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

Abstract

To provide a working machine capable of improving operability after completion of automatic turning control.SOLUTION: The work machine includes a revolving unit, a work implement, an operation member, and a control unit. The revolving unit is capable of revolving. The work implement is attached to the revolving unit. The operation member operates the work implement or the revolving unit. The control unit performs automatic swing control for controlling the swing body and the work implement. When the manual intervention operation is detected based on the operation of the operation member during execution of the automatic turning control, the control unit stops the automatic turning control and changes the control status in accordance with the progress of the automatic turning control.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] The above Patent Document 1 discloses that the automatic turning control is stopped if a manual operation is performed during the automatic turning control, but does not disclose the operability after the automatic turning control is ended.

[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 are capable of improving operability after automatic swing control is stopped. [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 or the revolving body. The control unit performs automatic revolve control that controls the revolving body and the work implement. If the control unit detects a manual intervention operation based on the operation of the operating member while the automatic revolve control is being executed, the control unit stops the automatic revolve control and changes the control status according to the progress of the automatic revolve control.

[0007] A second aspect of the present disclosure is a system for controlling a work machine. The system includes a rotating body, a work implement, an operating member, and a control unit. The rotating body is capable of rotating. The work implement is attached to the rotating body. The operating member operates the work implement or the rotating body. The control unit performs automatic rotation control that controls the rotating body and the work implement. If the control unit detects a manual intervention operation based on the operation of the operating member while the automatic rotation control is being executed, the control unit stops the automatic rotation control and changes the control status according to the progress of the automatic rotation control.

[0008] A third aspect of the present disclosure is a control method for a work machine. The work machine has a rotatable rotating body and a work implement attached to the rotating body. The control method includes starting automatic rotation control for controlling the rotating body and the work implement, detecting a manual intervention operation based on operation of an operating member that operates the work implement or the rotating body, and, when the manual intervention operation is detected, stopping the automatic rotation control and changing a control status according to the progress of the automatic rotation control. [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 that are capable of improving operability after automatic swing control is stopped. [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. 10 is a plan view showing an area where automatic turning control is permitted to start. [Figure 8A] FIG. 10 is a side view for explaining the hoarding posture of the bucket at the start of loading swing control. [Figure 8B] FIG. 10 is a side view for explaining the tucked-in attitude of the bucket at the start of return swing control. [Figure 9] FIG. 2 is a block diagram showing the flow of signals in the control system. [Figure 10] FIG. 10 is a diagram showing the transition of the state of acceptance of a calculation signal from a secondary controller in the primary controller. [Figure 11] 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 12] 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 13A] 4 is a flowchart showing a control operation of a work machine according to an embodiment of the present disclosure. [Figure 13B] 4 is a flowchart showing a control operation of a work machine according to an embodiment of the present disclosure. [Figure 13C] 4 is a flowchart showing a control operation of a work machine according to an 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] 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 chassis 2 and a work implement 3. The work implement 3 is attached to the chassis 2. The chassis 2 includes a revolving unit 4 and a running unit 5. The revolving unit 4 is connected to the running unit 5 so that it can rotate. The revolving unit 4 can rotate around a rotation center C1. A cab 6 is disposed on the revolving unit 4. The work implement 3 is attached to the revolving unit 4. The running unit 5 includes tracks 7. Note that only one of the left and right tracks 7 is shown in FIG. 1. The work machine 1 moves 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 configurations of the drive system 8 and control system 9 of the work machine 1. As shown in Fig. 2, the drive system 8 of the work machine 1 includes a drive source 21 and a hydraulic pump 22. The control system 9 includes a controller 24. The controller 24 includes a primary controller 28 and a secondary controller 29 that communicate with each other.

[0017] The drive source 21 is controlled by a command signal from the primary controller 28. 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.

[0018] 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.

[0019] 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 a primary controller 28. The primary controller 28 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26.

[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 driven by hydraulic oil from the hydraulic pump 22. Alternatively, the travel motor 23 may be an electric motor. The travel motor 23 drives the tracks 7, causing the work machine 1 to travel.

[0021] The work machine 1 includes a control valve 27. The hydraulic pump 22 is connected to the cylinders 14-16, the swing motor 25, and the traveling motor 23 via a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from a primary controller 28. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16 and the swing motor 25. The primary controller 28 controls the operation of the work machine 3 by controlling the control valve 27. The primary controller 28 controls the swing of the swing body 4 by controlling the control valve 27. The primary controller 28 controls the drive of the traveling motor 23 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.

[0022] The primary controller 28 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.

[0023] The control system 9 includes an operating device 33, a work implement locking member 34, a swing locking member 35, and an input device 36. The operating device 33, the work implement locking member 34, and the swing locking member 35 are arranged inside the cab 6. The operating device 33 can be operated by an operator to control the travel of the work machine 1, the operation of the work implement 3, and the rotation of the rotating bed 4.

[0024] The operation device 33 includes a travel operation member 41, a work implement / swing structure operation member 42, and an automatic control operation member 44. In response to operation of the travel operation member 41, the primary controller 28 controls the control valve 27 to drive the travel motor 23 so as to travel the work machine 1. In response to operation of the work implement / swing structure operation member 42, the primary controller 28 controls the control valve 27 so as to operate the work implement 3 or the swing structure 4. The automatic control operation member 44 will be described later.

[0025] The work implement / swing unit operating member 42 includes a right operating lever 42R (operating member) and a left operating lever 42L (operating member). The left operating lever 42L is located on the left side of the driver's seat. The right operating lever 42R is located on the right side of the driver's seat. Operation of the right operating lever 42R 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 operation in the forward / backward direction. Operation of the right operating lever 42R in the left / right direction corresponds to operation of the bucket 13, and an excavation or earth-discharging operation of the bucket 13 is performed in response to operation in the left / right direction. Operation of the left operating lever 42L in the left / right direction corresponds to operation of the swing unit 4, and a right swing operation or a left swing operation of the swing unit 4 is performed in response to operation in the left / right direction. Operation of the left operating lever 42L in the forward / backward direction corresponds to operation of the arm 12, and a push-out or retraction operation of the arm 12 is performed in response to operation in the forward / backward direction.

[0026] The work implement / swinging body operating member 42 includes a boom operation detection unit 51 and a bucket operation detection unit 52. The boom operation detection unit 51 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 51 accepts operation of the boom 11 by the operator in accordance with forward / backward operation of the right operating lever 42R. The boom operation detection unit 51 outputs a boom operation signal M1 to the primary controller 28 in accordance with forward / backward operation of the right operating lever 42R. The bucket operation detection unit 52 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 52 accepts operation of the bucket 13 by the operator in accordance with left / right operation of the right operating lever 42R. The bucket operation detection unit 52 outputs a bucket operation signal M2 to the primary controller 28 in accordance with left / right operation of the right operating lever 42R.

[0027] The work implement / swing unit operating member 42 also includes an arm operation detection unit 53 and a swing operation detection unit 54. The arm operation detection unit 53 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The arm operation detection unit 53 accepts operation of the arm 12 by the operator in accordance with forward / backward operation of the left operating lever 42L. The arm operation detection unit 53 outputs an arm operation signal M3 to the primary controller 28 in accordance with forward / backward operation of the left operating lever 42L. The swing operation detection unit 54 detects the amount of operation corresponding to the lever tilt angle by using a potentiometer, a Hall IC, etc. The swing operation detection unit 54 accepts swing operation of the swing unit 4 by the operator in accordance with left / right operation of the left operating lever 42L. The swing operation detection unit 54 outputs a swing operation signal M4 to the primary controller 28 in accordance with left / right operation of the left operating lever 42L.

