 acquires a target position. The secondary controller 40 stores a preset target position. The target position is set by the operator operating the automatic control setting device 39. For example, the position of the work implement 3 when the operator performs the target position setting operation using the automatic control setting device 39 is set as the target position.

[0035] As shown in Figures 4 and 5, the target positions include a first target position P1, a second target position P2, and a third target position P3. The first target position P1 is the end point of the return swing. The first target position P1 is set for excavation work. The third target position P3 is the end point of the loading swing. The third target position P3 is set for earth removal work. The third target position P3 is set above the loading platform 101 of the transport vehicle 100. The second target position P2 is a waypoint located between the first target position P1 and the third target position P3 on the swing trajectory of the work implement 3.

[0036] The second target position P2 is set to prevent the work implement 3 from interfering with the transporter vehicle 100. The second target position P2 is set, for example, outside the side surface of the loading platform 101 of the transporter vehicle 100 and above the side surface of the loading platform 101. This prevents the work implement 3 from interfering with the side surface of the loading platform 101.

[0037] In step S102, the secondary controller 40 acquires a swing mode. The secondary controller 40 stores a swing mode selected in advance by an operator. The operator selects the swing mode by operating the automatic control setting device 39. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the secondary controller 40 swings the swing unit 4 counterclockwise to a third target position P3 in loading swing control. In the right loading swing mode, the secondary controller 40 swings the swing unit 4 clockwise to a third target position P3 in loading swing control, which will be described later.

[0038] In step S103, the secondary controller 40 determines whether to start loading swing control. For example, the operator operates the work machine 3 using the work machine operation member 42 to perform excavation, and then commands the start of automatic swing control using the automatic control operation member 44. When the start of automatic swing control is commanded by the automatic control operation member 44, the secondary controller 40 starts loading swing control in step S104.

[0039] 4 and 5, in the loading swing control, the secondary controller 40 swings the swing unit 4 so that the work unit 3 passes through a way-way position based on the second target position P2 and moves to the third target position P3, and also raises the work unit 3. At this time, if the left loading swing mode is selected, the secondary controller 40 swings the swing unit 4 counterclockwise, as shown in FIG. 4. If the right loading swing mode is selected, the secondary controller 40 swings the swing unit 4 clockwise. Note that the way-way position based on the second target position P2 may be a position offset from the second target position P2 with a margin, or may be the second target position P2 itself.

[0040] In step S105, the secondary controller 40 determines whether the work machine 3 has reached the third target position P3. If the secondary controller 40 determines that the work machine 3 has reached the third target position P3, the loading swing control ends in step S106. That is, the secondary controller 40 stops the swing unit 4 at the third target position P3. Thereafter, the operator operates the work machine 3 using the work machine operating member 42 to unload the object from the work machine 3. As a result, the object is loaded onto the loading platform 101 of the transport vehicle 100.

[0041] In step S107, the secondary controller 40 determines whether to start return swing control. For example, if the operator, after unloading an object from the work machine 3, issues a command to start automatic swing control using the automatic control operating member 44, the return swing control is started in step S108.

[0042] 4 and 5, in the return swing control, the secondary controller 40 swings the swing unit 4 and lowers the work unit 3 so that the work unit 3 passes through a waypoint based on the second target position P2 and moves to the first target position P1. At this time, the secondary controller 40 swings the swing unit 4 in the direction opposite to that in the loading swing control. That is, when the left loading swing mode is selected, the secondary controller 40 swings the swing unit 4 clockwise to move the work unit 3 to the first target position P1. When the right loading swing mode is selected, the secondary controller 40 swings the swing unit 4 counterclockwise to move the work unit 3 to the first target position P1.

[0043] In step S109, the secondary controller 40 determines whether the work unit 3 has reached the first target position P1. If the secondary controller 40 determines that the work unit 3 has reached the first target position P1, the secondary controller 40 ends the return swing control in step S110. That is, the secondary controller 40 stops the swing unit 4 at the first target position P1. Thereafter, the operator operates the work unit 3 to excavate the object. As a result, the object is held by the work unit 3. Then, the process returns to step S103, and the above-described operations are repeated.

