System, method and work machine for controlling a work machine

Abstract

To smoothly perform work in a working machine for automatically controlling the operation of a working machine and the turning of a turning body.SOLUTION: A work machine according to the present disclosure includes a work implement control unit and a revolution control unit. The work implement control unit controls the work implement. The swivel control unit acquires a progress status of control of the work implement. The swing control unit determines a swing speed of the swing body based on the progress status of the control of the work implement. The swing control unit controls the swing body at the swing speed.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present disclosure relates to a system for controlling a work machine, a method, and 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 revolving body, and a controller. The controller rotates the revolving body and raises the bucket of the work implement, thereby automatically moving the bucket to a predetermined loading position. The loading position is located above the bed of a dump truck, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2024-073906 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described system, the timing between the rotation of the rotating body and the operation of the work implement is important for smooth work. For example, if the lift of the work implement is slower than the rotation of the rotating body, the work implement will interfere with the bed of the dump truck. On the other hand, if the rotation of the rotating body is slowed down too much to avoid interference between the work implement and the bed of the dump truck, work efficiency will decrease. An object of the present disclosure is to enable smooth work to be performed in a work machine that automatically controls the operation of the work implement and the rotation of the rotating body. [Means for solving the problem]

[0005] A system according to a first aspect of the present disclosure is a system for controlling a work machine. The work machine includes a revolving bed and a work implement. The revolving bed is revolvable. The work implement is operably attached to the revolving bed. The system according to this aspect includes a work implement control unit and a swing control unit. The work implement control unit controls the work implement. The swing control unit acquires progress status of the control of the work implement. The swing control unit determines a swing speed of the revolving bed based on the progress status of the control of the work implement. The swing control unit controls the revolving bed at the swing speed.

[0006] A method according to a second aspect of the present disclosure is a method for controlling a work machine. The work machine includes a rotating bed and a work implement. The rotating bed is rotatable. The work implement is operably attached to the rotating bed. The method according to this aspect includes controlling the work implement, obtaining a progress status of the control of the work implement, determining a rotation speed of the rotating bed based on the progress status of the control of the work implement, and controlling the rotating bed at the rotation speed.

[0007] A work machine according to a third aspect of the present disclosure includes a rotating bed, a work implement, a work implement control unit, and a swing control unit. The rotating bed is rotatable. The work implement is operably attached to the rotating bed. The work implement control unit controls the work implement. The swing control unit acquires a progress status of the control of the work implement. The swing control unit determines a swing speed of the rotating bed based on the progress status of the control of the work implement. The swing control unit controls the rotating bed at the swing speed. [Effects of the Invention]

[0008] According to the present disclosure, the progress of the control of the work machine is acquired during control of the work machine, and the rotation speed of the rotating body is determined based on the progress of the control of the work machine. Therefore, the rotating body can be rotated at an appropriate rotation speed according to the progress of the control of the work machine. This allows the work machine to perform work smoothly. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view of a work machine. [Figure 2]1 is a block diagram showing the configuration of a work machine and its control system. [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] 10A and 10B are diagrams illustrating an example of a target attitude of a work machine at a target position in automatic turning control. [Figure 8] 4 is a flowchart showing a process for controlling a work machine in automatic swing control. [Figure 9] 10 is a flowchart showing the process of controlling a rotating body in automatic rotation control. DETAILED DESCRIPTION OF THE INVENTION

[0010] 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.

[0011] As shown in FIG. 1, the work machine 1 includes a work implement 3, a rotating body 4, and a running body 5. The work implement 3 is attached to the rotating body 4. The rotating body 4 is connected to the running body 5 so that it can rotate. The rotating body 4 can rotate around a rotation center C1. A cab 6 is disposed on the rotating body 4. The running body 5 includes tracks 7. Note that 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.

[0012] 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.

[0013] 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.

[0014] Fig. 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Fig. 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, and a controller 24. The drive source 21 is controlled by a command signal from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[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 causes the swing body 4 to swing. The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 is powered by hydraulic oil discharged from the hydraulic pump 22. Operation of the travel motor 23 drives the tracks 7, causing the work machine 1 to travel.