[0028] The work implement locking member 34 can be operated by an operator to lock the operation of the work implement 3. The work implement locking member 34 is, for example, a lever. The work implement locking member 34 may also be another member, such as a switch. The work implement locking member 34 outputs a work implement lock signal that indicates an operation on the work implement locking member 34. The primary controller 28 receives the work implement lock signal from the work implement locking member 34. When the operation of the work implement 3 is locked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is invalid. When the work implement 3 is unlocked by the work implement locking member 34, operation of the work implement 3 by the above-mentioned operating device 33 is valid.

[0029] The swing lock member 35 can be operated by an operator to lock the swing of the swing unit 4. The swing lock member 35 is, for example, a switch. The swing lock member 35 may also be another member, such as a lever. The swing lock member 35 outputs a swing lock signal indicating an operation to the swing lock member 35. The primary controller 28 receives the swing lock signal from the swing lock member 35. When the swing of the swing unit 4 is locked by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is disabled. When the swing of the swing unit 4 is released by the swing lock member 35, the swing operation of the swing unit 4 by the above-mentioned operating device 33 is enabled.

[0030] The input device 36 can be operated by an operator. The input device 36 is, for example, a touch screen. However, the input device 36 may also include a switch. The operator operates the input device 36 to input various settings related to the work machine 1. The input device 36 outputs an input signal in response to the operator's operation. The primary controller 28 receives the input signal from the input device 36.

[0031] For example, the operator can set the work mode using input device 36. The work modes include, for example, P mode and E mode. P mode and E mode are modes suitable for excavation work and earth removal work using bucket 13. Primary controller 28 controls the tractive force of work machine 1 in accordance with P mode and E mode. In E mode, primary controller 28 reduces the maximum tractive force more than in P mode, thereby improving fuel efficiency.

[0032] The work modes include a crane mode, which is a mode suitable for crane work in which a load is hoisted from the bucket 13. In the crane mode, the primary controller 28 monitors the load hoisted on the work implement 3, and issues a warning if the load exceeds a threshold value.

[0033] The work modes include various attachment modes. In place of the bucket 13, other attachments such as a breaker or a crusher can be attached to the work implement 3. The various attachment modes are modes suitable for the attached attachment. In the attachment mode, the primary controller 28 adjusts the flow rate of hydraulic oil according to the specific attached attachment.

[0034] The control system 9 includes a position sensor 37, an attitude sensor 38, and an automatic control setting device 39. The position sensor 37 detects the position of the work machine 1. The position sensor 37 includes, for example, a sensor using a Global Navigation Satellite System (GNSS). The position sensor 37 also detects the orientation of the work machine 1. The orientation of the work machine 1 is indicated by an external coordinate system. The external coordinate system is a coordinate system based on the outside of the work machine 1. The external coordinate system is, for example, a site coordinate system within the work site where the work machine 1 is used. Alternatively, the external coordinate system may be a global coordinate system. The position sensor 37 outputs a position signal that indicates the position of the work machine 1. The secondary controller 29 receives the position signal from the position sensor 37.

[0035] The attitude sensor 38 detects the attitude of the work machine 1. The attitude sensor 38 includes, for example, an IMU (Inertial Measurement Unit). The attitude sensor 38 detects the attitude of the work machine 1. The attitude of the work machine 1 includes the tilt angle of the vehicle body 2 and the attitude of the work implement 3. The tilt angle of the vehicle body 2 includes the pitch angle and roll angle of the vehicle body 2. The attitude of the work implement 3 includes the respective angles of the boom 11, arm 12, and bucket 13. The attitude sensor 38 outputs an attitude signal that indicates the attitude of the work machine 1. The secondary controller 29 receives the attitude signal from the attitude sensor 38.

[0036] The secondary controller 29 detects the attitude of the bucket 13 relative to the site coordinate system from the position signal from the position sensor 37 and the attitude signal from the attitude sensor 38 .

[0037] The automatic control setting device 39 is operated by an operator to set control parameters for automatic control of the work machine 1. The automatic control setting device 39 is disposed, for example, in the cab 6. The control parameters will be described later. The automatic control setting device 39 outputs a control parameter signal indicative of the control parameters. The secondary controller 29 receives the control parameter signal from the automatic control setting device 39.

[0038] The secondary controller 29 includes a processor 45 such as a CPU, and a storage device 46. The processor 45 performs processing for automatic control of the work machine 1. The storage device 46 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 46 stores data and programs for automatic control of the work machine 1. The secondary controller 29 communicates with the primary controller 28.

[0039] The secondary controller 29 executes processing for automatic control of the work machine 1. The secondary controller 29 calculates command values ​​to be sent to the drive system 8 for automatic control. The primary controller 28 outputs command signals to the drive system 8 based on the command values ​​calculated by the secondary controller 29. Below, automatic swing control will be described as an example of automatic control of the work machine 1. In automatic swing control, the secondary controller 29 automatically controls the swing of the swing body 4 and the attitude of the work implement 3.

[0040] 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 secondary controller 29. In other words, the automatic swing control includes loading swing control and return swing control.

[0041] 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.

[0042] 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.

[0043] As shown in FIG. 7, the secondary controller 29 calculates a target position to which the bucket 13 is to be moved based on a position set by teaching by the operator. The calculated target position is stored in the secondary controller 29. As shown in FIGS. 4 to 6, the target positions include a return swing control position P1, an interference avoidance control position P2, and a loading swing control position P3. The return swing control position P1 is the end position of the return swing control. The loading swing control position P3 is the end position of the 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.

[0044] The return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 are determined from the return swing position P1', the interference avoidance position P2', and the loading swing position P3' obtained by teaching. Teaching can be performed, for example, by setting a teaching mode using the automatic control setting device 39, actually operating the left operating lever 33L and the right operating lever 33R to position the bucket pin 13a at the desired return swing control position P1, and then operating the automatic control setting device 39, thereby storing the return swing position P1' in the controller 24. The interference avoidance position P2' and the loading swing position P3' can also be stored in the controller 24 in a similar manner. Note that 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.

[0045] The return swing control position P1 is the same position as the return swing 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 above the rear surface of the loading platform 101. The secondary controller 29 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 loading swing control position P3 is calculated from the height of the interference avoidance control position P2 and the orientation of the loading swing position P3'. The loading swing 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 loading swing position P3'.

[0046] The secondary controller 29 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 center of rotation 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 secondary controller 29 calculates the attitude of the work implement 3 from the attitude data. The secondary controller 29 can calculate the position of the work implement 3 in the site coordinate system from the orientation and attitude of the work implement 3. The position of the work implement 3 is, for example, the position of the bucket pin 13a in the site coordinate system. The position of the work implement 3 may be the height of the bucket pin 13a. The position of the work implement 3 is the height of the working point 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 surface of the crawler 7.

