Work machine, work machine control method, and system for controlling work machine

Abstract

To provide a working machine improved in operability in automatic turning control.SOLUTION: The work machine 1 includes a revolving unit 4, a work implement 3, operating levers 33L and 33R, and a controller 24. The turning body 4 is turnable. The work implement 3 is attached to the revolving unit 4. The operating levers 33R and 33L operate the work implement 3. The controller 24 performs automatic turning control for automatically turning the turning body 4 and the work implement 3. During a period from the start of the automatic turning control to a predetermined timing, the controller 24 controls the work implement 3 based on a larger one of the operation command by the automatic turning control and the operation command by the operation levers 33R and 33L.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a work machine, a method of controlling a work machine, and a system for controlling a work machine. [Background technology]

[0002] Some work machines perform automatic swing control, which automatically swings a swing body so that the work equipment moves to a target position. For example, in the excavator disclosed in Patent Document 1, the operator manually controls the work equipment to excavate earth and sand, which is the excavation target, and then the automatic swing control is started to move the bucket to the loading target. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-178186 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the work machine of Patent Document 1, there are cases where the operation to start automatic swing control is performed before the excavation operation is completely completed, and in such cases, there is a possibility that operability may deteriorate.

[0005] An object of the present disclosure is to provide a work machine, a control method for a work machine, and a system for controlling a work machine that have improved operability in automatic swing control. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a work machine. The work machine includes a revolving body, a work implement, an operating member, and a control unit. The revolving body is revolvable. The work implement is attached to the revolving body. The operating member operates the work implement. The control unit performs automatic revolve control that controls the revolving body and the work implement. From the start of the automatic revolve control until a predetermined timing, the control unit controls the work implement based on a larger operation command between an operation command from the automatic revolve control and an operation command from the operating member.

[0007] A second aspect of the present disclosure is a method for controlling a work machine. The work machine has a rotating body and a work implement. The rotating body is capable of rotating. The work implement is attached to the rotating body. The method for controlling a work machine includes controlling the work implement based on a larger operation command between an operation command from the automatic swing control that controls the rotating body and the work implement and an operation command from an operating member that operates the work implement, during a period from the start of automatic swing control that controls the rotating body and the work implement until a predetermined timing.

[0008] A third aspect of the present disclosure is a system for controlling a work machine. The system includes a work machine including a revolving body, a work implement, an operating member, and a control unit. The revolving body is revolvable. The work implement is attached to the revolving body. The operating member operates the work implement. The control unit performs automatic revolve control that controls the revolving body and the work implement. During the period from the start of the automatic revolve control until a predetermined timing, the control unit controls the work implement based on a larger operation command of either the operation command from the automatic revolve control or the operation command from the operating member. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a work machine, a control method for a work machine, and a system for controlling a work machine, which have improved operability in automatic swing control. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a side view of a work machine according to an embodiment of the present disclosure. [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 during loading swing control. [Figure 6] 10 is a flowchart showing a process for return turning control. [Figure 7] FIG. 2 is a block diagram showing the configuration of a controller. [Figure 8] FIG. 10 is a diagram showing a plurality of bar graphs representing threshold values ​​set for operation of the operating lever to determine control in the load swing control. [Figure 9] FIG. 10 is a diagram showing a plurality of bar graphs representing threshold values ​​set for the operation of the operating lever to determine control in the return swing control. [Figure 10A] 4 is a flowchart showing a control operation of a work machine according to an embodiment of the present disclosure. [Figure 10B] 4 is a flowchart showing a control operation of a work machine according to an embodiment of the present disclosure. [Figure 10C] 4 is a flowchart showing a control operation of a work machine according to an embodiment of the present disclosure. [Figure 11] 10 is a flowchart showing a control operation of a work machine according to a modified example of the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a working machine according to an embodiment will be described with reference to the drawings.

[0012] (composition) 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.

[0013] 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.

[0014] 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 by a bucket pin 13a.

[0015] 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.

[0016] 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 (control unit). 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.

[0017] 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.

[0018] 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.

[0019] 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 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 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 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.

[0020] 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 a hydraulic pump 22 and adjusted by a control valve 27. Operation of the travel motor 23 drives the crawler 7, causing the work machine 1 to travel.

[0021] 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.

[0022] The control system includes an operating device 33, an input device 34, and a display 35. The operating device 33, the input device 34, and the display 35 are arranged in the cab 6. The operating device 33 can be operated by an operator.

[0023] The operating device 33 includes levers, pedals, and switches. The operating device 33 includes, as levers, a left operating lever 33L (operating member) and a right operating lever 33R (operating member). The left operating lever 33L is disposed on the left side of the driver's seat. The right operating lever 33R is disposed on the right side of the driver's seat. Operation of the right operating lever 33R in the forward / backward direction corresponds to operation of the boom 11, and a lowering / raising operation of the boom 11 is performed in response to the forward / backward operation. Operation of the right operating lever 33R in the left / right direction corresponds to operation of the bucket 13, and an excavation and soil discharge operation of the bucket 13 is performed in response to the forward / backward operation. Operation of the left operating lever 33L in the left / right direction corresponds to rotation of the rotating body 4, and a right rotation operation and a left rotation operation of the rotating body 4 are performed in response to the forward / backward operation. Operation of the left operating lever 33L in the forward / backward direction corresponds to operation of the arm 12, and an extension and bending operation of the arm 12 is performed in response to the forward / backward operation.

[0024] The operation device 33 includes a boom operation detection unit 41 and a bucket operation detection unit 42. The boom operation detection unit 41 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, or the like. The boom operation detection unit 41 accepts operation of the boom 11 by the operator in accordance with forward / backward operation of the right operation lever 33R. The boom operation detection unit 41 outputs a boom operation signal M1 to the controller 24 in accordance with forward / backward operation of the right operation lever 33R. The bucket operation detection unit 42 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, or the like. The bucket operation detection unit 42 accepts operation of the bucket 13 by the operator in accordance with left / right operation of the right operation lever 33R. The bucket operation detection unit 42 outputs a bucket operation signal M2 to the controller 24 in accordance with left / right operation of the right operation lever 33R.