[0044] Next, an explanation will be given of abnormality monitoring control in automatic control by the primary controller 24. As described above, the secondary controller 40 performs advanced calculations to execute processes for automatic control. Therefore, the secondary controller 40 has higher processing capabilities than the primary controller 24. For example, the operating frequency of the processor 45 of the secondary controller 40 is higher than the operating frequency of the processor 31 of the primary controller 24. The memory capacity of the secondary controller 40 is larger than the memory capacity of the primary controller 24.

[0045] On the other hand, the primary controller 24 has higher reliability than the secondary controller 40. For example, the primary controller 24 has a more advanced self-diagnosis function than the secondary controller 40. The self-diagnosis function is a function that diagnoses its own abnormalities and automatically stops if an abnormality is found. In the control system 9 for the work machine 1 according to this embodiment, the primary controller 24 monitors the state of the work machine 1 during abnormality monitoring control, and executes automatic control if the work machine 1 is in a state suitable for automatic control, but does not execute automatic control if the work machine 1 is not in a state suitable for automatic control.

[0046] Fig. 7 is a block diagram showing the flow of signals in the control system 9. As shown in Fig. 7, the primary controller 24 receives an operation signal from the operation device 33. If the operation signal indicates manual operation using the travel operation member 41, work machine operation member 42, or swing operation member 43, the primary controller 24 outputs a command signal to the drive system 8 in response to the operation signal. This causes the work machine 1 to operate in response to the operation of the operation device 33. If the operation signal indicates an instruction to start automatic control using the automatic control operation member 44, automatic control processing is executed by the secondary controller 40.

[0047] The secondary controller 40 receives the position signal and attitude signal described above. The secondary controller 40 also receives control parameters for automatic control from the automatic control setting device 39. The control parameters include, for example, the target positions P1-P3 described above and the selected swing mode. The secondary controller 40 outputs a control state to the primary controller 24 and the automatic control setting device 39. The control state indicates the state of the work machine 1 during automatic control. The control state includes the position of the work machine 1 and the attitude of the work implement 3. The control state may also include the orientation of the swing bed 4 and the position of the bucket 13. The secondary controller 40 receives trigger information from the primary controller 24. The trigger information includes an instruction to start automatic control by the automatic control operating member 44 described above.

[0048] In automatic control, the secondary controller 40 calculates command values ​​for operating the work machine 1 based on the control parameters, position signals, and attitude signals. The command values ​​include, for example, the speed and direction of operation of the work implement 3 and the speed and direction of rotation of the rotating body 4. The secondary controller 40 outputs a calculation signal indicating the command value to the primary controller 24.

[0049] The primary controller 24 receives the calculation signal and determines the validity of the calculation signal. If the calculation signal is valid, the primary controller 24 accepts the calculation signal and outputs a command signal indicating a command value to the drive system 8. For example, the primary controller 24 outputs a command signal to the control valve 27 to operate the work implement 3 and the rotating body 4 in accordance with the command value. This causes automatic control of the work machine 1 to be executed. If the calculation signal is invalid, the primary controller 24 rejects the calculation signal and does not output a command signal to the drive system 8. This causes automatic control of the work machine 1 to be not executed.

[0050] In detail, the primary controller 24 transitions the acceptance state of the calculation signal from the secondary controller 40 between not permitted, standby, and accepted, depending on the state of the work machine 1. FIG. 8 is a diagram showing the transition of the acceptance state of the calculation signal in the primary controller 24. As shown in FIG. 8, when the control system 9 is started up (condition A), the primary controller 24 sets the acceptance state to not permitted. In other words, immediately after the control system 9 is started up, the primary controller 24 sets the acceptance state to not permitted. If the acceptance state of the calculation signal is not permitted, the primary controller 24 rejects the calculation signal. As a result, if the acceptance state is not permitted, automatic control of the work machine 1 is not executed.

[0051] When the acceptance state is not permitted and the first permission condition B is satisfied, the primary controller 24 transitions the acceptance state from not permitted to standby. The first permission condition B includes the following conditions b1 to b4. (b1) Automatic control is effective. (b2) There is no abnormality in the equipment of work machine 1. (b3) The working machine 1 is in a state suitable for automatic control. (b4) The calculation signal is valid.