[0047] The secondary controller 29 executes loading swing control or return swing control based on the direction and attitude of the work implement 3 in response to input from the operator via the automatic control setting device 39 .

[0048] For example, when the operator operates the work implement 3 to perform excavation and then operates the swing control start switch provided on the automatic control operating member 44, a swing control start signal is output to the controller 24. Upon receiving the swing control start signal, the secondary controller 29 starts the loading swing control if it determines that the conditions for permitting loading swing control are met. The conditions for permitting loading swing control will be described later.

[0049] When loading swing control is started, the secondary controller 29 controls the work machine 3 so that the bucket pin 13a moves from the current position to a start position P0 to a return swing control position P1, as shown in Fig. 5. The secondary controller 29 operates the work machine 3 so that the bucket pin 13a moves upward from the start position P0 to the return swing control position P1.

[0050] Next, as shown in Figures 4 and 5, the secondary controller 29 rotates the rotating body 4 and raises the work implement 3 so that the bucket pin 13a moves from the return rotation control position P1 to the interference avoidance control position P2.

[0051] Next, the secondary controller 29 operates the swing unit 4 so that the bucket pin 13a moves from the interference avoidance control position P2 to the loading swing control position P3.

[0052] The secondary controller 29 determines whether the work machine 3 has reached the loading swing control position P3. If the secondary controller 29 determines that the work machine 3 has reached the loading swing control position P3, it ends the loading swing control. That is, the secondary controller 29 stops the rotating body 4 and the work machine 3 at the loading swing control position P3. Thereafter, the operator operates the work machine 3 to unload the object from the work machine 3. As a result, the object is loaded onto the bed 101 of the transport vehicle 100.

[0053] The secondary controller 29 stores in advance a swing mode selected by the operator using the automatic control setting device 39. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the secondary controller 29 rotates the swing unit 4 counterclockwise to a loading swing control position P3 during loading swing control (see L1 in FIG. 4). In the right loading swing mode, the secondary controller 29 rotates the swing unit 4 clockwise to a loading swing control position P3 during loading swing control.

[0054] For example, after the operator discharges an object from the work machine 3, if the operator operates the swing control start switch provided on the automatic control operating member 44, a swing control start signal is output to the controller 24. Upon receiving the swing control start signal, the secondary controller 29 starts return swing control if it determines that the conditions for permitting return swing control are met. The conditions for permitting return swing control will be described later.

[0055] When the return swing control is started, the secondary controller 29 controls the work machine 3 so that the bucket pin 13a moves to the loading swing control position P3, with the current position being the start position P10, as shown in Fig. 6. The secondary controller 29 operates the work machine 3 so that the bucket pin 13a moves upward from the start position P10 to the loading swing control position P3.

[0056] Next, the secondary controller 29 rotates the rotating unit 4 so as to move the bucket pin 13a from the loading rotation control position P3 to the interference avoidance control position P2. At this time, the controller 24 rotates the rotating unit 4 in the direction opposite to that of the loading rotation control. That is, when the rotating unit 4 rotates counterclockwise (see L1 in FIG. 4) in the loading rotation control, the secondary controller 29 rotates the rotating unit 4 clockwise (see L2 in FIG. 4). When the rotating unit 4 rotates clockwise in the loading rotation control, the secondary controller 29 rotates the rotating unit 4 counterclockwise.

[0057] Next, the secondary controller 29 rotates the rotating unit 4 from the interference avoidance control position P2 to the return swing control position P1, and also lowers the work unit 3. The secondary controller 29 determines whether the bucket pin 13a has reached the return swing control position P1. If the secondary controller 29 determines that the work unit 3 has reached the return swing control position P1, it ends the return swing control. In other words, the secondary controller 29 stops the rotating unit 4 at the return swing 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.

[0058] The conditions for permission of loading swing control and the conditions for permission of return swing control will be explained. The conditions for permission of loading swing control are that the work implement 3 is located within the second permission area A2 and the bucket 13 is in a hoarding position. The conditions for permission of return swing control are that the work implement 3 is located within the first permission area A1 and the bucket 13 is in a dumping position.

[0059] 7 is a plan view showing permitted areas for starting automatic swing control. The secondary controller 29 determines and stores a first permitted area A1, a second permitted area A2, and a prohibited area A3 based on the orientation of the loading swing control position P3 relative to the work machine 1 and the orientation of the interference avoidance control position P2 relative to the work machine 1.

[0060] The first allowed area A1 and the second allowed area A2 are areas where the execution of automatic swing control is permitted. In detail, the first allowed area A1 is an area where the execution of return swing control is permitted. The second allowed area A2 is an area where the execution of loading swing control is permitted. The prohibited area A3 is an area where the execution of automatic swing control is prohibited. The first allowed area A1, the second allowed area A2, and the prohibited area A3 are areas shown as sectors centered on the swing center C1 in a plan view.

[0061] The secondary controller 29 determines the range between the orientation of the interference avoidance control position P2 and the orientation of the reverse interference avoidance control position P4 as the first allowed area A1. The reverse interference avoidance control position P4 is located on the opposite side of the interference avoidance control position P2 with respect to the loading swing control position P3, in the direction opposite to the return swing direction. For example, the first allowed area A1 can be set so that the rotation angle from the interference avoidance control position P2 to the loading swing control position P3 around the swing center C1 is the same as the rotation angle from the loading swing control position P3 to the reverse interference avoidance control position P4. The return swing direction is the direction of rotation of the swing unit 4 during return swing control, passing through the interference avoidance control position P2 and heading toward the return swing control position P1.

[0062] The prohibited area A3 is located in the opposite direction to the return swing direction relative to the first allowed area A1. The secondary controller 29 determines a range of a predetermined angle from the reverse interference avoidance control position P4 in the opposite direction to the return swing direction as the prohibited area A3. The predetermined angle may be a fixed value. The predetermined angle may also be manually set by the operator. The secondary controller 29 determines a range within the swing range of the swing unit 4, excluding the first allowed area A1 and the prohibited area A3, as the second allowed area A2.

[0063] Fig. 8A is a side view showing the hoarding position of bucket 13. Fig. 8B is a side view showing the earth unloading position of bucket 13. The hoarding position of bucket 13 is a position in which excavated earth and sand is held within bucket 13 to be loaded onto carrier 101. The earth unloading position of bucket 13 is a position after earth and sand has been unloaded onto carrier 101.

[0064] 8A and 8B show the Z axis in the site coordinate system that passes through the bucket pin 13a, and the XY plane that includes the bucket pin 13a and is perpendicular to the Z axis. Here, L1 is the line connecting the bucket pin 13a and the cutting edge 13b, and θ is the angle between the XY plane and the line L1. The angle θ is defined as 0 degrees when the XY plane and the line L1 coincide. The angle θ is defined as a positive value when the cutting edge 13b is rotated from a state where the angle θ is 0 degrees so that it is positioned below the XY plane (when a dumping operation is performed). The angle θ is defined as a negative value when the cutting edge 13b is rotated from a state where the angle θ is 0 degrees so that it is positioned above the XY plane. The dumping operation of the bucket 13 is an operation in which the opening of the bucket 13 and the cutting edges 13b and claws 15c of the bucket 13 rotate away from the vehicle body 2, thereby discharging soil held in the bucket 13.