[0025] The operation device 33 also includes an arm operation detection unit 43 and a swing operation detection unit 44. The arm operation detection unit 43 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The arm operation detection unit 43 accepts operation of the arm 12 by the operator in accordance with operation of the left operation lever 33L in the forward / backward direction. The arm operation detection unit 43 outputs an arm operation signal M3 to the controller 24 in accordance with operation of the left operation lever 33L in the forward / backward direction. The swing operation detection unit 44 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The swing operation detection unit 44 accepts swing operation of the swing unit 4 by the operator in accordance with operation of the left operation lever 33L in the left / right direction. The swing operation detection unit 44 outputs a swing operation signal M4 to the controller 24 in accordance with operation of the left operation lever 33L in the left / right direction.

[0026] 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 an operation by the operator. The display 35 is, for example, an LCD, an OELD, or another type of display. The display 35 displays a screen in response to a display signal from the controller 24.

[0027] The work machine 1 includes a direction sensor 36 and a height 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 revolving unit 4. The direction sensor 36 outputs direction data indicating the direction of the revolving unit 4. The direction data is expressed in east-west, north-south direction coordinates.

[0028] The height sensor 37 detects the height of the work implement 3. For example, the height sensor 37 detects the attitude of the work implement 3. The attitude of the work implement 3 is indicated by the respective angles of the boom 11, the arm 12, and the bucket 13. The height sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the height sensor 37 may be a sensor that directly detects the height of the work implement 3. The height sensor 37 outputs height data that indicates the height of the work implement 3.

[0029] The controller 24 executes automatic rotation control for automatically controlling the rotation of the work implement 3 and the rotating body 4 .

[0030] 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, earth discharge, and return swing. After performing a return swing, the work machine 1 again sequentially performs 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. In automatic swing control, the loading swing and return swing are automatically performed by the controller 24. In other words, the automatic swing control includes loading swing control and return swing control.

[0031] Fig. 4 is a top view showing the operation of the work machine 1 in automatic swing control. Fig. 5 is a side view showing the operation of the work machine 1 in loading swing control of automatic swing control. Fig. 6 is a side view showing the operation of the work machine 1 in return swing control of automatic swing control. Fig. 7 is a block diagram showing the control configuration of the controller 24.

[0032] As shown in Figures 4 and 5, the loading swing control automatically swings the bucket 13 that has held the soil and sand through excavation to above the loading platform 101 of the transport vehicle 100. As shown in Figures 4 and 6, the return swing control automatically swings the bucket 13 that has finished unloading soil onto the loading platform 101 of the transport vehicle 100 to above the excavation position.

[0033] 7, the controller 24 has a target position calculation unit 51, an automatic turning instruction unit 52, a control decision unit 53, and a manual operation instruction unit 54. The target position calculation unit 51, the automatic turning instruction unit 52, the control decision unit 53, and the manual operation instruction unit 54 are realized by the processor 31.

[0034] The target position calculation unit 51 calculates a target position to which the bucket 13 will move based on a position set by teaching by the operator. The calculated target position is stored in the controller 24. The set target position includes a direction and a height that indicate the target position. As shown in FIGS. 4 to 6, the target positions include an excavation control position P1, an interference avoidance control position P2, and an earth discharge control position P3. The excavation control position P1 is the end point of return swing control. The earth discharge control position P3 is the end point of loading swing control. The interference avoidance control position P2 is set to prevent the work implement 3 from interfering with the transport vehicle 100. The interference avoidance control position P2 is set, for example, outside the side or rear surface of the loading platform 101 of the transport vehicle 100 and above the side or rear surface of the loading platform 101. This prevents the work implement 3 from interfering with the side surface of the loading platform 101.

[0035] The excavation control position P1, the interference avoidance control position P2, and the soil discharge control position P3 are determined from the excavation position P1', the interference avoidance position P2', and the soil discharge position P3' obtained by teaching. Teaching can be performed, for example, by setting a teaching mode using the input device 34, and then actually operating the left operating lever 33L and the right operating lever 33R to position the bucket pin 13a at the desired excavation position P1' and operating the input device 34, thereby storing the excavation position P1' in the controller 24. The interference avoidance position P2' and the soil discharge position P3' can also be stored in the controller 24 in a similar manner. The reference position of the bucket used in teaching the target position is not limited to the bucket pin 13a. For example, it may be the cutting edge of the bucket.

[0036] The excavation control position P1 is the same position as the excavation position P1' obtained by teaching. The interference avoidance control position P2 is found from the interference avoidance position P2' obtained by teaching. As shown in FIGS. 4 to 6, the interference avoidance position P2' obtained by teaching is set on the upper side of the rear surface of the loading platform 101. The target position calculation unit 51 calculates the interference avoidance control position P2 by offsetting it from the interference avoidance position P2' toward a side away from the loading platform 101. The interference avoidance control position P2 is set, for example, above the interference avoidance position P2' and in an orientation away from the loading platform 101. The earth discharge control position P3 is calculated from the height of the interference avoidance control position P2 and the orientation of the earth discharge position P3'. The earth discharge control position P3 can be set, for example, to the same height as the interference avoidance control position P2 and in the same orientation as the earth discharge position P3'. The target position calculated by the target position calculation unit 51 is stored in the controller 24.

[0037] The automatic turning instruction unit 52 calculates the orientation of the work implement 3 from the orientation data. The orientation of the work implement 3 is the orientation of a predetermined working point of the work implement 3 relative to the turning center C1. Alternatively, the orientation of the work implement 3 may be the orientation of the working point relative to the traveling body 5. The working point may be, for example, the tip of the arm 12. Alternatively, the working point may be a predetermined part of the bucket 13. In this embodiment, the working point is set to the bucket pin 13a of the bucket 13. The orientation of the work implement 3 is indicated by east-west, north-south orientation coordinates. The automatic turning instruction unit 52 calculates the height of the work implement 3 from the height data. The height of the work implement 3 is the height of the working point of the work implement 3 from the ground. Alternatively, the height of the work implement 3 may be the height relative to a predetermined reference point of the work machine 1, such as the bottom of the crawler 7.