[0052] The primary controller 24 determines that condition b1 is satisfied when automatic control is enabled by the automatic control setting device 39. The primary controller 24 determines that condition b2 is satisfied when no abnormality is detected in any of the devices of the work machine 1. For example, the primary controller 24 detects a disconnection between the primary controller 24 and the secondary controller 40 as an abnormality in the devices. The primary controller 24 detects a failure of the operating device 33 as an abnormality in the devices.

[0053] If no abnormality is detected in these devices, primary controller 24 determines that condition b2 is satisfied. If an abnormality is detected in at least one of these devices, primary controller 24 determines that condition b2 is not satisfied.

[0054] The primary controller 24 detects the state of the work machine 1 and determines whether condition b3 is satisfied based on the state of the work machine 1. For example, the primary controller 24 determines whether the tilt angle of the vehicle body 2 is within a predetermined angle.

[0055] The primary controller 24 determines whether an attachment suitable for automatic control is attached to the work implement 3. For example, in the automatic swing control described above, the primary controller 24 determines that an attachment suitable for automatic control is attached when a bucket 13 is attached to the work implement 3. In the automatic swing control, the primary controller 24 determines that an attachment suitable for automatic control is not attached when a breaker is attached to the work implement 3.

[0056] The primary controller 24 determines whether the work mode is appropriate for automatic control. For example, if P mode or E mode is selected for automatic swing control, the primary controller 24 determines that the work mode is appropriate for automatic control. If crane mode is selected for automatic swing control, the primary controller 24 determines that the work mode is not appropriate for automatic control.

[0057] If these states of the work machine 1 are suitable for automatic control, the primary controller 24 determines that condition b3 is satisfied. If at least one of these states of the work machine 1 is not suitable for automatic control, the primary controller 24 determines that condition b3 is not satisfied.

[0058] The primary controller 24 determines that condition b4 is satisfied when the command value of the calculation signal is within a normal range. For example, a predetermined normal range is set for the operating speed of the work implement 3. Also, a predetermined normal range is set for the rotation speed of the revolving unit 4. When the operating speed of the work implement 3 and the rotation speed of the revolving unit 4 are both within their normal ranges, the primary controller 24 determines that the command value of the calculation signal is within the normal range.

[0059] If these command values ​​are within the normal range, primary controller 24 determines that condition b4 is satisfied. If at least one of these command values ​​is not within the normal range, primary controller 24 determines that condition b4 is not satisfied.

[0060] The primary controller 24 maintains the acceptance state as not permitted when at least one of the conditions b1-b4 is not satisfied. The primary controller 24 transitions the acceptance state from not permitted to standby when all of the above-mentioned conditions b1-b4 are satisfied. The primary controller 24 rejects the calculation signal when the acceptance state of the calculation signal is standby. As a result, when the acceptance state is standby, automatic control of the work machine 1 is not executed.

[0061] If the second permission condition C is satisfied when the acceptance status is standby, the primary controller 24 transitions the acceptance status from standby to approval. The second permission condition C includes the following conditions c1 to c4. (c1) An instruction to start automatic control has been issued. (c2) There is no request from the secondary controller 40 to transition to non-permission. (c3) The work machine 1 is in an operating state that intends to start automatic control. (c4) The calculation signal use flag is on.

[0062] The primary controller 24 determines whether condition c1 is satisfied based on an operation signal from the automatic control operation member 44. The primary controller 24 determines that condition c1 is satisfied when the operation signal from the automatic control operation member 44 indicates an instruction to start automatic control. For example, the automatic control operation member 44 may include two switches, and the primary controller 24 may determine that condition c1 is satisfied when the two switches are simultaneously turned on.

[0063] The primary controller 24 determines whether condition c2 is satisfied based on the request to transition to disallowance from the secondary controller 40. The secondary controller 40 outputs the request to transition to disallowance to the primary controller 24 when the control parameters are inappropriate. For example, when the positional relationship between the target positions P1-P3 is inappropriate for automatic control, such as when the first to third target positions P1-P3 are too close to each other, the secondary controller 40 outputs the request to transition to disallowance to the primary controller 24. The primary controller 24 determines that condition c2 is satisfied when it has not received a request to transition to disallowance from the secondary controller 40.