[0065] When angle θ is within the first predetermined range, secondary controller 29 determines that bucket 13 is in the hoarding posture (see FIG. 8A). To assume the hoarding posture, the first predetermined range is preferably smaller than 90 degrees, and for example, the first predetermined range can be set to -30 degrees≦θ≦+30 degrees. When bucket 13 assumes this hoarding posture, it is assumed that excavation is complete and that bucket 13 is holding earth and sand, and therefore loading swing control is executed when work implement 3 is located in second allowed area A2.

[0066] When the angle θ is within the second predetermined range, the secondary controller 29 determines that the bucket 13 is in the earth-discharging attitude (see FIG. 8B). In order to assume the earth-discharging attitude, it is preferable that the second predetermined range be greater than 90 degrees, and for example, the second predetermined range can be set to 90 degrees < θ < 270 degrees. When the bucket 13 assumes this earth-discharging attitude, it is assumed that earth discharging by the bucket 13 has been completed, and therefore, when the work implement 3 is positioned in the first allowed area A1, return swing control is executed.

[0067] Fig. 9 is a block diagram showing the flow of signals in the control system 9. As shown in Fig. 9, the primary controller 28 receives an operation signal from the operation device 33. If the operation signal indicates manual operation using the travel operation member 41 or the work machine / swinging body operation member 42, the primary controller 28 outputs a command signal to the drive system 8 in accordance with the operation signal. This causes the work machine 1 to operate in accordance with the operation of the operation device 33. If the operation signal indicates an instruction to start automatic swing control using the automatic control operation member 44, the secondary controller 29 executes automatic swing control processing.

[0068] The secondary controller 29 receives the position signal and attitude signal described above. The secondary controller 29 also receives control parameters for automatic swing control from the automatic control setting device 39. The control parameters include, for example, the target positions P1-P3 described above and the selected swing mode. The secondary controller 29 outputs a control state to the primary controller 28 and the automatic control setting device 39. The control state indicates the state of the work machine 1 during automatic control. The control state includes the position of the work machine 1 and the attitude of the work implement 3. The control state may also include the orientation of the swing bed 4 and the position of the bucket 13. The secondary controller 29 receives trigger information from the primary controller 28. The trigger information includes an instruction to start automatic control by the automatic control operating member 44 described above.

[0069] In automatic swing control, the secondary controller 29 calculates command values ​​for operating the work machine 1 based on the control parameters, position signals, and attitude signals. The command values ​​include, for example, the speed and direction of movement of the work implement 3 and the speed and direction of swing of the swing unit 4. The secondary controller 29 outputs a calculation signal indicating the command value to the primary controller 28.

[0070] The primary controller 28 determines whether to accept the calculation signal from the secondary controller 29 based on the acceptance state of the calculation signal. If the primary controller 28 accepts the calculation signal from the secondary controller 29, it outputs a command signal indicating a command value to the drive system 8. For example, the primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the rotating body 4 in accordance with the command value. This causes automatic swing control of the work machine 1 to be executed. If the primary controller 28 does not accept the calculation signal from the secondary controller 29, it does not output a command signal to the drive system 8. This causes automatic swing control of the work machine 1 to be not executed.

[0071] The primary controller 28 transitions the acceptance state (an example of a control status) of the calculation signal from the secondary controller 29 between "not permitted" (an example of a second status), "standby" (an example of a first status), and "approved" (an example of a third status) depending on the state of the work machine 1. The control status indicates whether the controller receiving the signal (the primary controller 28 in this embodiment) is able to accept an external signal. FIG. 10 is a diagram showing the transition of the acceptance state of the calculation signal in the primary controller 28. As shown in FIG. 10, when the control system 9 is started up (condition A), the primary controller 28 sets the acceptance state to "not permitted." In other words, immediately after the control system 9 is started up, the primary controller 28 sets the acceptance state to "not permitted." If the acceptance state of the calculation signal is "not permitted," the primary controller 28 rejects the calculation signal. As a result, if the acceptance state is "not permitted," automatic swing control of the work machine 1 is not executed.

[0072] When the acceptance state is not permitted, if the first permission condition B is satisfied, the primary controller 28 transitions the acceptance state from not permitted to standby. The first permission condition B includes the following conditions b1 to b4. (b1) Automatic turning control is effective. (b2) There is no abnormality in the equipment of work machine 1. (b3) The work machine 1 is in a state suitable for automatic turning control. (b4) The calculation signal is valid.

[0073] The primary controller 28 determines that condition b1 is satisfied when automatic swing control is enabled by the automatic control setting device 39. The primary controller 28 determines that condition b2 is satisfied when no abnormality is detected in any of the devices of the work machine 1. For example, the primary controller 28 detects a disconnection between the primary controller 28 and the secondary controller 29 as an abnormality in the device. The primary controller 28 detects a failure of the operation device 33 as an abnormality in the device.

[0074] If no abnormality is detected in these devices, primary controller 28 determines that condition b2 is satisfied. If an abnormality is detected in at least one of these devices, primary controller 28 determines that condition b2 is not satisfied.

[0075] Primary controller 28 detects the state of the work machine 1 and determines whether condition b3 is satisfied based on the state of the work machine 1. For example, primary controller 28 determines whether the tilt angle of the vehicle body 2 is within a predetermined angle.

[0076] The primary controller 28 determines whether an attachment suitable for automatic swing control is attached to the work implement 3. For example, in the automatic swing control described above, the primary controller 28 determines that an attachment suitable for automatic swing control is attached when a bucket 13 is attached to the work implement 3. In the automatic swing control, the primary controller 28 determines that an attachment suitable for automatic swing control is not attached when a breaker is attached to the work implement 3.

[0077] The primary controller 28 determines whether the work mode is appropriate for automatic swing control. For example, if the P mode or the E mode is selected for automatic swing control, the primary controller 28 determines that the work mode is appropriate for automatic swing control. If the crane mode is selected for automatic swing control, the primary controller 28 determines that the work mode is not appropriate for automatic swing control.

[0078] If these states of the work machine 1 are suitable for automatic swing control, primary controller 28 determines that condition b3 is satisfied. If at least one of these states of the work machine 1 is not suitable for automatic swing control, primary controller 28 determines that condition b3 is not satisfied.

[0079] The primary controller 28 determines that condition b4 is satisfied when the command value of the calculation signal is within a normal range. For example, a predetermined normal range is set for the operating speed of the work implement 3. Also, a predetermined normal range is set for the rotation speed of the revolving unit 4. When the operating speed of the work implement 3 and the rotation speed of the revolving unit 4 are both within their normal ranges, the primary controller 28 determines that the command value of the calculation signal is within the normal range.

[0080] If these command values ​​are within the normal range, primary controller 28 determines that condition b4 is satisfied. If at least one of these command values ​​is not within the normal range, primary controller 28 determines that condition b4 is not satisfied.

[0081] If at least one of conditions b1-b4 is not satisfied, the primary controller 28 maintains the acceptance state as not permitted. If all of the above conditions b1-b4 are satisfied, the primary controller 28 transitions the acceptance state from not permitted to standby. If the acceptance state of the calculation signal is standby, the primary controller 28 rejects the calculation signal. As a result, if the acceptance state is standby, automatic swing control of the work machine 1 is not executed.