[0038] The automatic turning instruction unit 52 executes loading turning control or return turning control based on the direction and height of the work implement 3 in response to input from the operator via the input device 34 .

[0039] For example, when the operator operates a loading swing control start switch (start switch) provided on the input device 34 after operating the work machine 3 to perform excavation, a loading swing control start signal (an example of a swing control start signal) is output to the controller 24. When the controller 24 receives the loading swing control start signal, the automatic swing instruction unit 52 executes loading swing control.

[0040] When loading swing control is started, the automatic swing instruction unit 52 controls the work machine 3 so that the current position is set as a start position P0 and the bucket pin 13a moves to an excavation control position P1, as shown in Fig. 5. For example, as shown in Fig. 5, the bucket 13 is controlled to move upward.

[0041] Next, the automatic rotation instruction unit 52 rotates the rotating body 4 and raises the work implement 3 so that the bucket pin 13a moves from the excavation control position P1 through the interference avoidance control position P2 to the soil discharge control position P3, as shown in Figures 4 and 5.

[0042] The automatic turning instruction unit 52 determines whether the work machine 3 has reached the earth discharge control position P3. When the controller 24 determines that the work machine 3 has reached the earth discharge control position P3, it ends the loading turning control. That is, the automatic turning instruction unit 52 stops the turning body 4 at the earth discharge control position P3. Thereafter, the operator operates the work machine 3 to discharge the object from the work machine 3. As a result, the object is loaded onto the loading platform 101 of the transport vehicle 100.

[0043] The controller 24 stores a 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 automatic swing instruction unit 52 swings the swing unit 4 counterclockwise to the soil discharge control position P3 during loading swing control (see L1 in FIG. 4). In the right loading swing mode, the controller 24 swings the swing unit 4 clockwise to the soil discharge control position P3 during loading swing control.

[0044] For example, when the operator issues an instruction to start return swing control via the input device 34 after unloading an object from the work machine 3, the automatic swing instruction unit 52 executes the return swing control. When the operator operates a return swing control start switch (start switch) provided on the input device 34, a return swing control start signal (an example of a swing control start signal) is output to the controller 24. When the controller 24 receives the return control start signal, the automatic swing instruction unit 52 executes the return swing control.

[0045] When the return swing control is started, the automatic swing instruction unit 52 controls the work implement 3 so that the bucket pin 13a moves to the soil discharge control position P3, with the current position being set as the start position P10, as shown in Fig. 6. For example, as shown in Fig. 6, the bucket 13 is controlled to move upward.

[0046] Next, the automatic swing command unit 52 swings the swing unit 4 and lowers the work unit 3 so that the bucket pin 13a passes through the interference avoidance control position P2 and moves to the excavation control position P1. At this time, the controller 24 swings the swing unit 4 in the direction opposite to that in the loading swing control. That is, when the swing unit 4 swings counterclockwise (see L1 in FIG. 4) in the loading swing control, the automatic swing command unit 52 swings the swing unit 4 clockwise (see L2 in FIG. 4) to move the work unit 3 to the excavation control position P1. When the swing unit 4 swings clockwise in the loading swing control, the automatic swing command unit 52 swings the swing unit 4 clockwise to move the work unit 3 to the excavation control position P1.

[0047] The automatic swing instruction unit 52 determines whether the bucket pin 13a has reached the excavation control position P1. If the automatic swing instruction unit 52 determines that the work unit 3 has reached the excavation control position P1, it ends the return swing control. In other words, the automatic swing instruction unit 52 stops the rotating body 4 at the excavation control 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.

[0048] The control decision unit 53 decides the control of the work machine after the loading swing control and the return swing control are started.

[0049] 8 is a diagram showing multiple bar graphs representing thresholds set for the operation of the control levers to determine the loading swing control. The vertical axis represents the lever stroke amount, which is the tilt angle of the control levers 33L and 33R in the forward / backward direction or the left / right direction.

[0050] Graph G1 on the far left of Fig. 8 shows the threshold value set for the operation of the control lever that operates the work machine 3 for a predetermined time (predetermined timing) after the loading swing control is started. Graph G2 in the middle of Fig. 8 shows the threshold value set for the operation of the control lever that operates the work machine 3 after the predetermined time has elapsed since the loading swing control was started. Graph G3 on the far right of Fig. 8 shows the threshold value set for the operation of the control lever that rotates the rotating body 4 during the loading swing control.

[0051] The operation of the control levers for operating the work implement 3 includes operation of the right control lever 33R in the forward / backward direction, operation of the right control lever 33R in the left / right direction, and operation of the left control lever 33L in the forward / backward direction. The operation of the control levers for rotating the rotating body 4 includes operation of the left control lever 33L in the left / right direction.

[0052] As shown in graph G1, when the operator operates the control lever for operating the work implement 3 and receives an operation signal M1, M2, or M3 within a predetermined time period after the start of the loading swing control, the control decision unit 53 determines that the operation of the control lever has exceeded a% (a first predetermined range) of the operable range (100%). When the control decision unit 53 determines that the loading swing control has been stopped, the automatic swing instruction unit 52 stops the loading swing control. For example, if the operator operates the right operating lever 33R beyond a% of the operable range of the right operating lever 33R in the forward / rearward direction, the control decision unit 53 determines that the loading swing control has been stopped. The a% can be set to, for example, 90%, but is not limited to this. Stopping the loading swing control means stopping both the operation of the work implement 3 and the swing of the swing unit 4. Furthermore, after the loading swing control is stopped, the operator can operate the right operating lever 33R and the left operating lever 33L, which will be described later, to cause the manual operation instruction unit 54 to perform control and operate the work implement 3 and the swing unit 4. In other words, after the loading swing control is stopped, manual operation is possible.