[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 controller 24. The controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26. Note that although one hydraulic pump is illustrated in FIG. 2, multiple hydraulic pumps may be provided.

[0017] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, the swing motor 25, and the traveling motor 23 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from a controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16, the swing motor 25, and the traveling motor 23. The controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The controller 24 controls the swing of the swing unit 4 by controlling the control valve 27. The controller 24 controls the traveling of the traveling unit 5 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 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 includes an operating device 33 and an input device 34. The operating device 33 and the input device 34 are arranged in the cab 6. The operating device 33 can be operated by an operator. The operating device 33 includes, for example, a lever, a pedal, or a switch. The operating device 33 outputs an operation signal to the controller 24 in response to an operation by the operator of the operating device 33. The controller 24 controls the control valve 27 to operate the work implement 3 in response to an operation of the operating device 33 by the operator. The controller 24 controls the control valve 27 to rotate the rotating body 4 in response to an operation of the operating device 33 by the operator.

[0020] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may also include hardware keys. The operator operates the input device 34 to input various settings related to the work machine 1. The input device 34 outputs an input signal in response to the operator's operation.

[0021] The control system includes a direction sensor 36 and an attitude sensor 37. The direction sensor 36 detects the direction of the work machine 1. The direction sensor 36 includes, for example, a sensor using a Global Navigation Satellite System (GNSS). In detail, the direction sensor 36 detects the direction of the rotating unit 4. The direction sensor 36 outputs direction data indicating the direction of the rotating unit 4. The direction data is expressed in east-west, north-south direction coordinates.

[0022] The attitude sensor 37 detects the attitude of the work implement 3. The attitude of the work implement 3 is indicated by the angle of the boom 11 (hereinafter referred to as the boom angle), the angle of the arm 12 (hereinafter referred to as the arm angle), and the angle of the bucket 13 (hereinafter referred to as the bucket angle). The attitude sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the attitude sensor 37 may be a sensor that directly detects each of the boom angle, arm angle, and bucket angle. The attitude sensor 37 outputs attitude data that indicates the attitude of the work implement 3.

[0023] The controller 24 receives an operation signal from an operation device 33. The controller 24 receives an input signal from an input device 34. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives attitude data from an attitude sensor 37.

[0024] The controller 24 executes automatic swing control, which automatically controls the swing operation of the swing unit 4 and the operation of the work unit 3, based on the orientation of the swing unit 4 and the attitude of the work unit 3 described above. 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 executes excavation, loading swing, earth discharge, and return swing. After performing a return swing, the work machine 1 again sequentially executes excavation, loading swing, earth discharge, and return swing. By repeating these operations, the work machine 1 loads objects such as earth and sand onto a transport vehicle such as a dump truck. Automatic swing control during loading swing will be described below.

[0025] 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.

[0026] As shown in FIG. 6, in step S101, the controller 24 acquires a target position. The target position is indicated by a target orientation of the rotating unit indicating the target position and a target attitude of the work implement at the target position. As shown in FIGS. 4 and 5, the target position includes an excavation position P1, an interference avoidance position P2, and an unloading position P3. As shown in FIG. 4, the controller 24 acquires a target orientation of the rotating unit at each of the target positions of the excavation position P1, the interference avoidance position P2, and the unloading position P3. As shown in FIG. 7, the controller 24 acquires a target attitude of the work implement 3 at each of the target positions of the excavation position P1, the interference avoidance position P2, and the unloading position P3.

[0027] The digging position P1 is the end point of the return swing. The unloading position P3 is the end point of the loading swing. The unloading position P3 is set above the bed 101 of the transport vehicle 100. The interference avoidance position P2 is a waypoint located between the digging position P1 and the unloading position P3 on the swing trajectory of the work implement 3. The interference avoidance position P2 is set to prevent the work implement 3 from interfering with the transport vehicle 100. The interference avoidance position P2 is set, for example, outside the side surface of the bed 101 of the transport vehicle 100 and above the side surface of the bed 101. This prevents the work implement 3 from interfering with the side surface of the bed 101.