[0082] If the second permission condition C is satisfied when the acceptance status is standby, the primary controller 28 transitions the acceptance status from standby to approval. The second permission condition C includes the following conditions c1 to c4. (c1) An instruction to start automatic turning control has been issued. (c2) No transition request to unauthorized from the secondary controller 29. (c3) The work machine 1 is in an operating state that intends to start automatic swing control. (c4) The calculation signal use flag is on.

[0083] The primary controller 28 determines whether condition c1 is satisfied based on an operation signal from the automatic control operating member 44. The primary controller 28 determines that condition c1 is satisfied when the operation signal from the automatic control operating member 44 indicates an instruction to start automatic swing control. For example, the automatic control operating member 44 may include two switches, and the primary controller 28 may determine that condition c1 is satisfied when the two switches are simultaneously turned on. Examples of the switches include a swing control start switch and an unlock switch. Operating the unlock switch enables automatic swing control. When conditions c2 to c4 (described below) are satisfied, for example, by simultaneously operating both the unlock switch and the swing control start switch, the primary controller 28 transitions the control status to approval and accepts a calculation signal from the secondary controller 29. As a result, if the conditions for permitting loading swing control are satisfied, loading swing control is executed. Furthermore, if the conditions for permitting return swing control are satisfied, return swing control is executed.

[0084] The primary controller 28 determines whether condition c2 is satisfied based on a request to transition to disallowance from the secondary controller 29. The secondary controller 29 outputs a request to transition to disallowance to the primary controller 28 when the control parameters are inappropriate. For example, when the positional relationship between target positions P1-P3 is inappropriate for automatic turning control, such as when target positions P1-P3 are too close to each other, the secondary controller 29 outputs a request to transition to disallowance to the primary controller 28. The primary controller 28 determines that condition c2 is satisfied when it has not received a request to transition to disallowance from the secondary controller 29.

[0085] The primary controller 28 determines whether condition c3 is satisfied based on the operating state of the work machine 1. For example, the primary controller 28 determines whether the swing lock member 35 has released the lock on the swing. The primary controller 28 determines whether the work machine 3 has released the lock on the work machine lock member 34. The primary controller 28 determines whether the work machine 1 is not traveling.

[0086] If these operation states are states intended to start automatic turn control, primary controller 28 determines that condition c3 is satisfied. If at least one of these operation states is not a state intended to start automatic turn control, primary controller 28 determines that condition c3 is not satisfied.

[0087] The primary controller 28 determines whether condition c4 is satisfied based on the calculation signal use flag from the secondary controller 29. The secondary controller 29 outputs a calculation signal use flag to the primary controller 28, indicating that the secondary controller 29 is capable of executing automatic swing control. The secondary controller 29 sets the calculation signal use flag to ON when it receives a signal from the primary controller 28 indicating that condition c1 is satisfied. For example, the secondary controller 29 sets the calculation signal use flag to ON when it receives from the primary controller 28 an instruction to start automatic swing control using the automatic control operating member 44 as trigger information. The primary controller 28 determines that condition c4 is satisfied when the calculation signal use flag is ON. Note that the secondary controller 29 may also set the calculation signal use flag to ON when it receives from the primary controller a signal indicating that conditions c1 and c3 are satisfied.

[0088] If at least one of the conditions c1-c4 is not satisfied, the primary controller 28 maintains the acceptance state at standby. If all of the above-mentioned conditions c1-c4 are satisfied, the primary controller 28 transitions the acceptance state from standby to approval. If the acceptance state of the calculation signal is approval, the primary controller 28 accepts the calculation signal. As a result, if the acceptance state is approval, automatic swing control of the work machine 1 is executed.

[0089] On the other hand, when the acceptance status is approval, the primary controller 28 transitions the acceptance status from approval to standby if the first non-permission condition D is satisfied. The first non-permission condition D includes the following conditions d1 and d2. (d1) The calculation signal use flag is off. (d2) Manual intervention in the third section of automatic turning control is detected.

[0090] When the automatic swing control has ended normally, the secondary controller 29 switches the calculation signal use flag from on to off. The primary controller 28 determines that condition d1 is satisfied when the calculation signal use flag is off. When condition d1 is not satisfied, the primary controller 28 maintains the acceptance state at approval. When condition d1 is satisfied, the primary controller 28 transitions the acceptance state from approval to standby. When the loading swing control or return swing control ends, the calculation signal use flag is turned off, and the acceptance state of the calculation signal becomes standby. To start the next automatic swing control, as described above, two switches, for example, the lock release switch and the swing control start switch, must be pressed. Condition d2 will be described later. The primary controller 28 determines that the first non-permission condition D is satisfied when at least one of conditions d1 and d2 is satisfied.

[0091] When the acceptance state is standby, the primary controller 28 transitions the acceptance state from standby to non-permission if the second non-permission condition E is satisfied. The second non-permission condition E includes the following conditions e1-e4. (e1) The opposite condition of the first permission condition B is satisfied. (e2) The reliability of the calculation signal is low. (e3) Timeout. (e4) The work implement 3 is in a locked state.

[0092] The primary controller 28 determines that the condition e1 is satisfied when at least one of the conditions b1-b4 is not satisfied. For example, the primary controller 28 determines that the condition e1 is satisfied when the calculation signal is invalid. Alternatively, the primary controller 28 determines that the condition e1 is satisfied when the tilt angle of the vehicle body 2 is greater than a predetermined angle.

[0093] A low reliability of the calculation signal for condition e2 indicates the possibility that data has been rewritten by a third party. When a control parameter has been changed, primary controller 28 determines whether the change in control parameter was intentionally made by the operator of work machine 1. When the change in control parameter was not intentionally made by the operator of work machine 1, primary controller 28 determines that the reliability of the calculation signal is low.

[0094] For example, when the operator changes a control parameter such as the target positions P1-P3 using the automatic control setting device 39, the secondary controller 29 transmits a change list of the changed control parameters to the primary controller 28. When the value of a control parameter not included in the change list has been changed, the primary controller 28 determines that the reliability of the calculation signal is low and determines that condition e2 is satisfied.

[0095] The primary controller 28 determines whether condition e3 is satisfied based on the time elapsed since the receiving state became standby. The primary controller 28 measures the time elapsed since the receiving state became standby. The primary controller 28 determines that condition e3 is satisfied when there is no instruction to start automatic swing control and the elapsed time is equal to or greater than a predetermined time. The primary controller 28 determines that condition e4 is satisfied when the operation of the work implement 3 is locked by the work implement locking member 34.

[0096] The primary controller 28 determines that the second non-permission condition E is met when at least one of the conditions e1-e4 is met. When the second non-permission condition E is not met, the primary controller 28 maintains the acceptance state at standby. When the second non-permission condition E is met, the primary controller 28 transitions the acceptance state from standby to non-permission.

[0097] When the acceptance status is approval, if a third non-permission condition F is satisfied, the primary controller 28 transitions the acceptance status from approval to non-permission without waiting. The third non-permission condition F includes the following conditions f1-f5. (f1) The opposite condition of the first permitting condition B1 is satisfied. (f2) The reliability of the calculation signal is low. (f3) Rotation operation is performed using the operating device 33. (f4) There is an instruction to end automatic turning control. (f5) Detecting manual intervention in the first or second section during automatic turning control.