[0064] The primary controller 24 determines whether condition c3 is satisfied based on the operating state of the work machine 1. For example, the primary controller 24 determines whether the lock on the swing by the swing lock member 35 has been released. The primary controller 24 determines whether the lock on the work machine 3 by the work machine lock member 34 has been released. The primary controller 24 determines whether the work machine 1 is not traveling.

[0065] The primary controller 24 determines that condition c3 is satisfied when these operational states are states intended to start automatic control, and determines that condition c3 is not satisfied when at least one of these operational states is not a state intended to start automatic control.

[0066] The primary controller 24 determines whether condition c4 is satisfied based on the calculation signal use flag from the secondary controller 40. The secondary controller 40 outputs a calculation signal use flag to the primary controller 24, indicating that the secondary controller 40 is capable of executing automatic control. The secondary controller 40 sets the calculation signal use flag to ON when it receives a signal from the primary controller 24 indicating that condition c1 is satisfied. For example, the secondary controller 40 sets the calculation signal use flag to ON when it receives from the primary controller 24 an instruction to start automatic control using the automatic control operating member 44 as trigger information. Note that the secondary controller 40 may also set the calculation signal use flag to ON when it receives from the primary controller 24 a signal indicating that conditions c1 and c3 are satisfied. The primary controller 24 determines that condition c4 is satisfied when the calculation signal use flag is ON.

[0067] If at least one of the conditions c1-c4 is not satisfied, the primary controller 24 maintains the acceptance state at standby. If all of the above-mentioned conditions c1-c4 are satisfied, the primary controller 24 transitions the acceptance state from standby to approval. If the acceptance state of the calculation signal is approval, the primary controller 24 accepts the calculation signal. As a result, if the acceptance state is approval, automatic control of the work machine 1 is executed.

[0068] On the other hand, when the acceptance status is approval, the primary controller 24 transitions the acceptance status from approval to standby if the first non-permission condition D is satisfied. The first non-permission condition D includes the following condition d1. (d1) The calculation signal use flag is off.

[0069] When the automatic control has ended normally, the secondary controller 40 switches the calculation signal use flag from on to off. When the calculation signal use flag is off, the primary controller 24 determines that condition d1 is satisfied. When condition d1 is not satisfied, the primary controller 24 maintains the acceptance state at approved. When condition d1 is satisfied, the primary controller 24 transitions the acceptance state from approved to standby.

[0070] When the acceptance state is standby, the primary controller 24 transitions the acceptance state from standby to non-permission if the second non-permission condition E is satisfied. The second non-permission condition E includes the following conditions e1-e4. (e1) The opposite condition of the first permission condition B is satisfied. (e2) The reliability of the calculation signal is low. (e3) Timeout. (e4) The work implement 3 is in a locked state.

[0071] The primary controller 24 determines that the condition e1 is satisfied when at least one of the conditions b1-b4 is not satisfied. For example, the primary controller 24 determines that the condition e1 is satisfied when the calculation signal is invalid. Alternatively, the primary controller 24 determines that the condition e1 is satisfied when the tilt angle of the vehicle body 2 is greater than a predetermined angle.

[0072] A low reliability of the calculation signal for condition e2 indicates that there is a possibility that data has been rewritten by a third party. When a control parameter has been changed, the primary controller 24 determines whether the change in control parameter was intentionally made by the operator of the work machine 1. When the change in control parameter was not intentionally made by the operator of the work machine 1, the primary controller 24 determines that the reliability of the calculation signal is low.

[0073] For example, when the operator changes a control parameter such as the target position P1-P3 using the automatic control setting device 39, the secondary controller 40 transmits a change list of the changed control parameters to the primary controller 24. When the value of a control parameter not included in the change list has been changed, the primary controller 24 determines that the reliability of the calculation signal is low and determines that condition e2 is satisfied.

[0074] The primary controller 24 determines whether condition e3 is satisfied based on the time elapsed since the receiving state became standby. The primary controller 24 measures the time elapsed since the receiving state became standby. The primary controller 24 determines that condition e3 is satisfied when there is no instruction to start automatic control and the elapsed time is equal to or greater than a predetermined time. The primary controller 24 determines that condition e4 is satisfied when the operation of the work implement 3 is locked by the work implement locking member 34.