[0028] The target position is set in advance by the operator operating the input device 34. For example, the controller 24 determines the target position based on the position of the work implement 3 when the operator operates the input device 34 to set the target position (hereinafter referred to as the taught position). The controller 24 may set the taught position itself as the target position. Alternatively, the controller 24 may set a position obtained by offsetting the taught position as the target position. For example, the interference avoidance position P2 may be a position offset by a margin from the taught position set by the operator as the interference avoidance position.

[0029] In step S102, the swing mode is acquired. The controller 24 stores the swing mode selected by the operator in advance. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the controller 24 swings the swing unit 4 counterclockwise to the unloading position P3 under automatic swing control. In the right loading swing mode, the controller 24 swings the swing unit 4 clockwise to the unloading position P3 under automatic swing control.

[0030] In step S103, the controller 24 determines whether to start automatic swing control. For example, after the operator operates the work implement 3 to perform excavation, the operator instructs the start of automatic swing control via the input device 34. When the start of automatic swing control is instructed via the input device 34, the controller 24 executes automatic swing control in step S104.

[0031] 4 and 5, in the automatic swing control, the controller 24 swings the swing unit 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the earth unloading position P3, and also raises the work unit 3. At this time, if the left loading swing mode is selected, the controller 24 swings the swing unit 4 counterclockwise, as shown in Fig. 4. If the right loading swing mode is selected, the controller 24 swings the swing unit 4 clockwise.

[0032] In step S105, the controller 24 determines whether the work implement 3 has reached the unloading position P3. If the controller 24 determines that the work implement 3 has reached the unloading position P3, the controller 24 ends the automatic swing control in step S106. That is, the controller 24 stops the swing unit 4 at the unloading position P3. Thereafter, the operator operates the work implement 3 to unload the object from the work implement 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100.

[0033] When the operator manually operates the work implement 3 or the revolving body 4 using the operation device 33, the controller 24 may operate the work implement 3 or the revolving body 4 in accordance with the operator's operation of the operation device 33. For example, after the work implement 3 reaches the earth-discharging position P3 by the automatic swing control, the operator can manually move the work implement 3 to any position to discharge earth.

[0034] Next, the control of the work machine 3 and the rotating unit 4 in the automatic swing control described above will be described. In particular, the control of the work machine 3 and the rotating unit 4 when moving the work machine 3 from the excavation position P1 to the interference avoidance position P2 will be described. As shown in FIG. 2, the controller 24 includes a work control unit 38 and a swing control unit 39. The work control unit 38 controls the work machine 3 so as to automatically operate the work machine 3 based on the target position P1-P3. The swing control unit 39 controls the work machine 3 so as to automatically swing the rotating unit 4 based on the target position P1-P3. The work control unit 38 and the swing control unit 39 are realized by the processor 31.

[0035] Figure 8 is a flowchart showing the processing for controlling the work machine 3 in automatic swing control. As shown in Figure 8, in step S201, the work control unit 38 acquires the target attitude of the work machine 3. The work control unit 38 acquires the target attitude of the work machine 3 at the interference avoidance position P2. The target attitude is indicated by the target boom angle, target arm angle, and target bucket angle at the interference avoidance position P2.

[0036] However, the target attitude of the work implement 3 at interference avoidance position P2 is not limited to the attitude of the work implement 3 when interference avoidance position P2 is set. For example, the target bucket angle may be a preset angle. This allows the target attitude at interference avoidance position P2 to be an attitude that holds soil and sand, even if the bucket 13 is in an earth-discharging attitude when interference avoidance position P2 is set. Also, an angle with respect to the ground may be set as the target bucket angle. This allows the bucket angle that is less likely to spill soil and sand to be set as the target attitude.