[0098] Conditions f1 and f2 are the same as conditions e1 and e2 described above. Primary controller 28 determines that condition f3 is satisfied when the operation signal from operating device 33 indicates a swing operation by work machine / swing body operating member 42. Primary controller 28 determines that condition f4 is satisfied when the operation signal from operating device 33 indicates an end instruction by automatic control operating member 44. For example, if automatic control operating member 44 includes two switches as described above, primary controller 28 may determine that condition f4 is satisfied when at least one of the two switches is turned off. Condition f5 will be described later.

[0099] The primary controller 28 determines that the third non-permission condition F is met when at least one of the conditions f1-f5 is met. When the third non-permission condition F is not met, the primary controller 28 maintains the acceptance state as approved. When the third non-permission condition F is met, the primary controller 28 transitions the acceptance state from approved to non-permission without waiting.

[0100] The above-mentioned conditions d2 and f5 are explained below. The primary controller 28 detects a manual intervention operation during automatic swing control, and stops the automatic swing control if it detects that a manual intervention operation has been performed. Furthermore, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approved to not approved or standby, based on the position of the work implement 3 when the manual intervention operation is detected. The position of the work implement 3 when the manual intervention operation is detected is included in the control signal from the secondary controller 29.

[0101] The secondary controller 29 monitors the progress of the automatic swing control by dividing it into multiple sections. In the loading swing control, the progress of the automatic swing control is divided into a first section R1, a second section R2, and a third section R3, as shown in FIG. 5 . The secondary controller 29 monitors, for example, whether the bucket pin 13a is positioned in the first section R1, the second section R2, or the third section R3 in the loading swing control. The first section R1 is set from the height of the start position P0 to the height of the return swing control position P1. The second section R2 is set from the orientation of the return swing control position P1 to the orientation of the interference avoidance position P2′. The third section R3 is set from the orientation of the interference avoidance position P2′ to the loading swing control position P3. The first section R1 and the second section R2 correspond to the sections on the start position side of the automatic swing control, and the third section R3 corresponds to the section on the end position side of the automatic swing control.

[0102] In the return swing control, the progress of the automatic swing control is divided into a first section T1, a second section T2, and a third section T3, as shown in FIG. 6. The secondary controller 29, for example, monitors whether the bucket pin 13a is positioned in the first section T1, the second section T2, or the third section T3 during the return swing control. The first section T1 is set from the height of the start position P10 to the height of the loading swing control position P3. The second section T2 is set from the orientation of the loading swing control position P3 to the orientation of the interference avoidance control position P2. The third section R3 is set from the orientation of the interference avoidance control position P2 to the return swing control position P1. The first section T1 and the second section T2 correspond to the sections on the start position side of the automatic swing control, and the third section T3 corresponds to the section on the end position side of the automatic swing control.

[0103] FIG. 11 is a diagram showing multiple bar graphs representing thresholds set for operation of the control levers to detect manual intervention during loading swing control. The vertical axis represents the lever stroke amount. The lever stroke amount is the tilt angle in the forward / backward direction or the left / right direction of the control levers 33L, 33R. Graph G1 on the left side of FIG. 11 shows the thresholds set for operation of the control levers that operate the work machine 3 during loading swing control. Graph G2 on the right side of FIG. 11 shows the thresholds set for operation of the control levers that rotate the rotating body 4 during loading swing control.

[0104] 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.

[0105] As shown in graph G1, when the operator operates the control lever that operates the work machine 3 and acquires an operation signal M1, M2, or M3 during loading swing control, the primary controller 28 detects manual intervention operation and stops the loading swing control if it determines that the operation of the control lever has been operated beyond a% of the operable range (100%).

[0106] During loading swing control, if the operator's operation of the control lever that operates the work equipment 3 is within a% of the operable range (100%), the primary controller 28 does not detect manual intervention and ignores the operation of the control lever by the operator, thereby allowing loading swing control to continue.

[0107] As shown in graph G2, when the operator operates the operating lever that operates the rotating body 4 during loading swing control and acquires an operation signal M4, if the primary controller 28 determines that the operation of the operating lever has been operated beyond b% of the operable range (100%), it detects a manual intervention operation and stops the loading swing control.

[0108] During loading swing control, if the operator's operation of the control lever for operating the swing unit 4 is within b% of the operable range (100%), the primary controller 28 does not detect manual intervention and ignores the operator's operation of the control lever. This allows loading swing control to continue. Note that in FIG. 11, b% is set lower than a%, but it is not limited to this and may be the same as or higher than a%.

[0109] In loading swing control, if the position of the bucket pin 13a when a manual intervention operation is detected is in the first section R1 or the second section R2, condition f5 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to disapproval. Also, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the third section R3, condition d2 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to standby.

[0110] FIG. 12 is a diagram showing multiple bar graphs representing thresholds set for operation of the control levers to detect manual intervention during return swing control. The vertical axis represents the lever stroke amount. The lever stroke amount is the tilt angle in the forward / backward direction or the left / right direction of the control levers 33L, 33R. Graph G3 on the left side of FIG. 12 shows the thresholds set for operation of the control levers that operate the work implement 3 during return swing control. Graph G4 on the right side of FIG. 12 shows the thresholds set for operation of the control levers that rotate the rotating body 4 during return swing control.

[0111] As shown in graph G3, when the operator operates the operating lever that operates the work equipment 3 during return swing control and acquires an operation signal M1, M2, or M3, the primary controller 28 detects a manual intervention operation and stops the return swing control if it determines that the operation of the operating lever has been operated beyond c% of the operable range (100%).

[0112] During return swing control, if the operator's operation of the control lever that operates the work equipment 3 is within c% of the operable range (100%), the primary controller 28 does not detect manual intervention and ignores the operation of the control lever by the operator, thereby continuing the return swing control.

[0113] As shown in graph G4, when the operator operates the operating lever that operates the rotating body 4 during return swing control and acquires an operation signal M4, if the secondary controller 29 determines that the operation of the operating lever has been operated beyond d% of the operable range (100%), it detects manual intervention operation and stops the return swing control.

[0114] During return swing control, if the operator's operation of the control lever for operating the swing unit 4 is within b% of the operable range (100%), the secondary controller 29 does not detect manual intervention and ignores the operator's operation of the control lever. This allows return swing control to continue. Note that in FIG. 12, d% is set lower than c%, but this is not limited to this and may be the same as or greater than c%. Furthermore, a%, b%, c%, and d% may be the same value, or may all or partly be different.

[0115] During return swing control, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the first section T1 or the second section T2, condition f5 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to disapproval. Also, if the position of the bucket pin 13a when a manual intervention operation is detected based on the operation signals M1 to M4 is in the third section T3, condition d2 is satisfied, and the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from approval to standby.

[0116] Next, the control operation of the work machine 1 of this embodiment will be described. Figures 13A to 13C are flowcharts showing the operation of the work machine 1 during automatic swing control. Before automatic swing control begins, the primary controller 28 is in a standby state for receiving a calculation signal from the secondary controller 29.

[0117] 13A, in step S101, the secondary controller 29 calculates a target position. The secondary controller 29 obtains the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 from the return swing position P1', the interference avoidance position P2', and the loading swing position P3' acquired in advance by teaching by the operator.