[0075] The primary controller 24 determines that the second non-permission condition E is met when at least one of the conditions e1-e4 is met. When the second non-permission condition E is not met, the primary controller 24 maintains the acceptance state at standby. When the second non-permission condition E is met, the primary controller 24 transitions the acceptance state from standby to non-permission.

[0076] When the acceptance status is approval, if a third disapproval condition F is satisfied, the primary controller 24 transitions the acceptance status from approval to disapproval without waiting. The third disapproval condition F includes the following conditions f1-e4. (f1) The opposite condition of the first permitting condition B1 is satisfied. (f2) The reliability of the calculation signal is low. (f3) Rotation operation is performed using the operating device 33. (f4) An instruction to end automatic control has been issued.

[0077] Conditions f1 and f2 are the same as conditions e1 and e2 described above. The primary controller 24 determines that condition f3 is satisfied when the operation signal from the operation device 33 indicates a rotation operation by the rotation operation member 43. The primary controller 24 determines that condition f4 is satisfied when the operation signal from the operation device 33 indicates a termination instruction by the automatic control operation member 44. For example, if the automatic control operation member 44 includes two switches as described above, the primary controller 24 may determine that condition e4 is satisfied when at least one of the two switches is operated to be OFF.

[0078] The primary controller 24 determines that the third non-permission condition F is met when at least one of the conditions f1-f4 is met. When the third non-permission condition F is not met, the primary controller 24 maintains the acceptance state as approved. When the third non-permission condition F is met, the primary controller 24 transitions the acceptance state from approved to non-permission without waiting.

[0079] According to the control system 9 for the work machine 1 according to this embodiment described above, the secondary controller 40 is able to perform advanced processing for automatic control. Furthermore, the primary controller 24 determines whether the calculation signal from the secondary controller 40 is valid, and rejects the calculation signal if it is not valid. Therefore, even if an abnormality occurs in the secondary controller 40, the work machine 1 can be controlled stably.

[0080] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0081] The configuration of the work machine 1 is not limited to that of the above embodiment and may be modified. For example, the work machine 1 is not limited to a shovel, but may be other machines such as a bulldozer, a wheel loader, or a motor grader. The work machine 1 may be operable remotely. In this case, the operation device 33, secondary controller 40, and automatic control setting device 39 may be disposed outside the work machine 1.

[0082] The automatic control is not limited to the automatic turning control described above, and may be other types of control. For example, the automatic control may operate the work machine 3 along a design surface so that the current terrain conforms to a shape according to a predetermined design surface. In this case, the secondary controller 40 may acquire the shape of the design surface as a control parameter. The automatic control may also cause the work machine 1 to travel along a target route. In this case, the secondary controller 40 may acquire the target route as a control parameter. [Industrial Applicability]

[0083] According to the present disclosure, in a system for automatically controlling a work machine, it is possible to stably control the work machine. [Explanation of symbols]

[0084] 1: Work machine, 2: Body, 3: Work implement, 4: Swing body, 5: Traveling body, 24: Primary controller, 34: Work implement locking member, 35: Swing locking member, 40: Secondary controller, 41: Traveling operation member, 42: Work implement operation member, 43: Swing operation member

Claims

1. A system for automatically controlling a work machine, comprising: a secondary controller that calculates a command value for operating the work machine through the automatic control and outputs a calculation signal indicative of the command value; a primary controller that receives the calculation signal, determines the validity of the calculation signal, and if the calculation signal is valid, accepts the calculation signal and executes automatic control of the work machine based on the calculation signal, and if the calculation signal is invalid, rejects the calculation signal and does not execute automatic control of the work machine; A system comprising:

2. The primary controller transitioning the acceptance state of the calculation signal among non-permission, standby, and approval; If the acceptance state of the calculation signal is approval, accept the calculation signal; If the acceptance state of the calculation signal is not permitted or standby, reject the calculation signal. The system of claim 1 .

3. the primary controller transitions an acceptance state of the calculation signal from the non-permission state to the standby state when a first permission condition including the validity of the calculation signal is satisfied; The system of claim 2 .