[0037] In step S202, the work control unit 38 acquires the current attitude of the work implement 3. The work control unit 38 acquires the current attitude of the work implement 3 from attitude data from the attitude sensor 37. The current attitude of the work implement 3 is indicated by the current boom angle, current arm angle, and current bucket angle of the work implement 3.

[0038] In step S203, the work control unit 38 calculates the difference between the target posture and the current posture as the posture difference of the work implement 3. The posture difference of the work implement 3 is indicated by the difference between the target boom angle and the current boom angle, the difference between the target arm angle and the current arm angle, and the difference between the target bucket angle and the current bucket angle.

[0039] In step S204, the work control unit 38 determines the target speed of the work unit 3. The controller 24 stores target speed data for the work unit 3 that defines the relationship between the attitude difference of the work unit 3 and the target speed. The target speed data for the work unit 3 defines a relationship such that, for example, the larger the attitude difference of the work unit 3, the higher the target speed. The work control unit 38 references the target speed data for the work unit 3 and determines the target speed of the work unit 3 based on the attitude difference of the work unit 3. In detail, the target speed data for the work unit 3 includes target speed data for the boom angle, target speed data for the arm angle, and target speed data for the bucket angle.

[0040] The target speed data for the boom angle defines the relationship between the difference between the target boom angle and the current boom angle and the target angular speed of the boom 11. The target speed data for the arm angle defines the relationship between the difference between the target arm angle and the current arm angle and the target angular speed of the arm 12. The target speed data for the bucket angle defines the relationship between the difference between the target bucket angle and the current bucket angle and the target angular speed of the bucket 13. The work control unit 38 refers to these target speed data and determines the target angular speed of the boom 11, the target angular speed of the arm 12, and the target angular speed of the bucket 13 as the target speeds of the work implement 3.

[0041] The work control unit 38 may adjust the target speed of the work implement 3 according to settings made by the user via the input device 34. For example, the work control unit 38 may acquire a speed adjustment rate set by the user. The work control unit 38 may determine the final target speed of the work implement 3 by multiplying the above-mentioned target speed of the work implement 3 as a reference target speed by the speed adjustment rate.

[0042] In step S205, the work control unit 38 controls the work unit 3 in accordance with the target speed. The work control unit 38 controls the work unit 3 so that the boom 11, arm 12, and bucket 13 each operate in accordance with the above-mentioned target angular velocities. As a result, the work control unit 38 controls the work unit 3 so that the work unit 3 assumes the target posture at interference avoidance position P2. After the work unit 3 reaches interference avoidance position P2, the work control unit 38 controls the work unit 3 at unloading position P3 so that the work unit 3 assumes the target posture at unloading position P3.

[0043] 9 is a flowchart showing the control processing of the rotating unit 4 in automatic rotation control. As shown in FIG. 9, in step S301, the rotation control unit 39 acquires an interference avoidance angle. The rotation control unit 39 calculates the interference avoidance angle based on the target orientation at interference avoidance position P2. For example, the rotation control unit 39 calculates the angle of the target orientation at interference avoidance position P2 when north is defined as 0°, east as 90°, south as 180°, and west as 270° as the interference avoidance angle.

[0044] In step S302, the rotation control unit 39 acquires the current rotation angle of the rotating unit 4. The current rotation angle is the angle of the current orientation according to the definition of angle described above. The rotation control unit 39 calculates the current rotation angle of the rotating unit 4 based on the orientation data from the orientation sensor 36.

[0045] In step S303, the swing control unit 39 calculates the required swing angle. The swing control unit 39 calculates the difference between the interference avoidance angle and the current swing angle as the required swing angle. In step S304, the swing control unit 39 acquires the progress status of the control of the work implement 3. The progress status of the control of the work implement 3 is indicated by the difference between the target attitude and the current attitude of the work implement 3 described above.