[0118] Next, in step S102, the secondary controller 29 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.

[0119] Next, when the swing control start switch and the lock release switch are operated, in step S103, the secondary controller 29 acquires a swing control start signal, the primary controller 28 enters an approval state, and control proceeds to step S104. For example, the operator operates the work implement 3 to perform excavation, and then operates the swing control start switch and the lock release switch of the automatic control operating member 44.

[0120] When the swing control start signal is acquired in step S103, the secondary controller 29 determines in step S104 whether or not the conditions for permission of the loading swing control are met based on the position signal and the attitude signal. As described above, the secondary controller 29 determines whether or not the work implement 3 is located within the second permission area A2 and the bucket 13 is in a hoarding attitude. If it is determined that the conditions for permission of the loading swing control are not met, the control proceeds to step S119.

[0121] On the other hand, if it is determined that the conditions for permitting loading swing control are met, then in step S105, the secondary controller 29 calculates a command value for operating the work machine 1 based on the control parameters, the position signal, and the attitude signal. The command value includes, for example, the speed and direction of operation of the work implement 3 and the speed and direction of swing of the rotating unit 4. The secondary controller 29 outputs a calculation signal indicative of the command value to the primary controller 28. The primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the rotating unit 4 in accordance with the command value. Thus, loading swing control of the work machine 1 is executed.

[0122] After starting the loading swing control, in step S106, the secondary controller 29 determines whether the position of the bucket pin 13a has reached the loading swing control position P3. If the secondary controller 29 determines that the bucket pin 13a has reached the loading swing control position P3, the secondary controller 29 ends the loading swing control in step S107. That is, the secondary controller 29 sends a calculation signal to the primary controller 28 to stop the bucket pin 13a at the loading swing control position P3, and based on the received calculation signal, the primary controller 28 controls the control valve 27 to stop the swing bed 4 and the work implement 3. 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. When the loading swing control is ended in step S107, condition d1 is satisfied, and therefore, in step S108, the primary controller 28 transitions the acceptance status of the calculation signal from the secondary controller 29 from approval to standby.

[0123] After step S108, as shown in Fig. 13B, in step S109, the primary controller 28 determines whether or not the second permission condition C is satisfied. If the second permission condition C is not satisfied, the control is terminated. On the other hand, if it is determined in step S109 that the second permission condition C is satisfied, in step S110, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 to approval, and control returns to step S104.

[0124] If it is determined in step S106 that the loading swing control position P3 has not been reached, the primary controller 28 determines in step S111 whether or not the operation signal M1, M2, M3, or M4 has been acquired.

[0125] If it is determined in step S111 that the operation signal M1, M2, M3, or M4 has been acquired, the primary controller 28 determines in step S112 whether the operation amount of the operation lever based on the operation signal M1, M2, M3, or M4 is an operation that exceeds a threshold. If the operation signal M1, M2, or M3 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the work implement 3 is an operation that exceeds a% of the operable amount of the operation lever. Furthermore, if the operation signal M4 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the revolving unit 4 is an operation that exceeds b% of the operable amount of the operation lever.

[0126] If it is determined that the amount of operation of the control lever by the operator exceeds the threshold, the primary controller 28 determines that a manual intervention operation has been detected, and in step S113, controls the control valve 27 to stop the loading swing control.

[0127] Next, in step S114, the primary controller 28 determines, based on the control state signal from the secondary controller 29, whether the position of the bucket pin 13a when the manual intervention operation was detected is in the third section R3.

[0128] If it is determined in step S114 that the position of the bucket pin 13a is in the third section R3, in step S115, the primary controller 28 transitions the state of acceptance of the calculation signal from the secondary controller 29 from approval to standby, and control proceeds to step S109 (Figure 13B).

[0129] On the other hand, if it is determined in step S114 that the position of the bucket pin 13a is not in the third section R3, the position of the bucket pin 13a is in the first section R1 or the second section R2, so in step S116, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a disapproved state.

[0130] Next, as shown in Fig. 13B, in step S117, the primary controller 28 determines whether or not the first permission condition B is satisfied. If the first permission condition B is not satisfied, the control is terminated. On the other hand, if it is determined in step S117 that the first permission condition B is satisfied, in step S118, the primary controller 28 transitions the state of acceptance of the calculation signal from the secondary controller 29 to standby, and control proceeds to step 109.

[0131] If it is determined in step S104 that the conditions for permission of loading swing control are not met, then in step S119 shown in Fig. 13C, the secondary controller 29 determines whether the conditions for permission of return swing control are met based on the position signal and the attitude signal. As described above, the secondary controller 29 determines whether the work implement 3 is located within the first permission area A1 and the bucket 13 is in an earth-discharging attitude. If it is determined that the conditions for permission are not met, control returns to step S103.

[0132] On the other hand, if it is determined that the permission conditions are met, in step S120, the secondary controller 29 calculates a command value for operating the work machine 1 based on the control parameters, the position signal, and the attitude signal. The command value includes, for example, the speed and direction of operation of the work implement 3 and the speed and direction of rotation of the revolving unit 4. The secondary controller 29 outputs a calculation signal indicative of the command value to the primary controller 28. The primary controller 28 outputs a command signal to the control valve 27 for operating the work implement 3 and the revolving unit 4 in accordance with the command value. Thereby, return swing control of the work machine 1 is executed.

[0133] After starting the return swing control, in step S121, the secondary controller 29 determines whether the position of the bucket pin 13a has reached the return swing control position P1. If it is determined that the position of the bucket pin 13a has reached the return swing control position P1, the secondary controller 29 ends the return swing control in step S122. That is, the secondary controller 29 sends a calculation signal to the primary controller 28 to stop the bucket pin 13a at the return swing control position P1, and based on the received calculation signal, the primary controller 28 controls the control valve 27 to stop the rotating bed 4 and the work implement 3. 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. Because the end of the return swing control in step S122 satisfies condition d1, in step S123 the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approval state to a standby state, and control proceeds to step 109.

[0134] If it is determined in step S121 that the bucket pin 13a has not reached the return swing control position P1, the primary controller 28 determines in step S124 whether or not the operation signal M1, M2, M3, or M4 has been acquired.

[0135] If it is determined in step S124 that the operation signal M1, M2, M3, or M4 has been acquired, the primary controller 28 determines in step S125 whether the operation amount of the operation lever based on the operation signal M1, M2, M3, or M4 is an operation that exceeds a threshold. If the operation signal M1, M2, or M3 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the work implement 3 is an operation that exceeds c% of the operable amount of the operation lever. Furthermore, if the operation signal M4 has been acquired, the primary controller 28 determines whether the operation amount of the operation lever that operates the revolving unit 4 is an operation that exceeds d% of the operable amount of the operation lever.

[0136] If it is determined that the amount of operation of the control lever by the operator exceeds the threshold, the primary controller 28 determines that a manual intervention operation has been detected, and in step S126, controls the control valve 27 to stop the return swing control.

[0137] Next, in step S127, the primary controller 28 determines, based on the control state signal from the secondary controller 29, whether the position of the bucket pin 13a when the manual intervention operation was detected is in the third section T3.

[0138] If it is determined in step S127 that the position of the bucket pin 13a is in the third section T3, in step S128, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a standby state, and control proceeds to step S109 (Figure 13B).