[0053] If the operator's operation of the control lever that operates the work equipment 3 is within a% of the operable range (100%) within a predetermined time after the start of loading swing control, the control decision unit 53 compares the operation amount of the control lever with the operation amount of the control lever corresponding to the loading swing control and decides to control the work equipment 3. The control decision unit 53 compares the operation amount of the control lever with the operation amount of the control lever corresponding to the loading swing control and decides to control the work equipment 3 with the larger operation amount.

[0054] For example, when moving from the start position P0 to the excavation control position P1 under loading control, if the amount of left / right operation of the right operating lever 33R by the operator is greater than the amount of left / right operation of the right operating lever 33R corresponding to the amount of movement of the bucket 13 under loading swing control, the control decision unit 53 decides to perform control by manual operation, and the manual operation instruction unit 54 operates the bucket 13 in accordance with the amount of left / right operation of the right operating lever 33R by the operator. On the other hand, for example, when moving from the start position P0 to the excavation control position P1 under loading swing control, if the amount of left / right operation of the right operating lever 33R corresponding to the amount of movement of the bucket 13 under loading swing control is greater than the amount of left / right operation of the right operating lever 33R by the operator, the control decision unit 53 decides to perform control by loading swing control, and the automatic swing instruction unit 52 operates the bucket 13 in accordance with the setting of the loading swing control.

[0055] As shown in graph G2, when a predetermined time has elapsed since the start of automatic swing control, the control decision unit 53 determines that the operator has operated the control lever that operates the work machine 3 to obtain an operation signal M1, M2, or M3, and that the operation of the control lever has exceeded b% (a second predetermined range) of the operable range (100%), and then decides to stop the loading swing control. When it is determined that the loading swing control should be stopped, the automatic swing instruction unit 52 stops the loading swing control. Note that b% is preferably set to a value smaller than a%. Furthermore, b% can be set to, for example, 50%, but is not limited to this.

[0056] When a predetermined time has elapsed since the start of automatic swing control and the operator's operation of the control lever that operates the work implement 3 is within b% of the operable range (100%), the control decision unit 53 ignores the operator's operation and decides to continue the automatic swing control. In accordance with the decision to continue the automatic swing control, the automatic swing instruction unit 52 continues the loading swing control.

[0057] As shown in graph G3, when the operator operates the control lever for operating the rotating body 4 during loading swing control and acquires an operation signal M4, the control decision unit 53 decides to stop the loading swing control if it determines that the operation of the control lever has been operated beyond c% of the operable range (100%). When it is decided to stop the loading swing control, the automatic swing instruction unit 52 stops the loading swing control.

[0058] During loading swing control, if the operator's operation of the control lever that operates the swing unit 4 is within c% of the operable range (100%), the control decision unit 53 ignores the operator's operation of the control lever and decides to continue the loading swing control. In accordance with the decision to continue the loading swing control, the automatic swing instruction unit 52 continues the loading swing control. Note that c% is preferably lower than a%. Also, in FIG. 8, c% is set lower than b%, but is not limited to this and may be the same as or higher than b%.

[0059] 9 is a diagram showing a plurality of bar graphs representing thresholds set for the operation of the control lever to determine control in the return swing control, where the vertical axis represents the lever stroke amount.

[0060] Graph G4 on the left side of Fig. 9 is a diagram showing thresholds set for the amount of operation of the control lever that operates the work implement 3 during return swing control. Graph G5 on the right side of Fig. 9 is a diagram showing thresholds set for the amount of operation of the control lever that operates the rotating body 4 during return swing control.

[0061] As shown in graph G4, when the operator operates the control lever for operating the work implement 3 during return swing control and acquires an operation signal M1, M2, or M3, the control decision unit 53 decides to stop the return swing control if it determines that the operation of the control lever has been operated beyond d% of the operable range (100%). When it is decided to stop the return swing control, the automatic swing instruction unit 52 stops the loading swing control. During return swing control, if the operator's operation of the control lever for operating the work implement 3 is within d% of the operable range (100%), the control decision unit 53 ignores the operation of the control lever by the operator and decides to continue the return swing control. In accordance with the decision to continue the return swing control, the automatic swing instruction unit 52 continues the return swing control. Note that d% is preferably lower than a%.

[0062] As shown in graph G5, when the operator operates the control lever for operating the rotating unit 4 during return swing control and acquires an operation signal M4, the control decision unit 53 determines that the operation of the control lever has exceeded e% of the operable range (100%). If the decision to stop the return swing control is made, the automatic swing instruction unit 52 stops the loading swing control. During return swing control, if the operator operates the control lever for operating the rotating unit 4 within e% of the operable range (100%), the control decision unit 53 ignores the operator's operation of the control lever and decides to continue the return swing control. In accordance with the decision to continue the return swing control, the automatic swing instruction unit 52 continues the return swing control. It is preferable that e% be lower than a%. While e% is set lower than d% in FIG. 9, this is not limiting and the control decision unit 53 may be equal to or greater than d%. e%, d%, b%, and c% may be all or partly the same, or may all be different, and may be set appropriately.

[0063] The manual operation instruction unit 54 issues control instructions to the work machine 3, the revolving unit 4, and the traveling unit 5 so as to drive in response to the operation of the operating device 33 by the operator.

[0064] The manual operation instruction unit 54 acquires the boom operation signal M1, the bucket operation signal M2, and the arm operation signal M3, and controls the control valve 27 to operate the work machine 3 in accordance with the operation signals M1 to M3. The controller 24 acquires the swing operation signal M4, and controls the control valve 27 in accordance with the swing operation signal M4 to swing the rotating body 4. The manual operation instruction unit 54 controls the control valve 27 to drive the traveling motor 23 in accordance with operation of the traveling pedal by the operator, and drives the traveling motor 23 to travel the work machine 1.

[0065] The controller 24 also receives an input signal from an input device 34. The controller 24 outputs a display signal to a display 35. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives height data from a height sensor 37.

[0066] (operation) Next, the control operation of the work machine 1 of this embodiment will be described. Figures 10A to 10C are flowcharts showing the operation of the work machine 1 during automatic swing control.