[0046] In step S305, the swing control unit 39 calculates the remaining control time of the work unit 3. The remaining control time of the work unit 3 is the time required for the work unit 3 to reach the target attitude at the interference avoidance position P2 from the current attitude. The swing control unit 39 calculates the remaining control time of the work unit 3 based on the difference between the target attitude and the current attitude of the work unit 3. For example, the controller 24 stores remaining time data that defines the relationship between the difference between the target attitude and the current attitude of the work unit 3 and the remaining control time of the work unit 3. The remaining time data defines a relationship such that, for example, the greater the difference between the target attitude and the current attitude of the work unit 3, the greater the remaining control time of the work unit 3. The swing control unit 39 refers to the remaining time data and calculates the remaining control time of the work unit 3 based on the difference between the target attitude and the current attitude of the work unit 3.

[0047] In step S306, the swing control unit 39 calculates the required swing speed. This is the swing speed required for the swing body 4 to swing by the required swing angle during the remaining time of control of the work implement 3. The swing control unit 39 calculates the required swing speed based on the remaining time of control of the work implement 3 and the required swing angle.

[0048] In step S307, the rotation control unit 39 acquires the current rotation speed of the rotating unit 4. The rotation control unit 39 acquires the current rotation speed of the rotating unit 4 from the direction data from the direction sensor 36. In step S308, the rotation control unit 39 calculates the required rotation acceleration amount. The rotation control unit 39 calculates the difference between the current rotation speed and the required rotation speed as the required rotation acceleration amount.

[0049] In step S309, the swing control unit 39 determines a target swing speed. The swing control unit 39 calculates the target swing speed by multiplying the required swing acceleration amount by a predetermined gain and adding the result to the required swing speed. For example, when starting to swing, the gain can be increased to allow for greater acceleration. This can improve work efficiency. Note that the swing control unit 39 may determine the final target swing speed of the swing unit 4 by multiplying the reference target swing speed by the speed adjustment rate, using the target swing speed of the swing unit 4 described above as the reference target swing speed. This allows the operator to increase or decrease the operating speed of the work implement 3 and the swing speed of the swing unit 4 in the automatic swing control.

[0050] In step S310, the swing control unit 39 controls the swing unit 4 in accordance with the target swing speed. The swing control unit 39 controls the swing unit 4 so that it swings in accordance with the above-mentioned target swing speed. As a result, the swing control unit 39 controls the swing unit 4 so that the work implement 3 assumes the target attitude for the interference avoidance position P2 at the interference avoidance position P2 and so that the swing unit 4 faces the target orientation for the interference avoidance position P2. After the work implement 3 reaches the interference avoidance position P2, the swing control unit 39 further swings the swing unit 4 so that the work implement 3 moves to the earth-discharging position P3.

[0051] In the system for controlling the work machine 1 according to the present embodiment described above, the progress of the control of the work implement 3 is acquired during automatic swing control, and the swing speed of the swing unit 4 is determined based on the progress of the control of the work implement 3. Therefore, the swing unit 4 can be swung at an appropriate swing speed according to the progress of the control of the work implement 3. This enables the work machine 1 to perform work smoothly and improves work efficiency.

[0052] 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.

[0053] 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 may be operable remotely. In that case, the operation device 33, input device 34, etc. may be located outside the work machine 1. The configuration of the work implement 3 is not limited to that of the above embodiment and may be modified. For example, instead of the bucket 13, another attachment may be attached to the work implement 3. The processing by the controller 24 described above may be executed in a distributed manner by multiple controllers. Some of the multiple controllers may be located outside the work machine 1.

[0054] The automatic swing control process is not limited to that of the above embodiment and may be modified. For example, the process for determining the target swing speed of the swing unit 4 described above may be executed not only during loading swing but also during return swing. The controller 24 may acquire a target route set by the operator instead of the target positions P1-P3. For example, in FIGS. 4 and 5, the controller 24 may acquire the trajectory of the work implement 3 as indicated by arrow L1 as the target route. In this case, the target positions P1-P3 may be positions defined by the target route.