4. The primary controller acquiring, from the secondary controller, a calculation signal use flag indicating that the secondary controller is capable of executing the automatic control; transitioning the acceptance state of the calculation signal from the standby state to the approval state when a second permission condition including the calculation signal use flag being on is satisfied; The system of claim 3 .

5. the primary controller transitions the acceptance state of the operation signal to the non-permission state when the operation signal is invalid; The system of claim 2 .

6. the primary controller determines that the calculation signal is valid when the command value is within a predetermined normal range; The system of claim 1 .

7. The secondary controller: acquiring control parameters for the automatic control; Calculating the command value based on the control parameters; The primary controller obtaining the control parameters from the secondary controller; If the control parameter has been changed, it is determined whether the change in the control parameter was intentionally made by an operator of the work machine; If the change in the control parameter is not at the intention of the operator of the work machine, the calculation signal is determined to be invalid. The system of claim 1 .

8. further comprising an operating member for manually operating the work machine, when the operating member is operated, the primary controller rejects the calculation signal and does not execute the automatic control, and controls the work machine in accordance with the operation of the operating member. The system of claim 1 .

9. The primary controller acquiring the tilt angle of the work machine; When the tilt angle of the work machine is greater than a predetermined angle, the calculation signal is rejected and the automatic control is not performed. The system of claim 1 .

10. The work machine includes a vehicle body and a work implement operably supported on the vehicle body, The primary controller determining whether an attachment suitable for the automatic control is attached to the work machine; If the appropriate attachment is not attached to the work machine, the calculation signal is rejected and the automatic control is not performed. The system of claim 1 .

11. The work machine includes a vehicle body and a work implement operably supported on the vehicle body, a work machine locking member that is operated by an operator to lock the operation of the work machine; the primary controller rejects the calculation signal and does not execute the automatic control when the operation of the work machine is locked by the work machine lock member; The system of claim 1 .

12. The primary controller determining whether the work machine is traveling; When the work machine is traveling, the calculation signal is rejected and the automatic control is not performed. The system of claim 1 .

13. the work machine includes a traveling body, a rotating body supported rotatably relative to the traveling body, and a work implement supported movably relative to the rotating body, a rotation lock member operated by an operator to lock the rotation of the rotating body; the primary controller rejects the calculation signal and does not execute the automatic control when the rotation of the rotating body is locked by the rotation lock member; The system of claim 1 .

14. 1. A method for automatically controlling a work machine, comprising: receiving a calculation signal indicating a command value from a secondary controller that calculates the command value for operating the work machine by the automatic control; determining the validity of the calculated signal; If the calculation signal is valid, accepting the calculation signal and performing automatic control of the work machine based on the calculation signal; If the calculation signal is not valid, the calculation signal is rejected and automatic control of the work machine is not performed. A method for providing

15. transitioning the acceptance state of the calculation signal among non-permission, standby, and approval; If the acceptance status of the calculation signal is approval, accepting the calculation signal; rejecting the operation signal when the acceptance state of the operation signal is not permitted or standby; The method of claim 14 comprising:

16. transitioning an acceptance state of the operation signal from the non-permission state to the standby state when a first permission condition including the validity of the operation signal is satisfied; 16. The method of claim 15.

17. acquiring, from the secondary controller, a calculation signal use flag indicating that the secondary controller is capable of executing the automatic control; transitioning the acceptance state of the calculation signal from the standby state to the approval state when a second permission condition including the calculation signal use flag being on is satisfied; 17. The method of claim 16, comprising:

18. and when the operation signal is not valid, transitioning the acceptance state of the operation signal to the non-permission state.

16. The method of claim 15.

19. determining that the calculation signal is valid when the command value is within a predetermined normal range.

15. The method of claim 14.

20. the secondary controller acquires control parameters for the automatic control, and calculates the command value based on the control parameters; obtaining the control parameters from the secondary controller; When the control parameter is changed, determining whether the change in the control parameter is intentionally made by an operator of the work machine; determining that the calculation signal is invalid if the change in the control parameter is not intentional by the operator of the work machine; The method of claim 14 comprising:

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