[0067] 10A, in step S101, the target position calculation unit 51 calculates the target position. The controller 24 determines the excavation control position P1, the interference avoidance control position P2, and the earth-discharge control position P3 from the excavation position P1', the interference avoidance control position P2', and the earth-discharge position P3' acquired in advance by teaching by the operator.

[0068] Next, in step S102, the controller 24 acquires the swing mode selected by the operator. That is, the operator selects either the left loading swing mode or the right loading swing mode, and the controller 24 acquires the selected swing mode.

[0069] Next, in step S103, the controller 24 determines whether or not a loading swing control start signal has been acquired. For example, after the operator operates the work machine 3 to perform excavation, the operator operates the input device 34, and the loading swing control start signal is transmitted from the input device 34 to the controller 24.

[0070] If the loading swing control signal is acquired in step S103, the automatic swing instruction unit 52 starts loading swing control in step S104. Based on the acquired swing mode, the automatic swing instruction unit 52 controls the work implement 3 and the swing body 4 so that the bucket pin 13a moves to the excavation control position P1, passes through the interference avoidance control position P2, and then moves to the earth discharge control position P3. Note that if the loading swing control start signal is not acquired in step S103, the control proceeds to step S118 (see FIG. 10C), and the controller 24 determines whether or not the return swing control start signal is acquired.

[0071] As shown in FIG. 10B , after starting the loading swing control, in step S105, the automatic swing command unit 52 determines whether the position of the bucket pin 13a has reached the earth unloading control position P3. If the automatic swing command unit 52 determines that the bucket pin 13a has reached the earth unloading control position P3, the automatic swing command unit 52 ends the loading swing control in step S106. That is, the automatic swing command unit 52 stops the swing unit 4 at the earth unloading control 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. After ending the loading swing control in step S106, the control proceeds to step S118.

[0072] If it is determined in step S105 that the unloading control position P3 has not been reached, the control decision unit 53 determines in step S107 whether a predetermined time has elapsed since the start of loading swing control. If it is determined that the predetermined time has not elapsed, the control proceeds to step S108, where the control decision unit 53 determines whether the operation signal M1, M2, or M3 has been acquired.

[0073] If it is determined in step S108 that the operation signal M1, M2, or M3 has been acquired, then in step S109 the control decision unit 53 determines whether the operation amount of the operation lever that operates the work implement 3 based on the operation signal M1, M2, or M3 exceeds a % of the operable amount of the operation lever. On the other hand, if it is determined in step S108 that the operation signal M1, M2, or M3 has not been acquired, the control proceeds to step S112, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0074] If it is determined in step S109 that the operation amount of the control lever for operating the work machine 3 does not exceed a%, then in step S111 the control decision unit 53 compares the operation amount of the control lever for operating the work machine 3 by the operator with the operation amount of the control lever corresponding to the loading swing control, and decides to perform control using the larger operation amount. If the operation amount of the control lever for operating the work machine 3 by the operator is larger than the operation amount of the control lever corresponding to the loading swing control, the control decision unit 53 decides to perform control according to the operation amount of the control lever by the operator, and the manual operation instruction unit 54 operates the work machine 3 according to the operation amount of the control lever by the operator. On the other hand, if the operation amount of the control lever corresponding to the loading swing control is larger than the operation amount of the control lever for operating the work machine 3 by the operator, the control decision unit 53 continues the loading swing control, and the automatic swing instruction unit 52 performs the loading swing control. Note that if the operation amounts are the same, the loading swing control may be continued.

[0075] On the other hand, if it is determined in step S109 that the operation amount of the operation lever that operates the work machine 3 exceeds a%, the control decision unit 53 decides to stop the loading swing control in step S110. When it is determined to stop the loading swing control, the automatic swing instruction unit 52 stops the loading swing control.

[0076] After step S111 or step S108, in step S112, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S112 that the operation signal M4 has been acquired, then in step S113, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the revolving unit 4 by the operation signal M4 exceeds c % of the operable amount of the operation lever. On the other hand, if it is determined in step S112 that the operation signal M4 has not been acquired, the control returns to step S105.

[0077] In step S113, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed c%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading rotation control, and control returns to step S105.

[0078] On the other hand, if it is determined in step S113 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds c%, the control decision unit 53 decides to stop the loading rotation control, and in step S110, the control decision unit 53 decides to stop the loading rotation control.

[0079] As described above, steps S108 to S113 are repeated until a predetermined time has elapsed since the start of loading swing control in step S107. Note that the predetermined time is set to, for example, several seconds, which is shorter than the time it takes for the bucket pin 13a to reach the unloading position. As a result, even if the loading swing control is started before the excavation work is completed, the work implement 3 operates with the larger amount of operation, so that the loading swing control can be started smoothly. Furthermore, even before the predetermined time has elapsed after the start of loading start control, the loading swing control can be stopped by operating the operation lever to a large extent.

[0080] If it is determined in step S107 that the predetermined time has elapsed since the start of the loading swing control, the control decision unit 53 determines in step S114 whether or not the operation signal M1, M2, or M3 has been acquired.

[0081] If it is determined in step S114 that the operation signal M1, M2, or M3 has been acquired, then in step S115 the control decision unit 53 determines whether the amount of operation of the operation lever that operates the work implement 3 by the operation signal M1, M2, or M3 exceeds b% of the operable amount of the operation lever.On the other hand, if it is determined in step S114 that the operation signal M1, M2, or M3 has not been acquired, the control proceeds to step S116, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0082] In step S115, if it is determined that the amount of operation of the operating lever that operates the work machine 3 does not exceed b%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading swing control, and control proceeds to step S116.

[0083] On the other hand, if it is determined in step S115 that the amount of operation of the operating lever that operates the work machine 3 exceeds b%, the control decision unit 53 decides to stop the loading swing control, and in step S110, the control decision unit 53 decides to stop the loading swing control.

[0084] After step S114 or step S115, in step S116, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S116 that the operation signal M4 has been acquired, then in step S117, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the revolving unit 4 by the operation signal M4 exceeds c % of the operable amount of the operation lever. On the other hand, if it is determined in step S116 that the operation signal M4 has not been acquired, the control returns to step S105.