[0055] In the above embodiment, the swing control unit 39 acquires the difference between the target attitude and the current attitude of the work implement 3 as the progress of control of the work implement 3. However, the progress of control of the work implement 3 may be another parameter. For example, the progress of control of the work implement 3 may be the difference between the height of the target position of the work implement 3 and the height of the current position of the work implement 3. In other words, the progress of control of the work implement 3 may be the difference between the height of the interference avoidance position P2 of the work implement 3 and the height of the current position of the work implement 3. [Industrial Applicability]

[0056] According to the present disclosure, work can be performed smoothly in a work machine. [Explanation of symbols]

[0057] 1: work machine, 3: work equipment, 4: swivel body, 38: work control unit, 39: swivel control unit

Claims

1. 1. A system for controlling a work machine including a rotatable rotating bed and a work implement operably attached to the rotating bed, comprising: a work control unit that controls the work machine; a rotation control unit that acquires a progress status of control of the work machine, determines a rotation speed of the rotating body based on the progress status of control of the work machine, and controls the rotating body at the determined rotation speed; A system comprising:

2. the work control unit controls the work machine so that the work machine assumes a target posture, The swing control unit determines a progress status of the control of the work machine based on a difference between the current attitude of the work machine and the target attitude. The system of claim 1 .

3. the work control unit determines a target speed of the work machine based on a difference between a current attitude of the work machine and the target attitude. The system of claim 2 .

4. The turning control unit is calculating a remaining time for control of the work machine until the work machine reaches the target posture based on a difference between the current posture of the work machine and the target posture; determining a rotation speed of the rotating body based on a remaining time of control of the work machine; The system of claim 2 .

5. The turning control unit is controlling the rotating body so that the rotating body faces a target direction when the work machine assumes the target attitude; Obtaining a current orientation of the rotating body; Calculating a required rotation angle of the rotating body based on the current orientation of the rotating body and the target orientation; determining a rotation speed of the rotating body based on a remaining time of control of the work machine and a required rotation angle of the rotating body; The system of claim 4.

6. The work control unit and the swing control unit execute a loading swing that moves the work machine from an excavation position to an earth-discharging position located above the bed of the transport vehicle, The swing control unit determines a swing speed of the swing body based on a progress status of control of the work machine during the loading swing, and controls the swing body at the swing speed. The system of claim 1 .

7. 1. A method for controlling a work machine including a swiveling bed and a work implement operably attached to the bed, comprising: Controlling the work machine; Obtaining a progress status of the control of the work machine; determining a rotation speed of the rotating body based on a progress status of the control of the work machine; Controlling the rotating body at the rotation speed; A method for providing the above.

8. Controlling the work machine so that the work machine assumes a target posture; Obtaining a current attitude of the work implement; determining a progress status of control of the work machine based on a difference between a current attitude of the work machine and the target attitude; The method of claim 7 comprising:

9. determining a target speed of the work machine based on a difference between a current attitude of the work machine and the target attitude, The method of claim 8.

10. calculating a remaining time for control of the work machine until the work machine reaches the target posture based on a difference between the current posture of the work machine and the target posture; determining a rotation speed of the rotating body based on a remaining time of control of the work machine; The method of claim 8 comprising:

11. controlling the rotating body so that the rotating body faces a target orientation when the work machine assumes the target posture; Obtaining a current orientation of the rotating body; Calculating a required rotation angle of the rotating body based on the current orientation of the rotating body and the target orientation; determining a rotation speed of the rotating body based on a remaining time of control of the work machine and a required rotation angle of the rotating body; The method of claim 10 comprising:

12. Executing a loading swing to move the work machine from the excavation position to a soil unloading position located above the bed of the transport vehicle; During the loading swing, a swing speed of the rotating body is determined based on a progress status of control of the work machine, and the rotating body is controlled at the swing speed. The method of claim 7 comprising:

13. a rotatable rotating body; a work machine operably attached to the rotating body; a work control unit that controls the work machine; a rotation control unit that acquires a progress status of control of the work machine, determines a rotation speed of the rotating body based on the progress status of control of the work machine, and controls the rotating body at the determined rotation speed; A work machine comprising:

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