[0085] In step S117, if it is determined that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed c%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading rotation control, and control returns to step S105.

[0086] On the other hand, if it is determined in step S117 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds c%, the control decision unit 53 decides to stop the loading rotation control, and in step S110, the control decision unit 53 decides to stop the loading rotation control.

[0087] As described above, after a predetermined time has elapsed since the loading swing control was started in step S105, steps S114 to S117 are repeated until it is determined that the bucket pin 13a has reached the soil discharge control position P3. This allows the operator to stop the loading swing control even during the loading swing control.

[0088] After step S103 or step S106, in step S118, as shown in Fig. 10C, the automatic swing instruction unit 52 determines whether or not a return swing control start signal has been acquired. For example, after the operator unloads the object from the bucket 13, the operator operates the input device 34, and the return swing control start signal is transmitted from the input device 34 to the controller 24.

[0089] If it is determined in step S118 that the return swing control signal has been acquired, then in step S119 the automatic swing command unit 52 starts return swing control. The automatic swing command unit 52 controls the work implement 3 and the rotating body 4 so that the bucket pin 13a moves to the earth discharge control position P3, passes through the interference avoidance control position P2, and then moves to the excavation control position P1. Note that if the return swing control start signal has not been acquired in step S118, then control returns to step S103.

[0090] After starting the return swing control, in step S120, the automatic swing command unit 52 determines whether the position of the bucket pin 13a has reached the excavation control position P1. If the position has reached the excavation control position P1, the automatic swing command unit 52 ends the return swing control in step S121, and control returns to step S103. That is, the automatic swing command unit 52 stops the work implement 3 and the rotating body 4 at the excavation control position P1. On the other hand, if it is determined that the position of the bucket pin 13a has not reached the excavation control position P1, control proceeds to step S122.

[0091] In step S122, the control decision unit 53 determines whether or not the operation signal M1, M2, or M3 has been acquired.

[0092] If it is determined in step S122 that the operation signal M1, M2, or M3 has been acquired, the control decision unit 53 determines in step S123 whether the operation amount of the operation lever that operates the work implement 3 based on the operation signal M1, M2, or M3 exceeds d% of the operable amount of the operation lever. On the other hand, if it is determined in step S122 that the operation signal M1, M2, or M3 has not been acquired, the control proceeds to step S124, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0093] If it is determined in step S123 that the amount of operation of the operating lever that operates the work machine 3 does not exceed d%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the loading swing control, and control proceeds to step S124.

[0094] On the other hand, if it is determined in step S123 that the amount of operation of the operating lever that operates the work equipment 3 exceeds d%, the control decision unit 53 decides to stop the return swing control, and in step S125, the automatic swing instruction unit 52 executes the stop of the return swing control.

[0095] After step S122 or step S123, in step S124, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S124 that the operation signal M4 has been acquired, then in step S126, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the revolving unit 4 based on the operation signal M4 exceeds e % of the operable amount of the operation lever. On the other hand, if it is determined in step S124 that the operation signal M4 has not been acquired, the control returns to step S120.

[0096] If it is determined in step S126 that the amount of operation of the control lever for rotating the rotating body 4 does not exceed e%, the control decision unit 53 ignores the operation of the control lever by the operator and decides to continue the return rotation control, and control returns to step S120.

[0097] On the other hand, if it is determined in step S126 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds e%, the control decision unit 53 decides to stop the loading rotation control, and in step S120, the control decision unit 53 decides to stop the loading rotation control. As described above, after the return swing control is started in step S118, the determinations in steps S122 to S126 are repeated until it is determined that the bucket pin 13a has reached the excavation control position P1. This allows the operator to stop the return swing control even during the return swing control.

[0098] (Features, etc.) The work machine 1 according to the present embodiment described above operates the work machine 3 with the greater amount of operation of the operator's control lever for operating the work machine 3 or the amount of operation of the control lever corresponding to the loading swing control, during a predetermined time period from the start of the loading swing control. If the amount of operation of the operator's control lever for operating the work machine 3 is greater than the amount of operation of the control lever corresponding to the loading swing control, the work machine 3 can be operated as desired by the operator. During a predetermined time period from the start of the loading swing control, the operator is permitted to operate the work machine 3.

[0099] For example, to improve work efficiency, the operator may start the loading swing control before the excavation work is completed. For example, the operator may start the automatic swing control while the input of the operation lever is still remaining. Even in such a case, the operator can continue the excavation work, improving operability. Furthermore, the loading swing control can be started smoothly without the need to start the loading swing control or stop the loading swing control because an operation to operate the work implement 3 is being performed.

[0100] In the work machine 1 according to this embodiment, if the operating lever for operating the work implement 3 is operated beyond a % within a predetermined time period after the start of the loading swing control, the loading swing control is stopped.

[0101] This allows the operator to automatically stop the loading swing control even if it is within a predetermined time from the start of the loading swing control.

[0102] (Other embodiments) 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.

[0103] (A) In the return swing control of the above embodiment, unlike the loading swing control, the operator's operation amount and the automatic swing control operation amount are not compared and the larger operation amount is not used for a predetermined time from the start. However, in the return swing control, as in the loading swing control, the operator's operation amount may be compared and the larger operation amount may be used for a predetermined time from the start.

[0104] FIG. 11 is a modified example of the flowchart in FIG. 10C. FIG. 11 shows a flowchart in the case where, in the return swing control, the operation amounts are compared for a predetermined time from the start, and control is performed using the larger operation amount. Unlike FIG. 10C, the flowchart shown in FIG. 11 includes step S131 between step S120 and step S122. In step S131, the control decision unit 53 determines whether or not a predetermined time has elapsed since the start of the return swing control. The predetermined time in the return swing control may be the same as or different from that in the loading swing control. If the control decision unit 53 determines that the predetermined time has elapsed, the control proceeds to step S122. The control in steps S122 to S126 is the same as the above embodiment.

[0105] If the control decision unit 53 determines that the predetermined time has not elapsed, the control proceeds to step S131, where the control decision unit 53 determines whether or not the operation signal M1, M2, or M3 has been acquired.

[0106] If it is determined in step S131 that the operation signal M1, M2, or M3 has been acquired, then in step S132 the control decision unit 53 determines whether the amount of operation of the operation lever that operates the work implement 3 by the operation signal M1, M2, or M3 exceeds f% of the operable amount of the operation lever. This f% may be the same as or different from a%. It is preferable that f% be greater than d%. On the other hand, if it is determined in step S131 that the operation signal M1, M2, or M3 has not been acquired, then control proceeds to step S134, where the control decision unit 53 determines whether the operation signal M4 has been acquired.

[0107] If it is determined in step S132 that the operation amount of the control lever for operating the work implement 3 does not exceed f%, then in step S133 the control decision unit 53 compares the operation amount of the control lever for operating the work implement 3 with the operation amount of the control lever corresponding to the return swing control, and decides to perform control using the larger operation amount. If the operation amount of the control lever for operating the work implement 3 by the operator is larger than the operation amount of the control lever corresponding to the return swing control, the control decision unit 53 decides to control the work implement 3 according to the operation amount of the control lever by the operator, and the manual operation instruction unit 54 operates the work implement 3 according to the operation amount of the control lever by the operator. On the other hand, if the operation amount of the control lever corresponding to the return swing control is larger than the operation amount of the control lever by the operator, the control decision unit 53 continues the return swing control, and the automatic swing instruction unit 52 performs the return swing control. Note that if the operation amounts are the same, the return swing control may be continued.

[0108] On the other hand, if it is determined in step S132 that the operation amount of the operation lever that operates the work machine 3 exceeds f%, then in step S125 the control decision unit 53 decides to stop the return swing control. When it is decided to stop the return swing control, in step S125 the automatic swing instruction unit 52 stops the return swing control.

[0109] After step S131 or step S133, in step S134, the control decision unit 53 determines whether or not the operation signal M4 has been acquired. If it is determined in step S134 that the operation signal M4 has been acquired, then in step S135, the control decision unit 53 determines whether or not the operation amount of the operation lever that operates the revolving unit 4 by the operation signal M4 exceeds e % of the operable amount of the operation lever. On the other hand, if it is determined in step S134 that the operation signal M4 has not been acquired, the control returns to step S120.

[0110] If it is determined in step S135 that the amount of operation of the operating lever for rotating the rotating body 4 does not exceed e%, the control decision unit 53 ignores the operation of the operating lever by the operator and decides to continue the return rotation control, and control returns to step S120.

[0111] On the other hand, if it is determined in step S135 that the amount of operation of the operating lever for rotating the rotating body 4 exceeds e%, the control decision unit 53 decides to stop the return rotation control, and in step S125, the automatic rotation instruction unit 52 stops the return rotation control.

[0112] In this way, during a predetermined time from the start of the return swing control, the amount of operation of the control lever for operating the work equipment 3 by the operator is compared with the amount of operation of the control lever corresponding to the return swing control, and the work equipment 3 is operated by the larger amount of operation. If the amount of operation of the control lever for operating the work equipment 3 by the operator is larger than the amount of operation of the control lever corresponding to the return swing control, the work equipment 3 can be operated as the operator desires. During a predetermined time from the start of the return swing control, the operator is permitted to operate the work equipment 3.

[0113] For example, to improve work efficiency, the operator may start return swing control before the earth-discharging operation is completed. Even in such a case, the operator can continue the earth-discharging operation, improving operability. In addition, the situation where the return swing control cannot be started or the return swing control is stopped because an operation to operate the work implement 3 is being performed is suppressed, and the return swing control can be started smoothly.

[0114] (B) In the above embodiment, in the loading swing control, the threshold value of the operation amount of the operating lever of the swing unit 4 is set to the same c% before the predetermined time has elapsed (step S113) and after the predetermined time has elapsed (step S117), but it may be different. Similarly, in the return swing control shown in Fig. 11, the threshold value of the operation amount of the operating lever of the swing unit 4 is set to the same e% before the predetermined time has elapsed (step S126) and after the predetermined time has elapsed (step S135), but it may be different.

[0115] (C) In the above embodiment, the excavation control position P1, the interference avoidance control position P2, and the earth-discharging control position P3 are determined from the excavation position P1', the interference avoidance control position P2', and the earth-discharging position P3' obtained by teaching, but this is not the only option. For example, the excavation control position P1, the interference avoidance control position P2, and the earth-discharging control position P3 may be determined by direct teaching, or a map may be displayed on the display 35 and the excavation control position P1, the interference avoidance control position P2, and the earth-discharging control position P3 may be set on the display 35.

[0116] (D) In the above embodiment, for a predetermined time from the start, control is performed only on the work implement 3 using the larger of the amount of operation of the operating lever by the operator and the amount of operation of the operating lever based on the automatic rotation control, but this control may also be applied to the rotating body 4.

[0117] (E) In the above embodiment, the amount of operation of the control lever by the operator and the amount of operation of the control lever based on the automatic swing control are compared for a predetermined time from the start of the automatic swing control, and control is performed using the larger amount of operation, but this does not have to be limited to a predetermined time. For example, it may be the period from the start of the loading swing control until the bucket pin 13a reaches the excavation control position P1. Also, for example, it may be the period from the start of the return swing control until the bucket pin 13a reaches the soil discharge control position P3. This allows manual operation by the operator during the period from the start of the automatic swing control until the predetermined timing, when there is a high probability that the operator will intervene manually, thereby improving operability.

[0118] (F) The work machine 1 may be operable remotely. It may be configured as a system including the work machine 1 and a remote control device that remotely controls the work machine 1. In this case, the externally located remote control device is provided with an operation device 33, an input device 34, and a display 35, and a controller provided in the remote control device outputs a signal to a controller 24 (see FIG. 7) of the work machine 1 to control the work machine 1. Furthermore, in addition to the operation device 33, input device 34, and display 35, the remote control device may also be provided with the controller 24. In this case, the work machine 1 is controlled by outputting a signal from the controller 24 to a controller provided in the work machine 1. Note that the controller provided in the remote control device and the controller provided in the work machine 1 described above each include a processor such as a CPU and a storage device, just like the controller 24.

[0119] (G) In the above embodiment, during a predetermined time period from the start of automatic swing control, the work equipment 3 is operated based on the larger of the operation amount of the control lever for operating the work equipment 3 by the operator and the operation amount of the control lever corresponding to the automatic swing control. However, this is not limited to the magnitude of the operation amount. For example, the work equipment 3 may be controlled using the larger of the operation signal corresponding to the operation of the control lever and the operation signal corresponding to the automatic swing control. The operation signal may be an electrical signal. The electrical signal may be an electrical signal output to a pilot valve that adjusts the pilot pressure for operating the control valve 27. In short, during a predetermined time period from the start of automatic swing control, the work equipment may be controlled based on the larger of the operation command for operating the work equipment 3 by the operation lever and the operation command for operating the work equipment 3 by the automatic swing control. The larger operation command is the operation command that operates the work equipment 3 by the larger amount. In other words, the larger operation command can be said to be the operation command that attempts to move the work equipment 3 by the larger amount.

[0120] (H) In the above embodiment, a loading swing control start switch and a return swing control start switch are provided, but a single swing control start switch may be provided. In this case, operation of the swing control start switch outputs a swing control start signal to the controller 24, and the controller 24 may determine whether loading swing control or return swing control is to be performed based on the orientation of the work implement 3 and the attitude of the bucket 13, and start the control.

[0121] (I) The target position may be acquired by manual input by the operator instead of using the direction sensor 36 and the height sensor 37. Alternatively, the target position may be acquired by a sensor provided outside the work machine 1. Other equipment including a loading platform may be used instead of the transport vehicle 100. For example, a hopper for receiving the dumped earth and sand may be provided instead of the transport vehicle 100. [Industrial Applicability]

[0122] According to the present disclosure, it is possible to provide a work machine and a control method for a work machine that are capable of improving operability in automatic turning control. [Explanation of symbols]

[0123] 1: Work machine 3: Work equipment 4: Rotating body 24: Controller 33L: Left operating lever 33R: Right operating lever 100: Transport vehicle 101: Cargo bed

Claims

1. a rotatable rotating body; a work machine attached to the rotating body; an operating member for operating the work machine; a control unit that performs automatic rotation control to control the rotating body and the work machine, the control unit controls the work machine based on a larger operation command between the operation command by the automatic swing control and the operation command by the operating member during a period from the start of the automatic swing control to a predetermined timing. Work machinery.

2. The control unit During the period from the start of the automatic turning control to the predetermined timing, When the operating member is operated within a first predetermined range within an operable range of the operating member, the working machine is controlled based on a larger operation command of the operation command by the automatic swing control and the operation command by the operating member, When the operating member is operated beyond the first predetermined range, the automatic turning control is stopped.

2. The work machine according to claim 1.

3. The control unit When the predetermined timing has passed and the operating member is operated within a second predetermined range of the operable range of the operating member, the automatic rotation control is performed, and when the operating member is operated beyond the second predetermined range, the automatic rotation control is stopped.

3. The work machine according to claim 2.

4. the control unit compares an operation command by the automatic swing control with an operation command by the operating member during the period from the start of the automatic swing control to the predetermined timing, and controls the work machine based on the larger operation command.

2. The work machine according to claim 1.

5. When the control unit receives a swing control start signal, the control unit performs the automatic swing control to a set earth discharge control position for earth discharge.

2. The work machine according to claim 1.

6. When the control unit receives a swing control start signal, the control unit performs the automatic swing control to a preset excavation control position for excavating earth and sand.

2. The work machine according to claim 1.

7. A start switch for starting the automatic turning control is further provided, The automatic turning control is started by operating the start switch.

2. The work machine according to claim 1.

8. The period from the start of the automatic turning control to the predetermined timing is a period from the start of the automatic turning control to a predetermined time.

2. The work machine according to claim 1.

9. A control method for a work machine including a rotatable rotating body and a work implement attached to the rotating body, comprising: During a period from the start of automatic swing control for controlling the swing body and the work machine to a predetermined timing, the work machine is controlled based on a larger operation command of an operation command by the automatic swing control and an operation command by an operating member for operating the work machine. A method for controlling a work machine.

10. Controlling the work machine includes: During the period from the start of the automatic turning control to the predetermined timing, When the operating member is operated within a first predetermined range within an operable range of the operating member, the working machine is controlled based on a larger operation command of the operation command by the automatic swing control and the operation command by the operating member, When the operation member is operated beyond the first predetermined range, the automatic rotation control is stopped. The method for controlling a work machine according to claim 9.

11. Controlling the work machine includes: When the predetermined timing has passed, if the operating member is operated within a second predetermined range of the operable range of the operating member, the automatic rotation control is performed, and when the operating member is operated beyond the second predetermined range, the automatic rotation control is stopped. The method for controlling a work machine according to claim 10.

12. Controlling the work machine includes: During the period from the start of the automatic swing control to the predetermined timing, an operation command by the automatic swing control and an operation command by the operating member are compared, and the working machine is controlled based on the larger operation command. The method for controlling a work machine according to claim 9.

13. When a swing control start signal is received, the automatic swing control is performed up to a set earth-discharge control position for earth-discharge. The method for controlling a work machine according to claim 9.

14. When a swing control start signal is received, the automatic swing control is performed to a preset excavation control position for excavating earth and sand. The method for controlling a work machine according to claim 9.

15. The period from the start of the automatic turning control to the predetermined timing is a period from the start of the automatic turning control to a predetermined time. The method for controlling a work machine according to claim 9.

16. 1. A system for controlling a work machine, comprising: a rotatable rotating body; a work machine attached to the rotating body; an operating member for operating the work machine; a control unit that performs automatic rotation control to control the rotating body and the work machine, the control unit controls the work machine based on a larger operation command between the operation command by the automatic swing control and the operation command by the operating member during a period from the start of the automatic swing control to a predetermined timing. system.

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