[0139] On the other hand, if it is determined in step S127 that the position of the bucket pin 13a is not in the third section T3, the position of the bucket pin 13a is in the first section T1 or the second section T2, so in step S129, the primary controller 28 transitions the acceptance state of the calculation signal from the secondary controller 29 from an approved state to a disapproved state, and control proceeds to step S117.

[0140] In the work machine 1 according to the present embodiment described above, if the controller 24 detects a manual intervention operation based on the operation of the right operating lever 33R and the left operating lever 33L while automatic swing control is being executed, the controller 24 stops the automatic swing control and changes the acceptance state of the operator from the secondary controller 29 in the primary controller 28 according to the progress of the automatic swing control. As a result, if a manual intervention operation is detected in the section on the side where automatic swing control is to end, for example, the acceptance state is changed to a standby state which makes it easier to return to an approval state in which automatic swing control can be executed compared to other sections. Therefore, if the automatic swing control is stopped near the end of the automatic swing control, it becomes easier to perform the next automatic swing control, and operability after the automatic swing control is stopped can be improved.

[0141] Specifically, by setting the acceptance state when the loading swing control is stopped in the third section R3 where the loading swing control ends to a standby state, it becomes easier to return to the approved state than the disallowed state when the loading swing control is stopped in the first section R1 and the second section R2, making it easier to execute the next return swing control. Also, by setting the acceptance state when the return swing control is stopped in the third section T3 where the return swing control ends to a standby state, it becomes easier to return to the approved state than the disallowed state when the return swing control is stopped in the first section T1 and the second section T2, making it easier to execute the next loading swing control.

[0142] If the acceptance state is transitioned to a non-permitted state in the third section R3, T3, the state will go through a waiting state before entering an approved state, which makes the operations required to resume automatic turning control complicated. However, by transitioning to a waiting state, the operations required to resume automatic turning control become easier.

[0143] Furthermore, since the third section R3, T3 is a section after the interference avoidance control position P2, there is no possibility of interference with the loading platform 101, and it is considered acceptable to allow manual intervention, so when manual intervention is detected in the third section R3, T3, the vehicle can be placed in a standby state that makes it easier to resume automatic turning control.

[0144] 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.

[0145] In the above embodiment, the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 are determined from the return swing position P1', the interference avoidance control position P2', and the loading swing position P3' obtained by teaching, but this is not the only option. For example, the return swing control position P1, the interference avoidance control position P2, and the loading swing control position P3 may be determined by direct teaching, or may be set on a map displayed on a display.

[0146] 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 36, and an automatic control setting device 39, and a controller provided in the remote control device outputs a signal to a controller 24 (see FIG. 2) of the work machine 1 to control the work machine 1. Furthermore, in addition to the operation device 33 and the input device 36, 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 described above and the controller provided in the work machine 1 include a processor such as a CPU and a storage device, just like the controller 24. Furthermore, communication between the remote control device and the work machine 1 may be performed wirelessly or via a cable. Wireless communication may be performed via the Internet. Furthermore, in this embodiment, the primary controller 28 and the secondary controller 29 are disposed on the work machine 1, but the primary controller 28 may be disposed on the remote control device and the secondary controller 29 may be disposed on the work machine 1.

[0147] Other equipment including a loading platform may be used instead of the transport vehicle 100. For example, instead of the transport vehicle 100, a hopper for receiving the discharged earth and sand may be arranged.

[0148] The above embodiment also includes the following disclosure.

[0149] (1) a rotatable rotating body; a work machine attached to the rotating body; a direction sensor for detecting the direction of the work machine; an attitude sensor for detecting the attitude of the work machine; a control unit that performs automatic rotation control to control the rotating body and the work machine, The control unit determines whether to start the automatic turning control based on the attitude of the work machine. Work machinery.

[0150] (2) The work machine has a bucket, The attitude sensor detects the attitude of the bucket. The work machine described in (1) above.

[0151] (3) The automatic turning control includes a loading turning control in which the work machine turns while carrying earth and sand, the control unit determines whether to start the loading swing control based on whether the bucket is in a hoarding posture. The work machine described in (2) above.

[0152] (4) the automatic turning control includes a return turning control for turning in an opposite direction to the loading turning control, the control unit determines whether to start the return swing control based on whether the bucket is in an earth-discharging posture. The work machine described in (2) above.

[0153] (5) 1. A system for controlling a work machine, comprising: a rotatable rotating body; a work machine attached to the rotating body; a direction sensor for detecting the direction of the work machine; an attitude sensor for detecting the attitude of the work machine; a control unit that performs automatic rotation control to control the rotating body and the work machine, The control unit determines whether to start the automatic turning control based on the attitude of the work machine. system.

[0154] (6) A control method for a work machine having a rotatable rotating body and a work implement attached to the rotating body, comprising: Detecting the attitude of the work machine; and determining whether or not to start the automatic turning control based on the attitude of the work machine. [Industrial Applicability]

[0155] 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 that are capable of improving operability after automatic swing control is stopped. [Explanation of symbols]

[0156] 1: Work machine 3: Work equipment 4: Rotating body 24: Controller 33L: Left operating lever 33R: Right operating lever

Claims

1. a rotatable rotating body; a work machine attached to the rotating body; an operating member for operating the work machine or the rotating body; a control unit that performs automatic rotation control to control the rotating body and the work machine, When the control unit detects a manual intervention operation based on the operation of the operation member while the automatic turning control is being executed, the control unit stops the automatic turning control and changes the control status according to the progress of the automatic turning control. Work machinery.

2. The control status includes a first status indicating that the automatic turning control can be returned to and a second status indicating that the automatic turning control can be returned to with greater difficulty than the first status.

2. The work machine according to claim 1.

3. The progress of the automatic turning control is divided into a section on the turning start position side and a section on the turning end position side, the control unit sets the control status to the second status when the work machine is located in the section on the start position side when the manual intervention operation is detected, When the manual intervention operation is detected and the work machine is located in the section on the end position side, the control status is set to the first status.

3. The work machine according to claim 2.

4. The automatic turning control includes a loading turning control in which the work machine turns while carrying earth and sand, The end position of the swing is the end position of the loading swing control.

4. The work machine according to claim 3.

5. the automatic turning control includes a return turning control for turning in an opposite direction to the loading turning control, The end position of the swing is the end position of the return swing control.

4. The work machine according to claim 3.

6. the section on the start position side is a section located before a position based on a predetermined interference avoidance position in the turning direction in order to avoid interference of the work implement with an object to be unloaded, the section on the end position side is a section that is later in the turning direction than the position based on the interference avoidance position, 4. The work machine according to claim 3.

7. the control status further includes a third status capable of receiving a start signal for the automatic turning control; When a first permission condition is satisfied, the control status transitions from the second status to the first status, When a second permission condition is satisfied, the control status transitions from the first status to the third status.

3. The work machine according to claim 2.

8. the control status further includes a third status capable of receiving a start signal for the automatic turning control; When the control status has transitioned to the third status by satisfying a second permission condition after transitioning to the first status, the control unit executes the return swing control when it determines that the work machine is in an earth-discharging posture.

6. A work machine according to claim 5.

9. the control status further includes a third status capable of receiving a start signal for the automatic turning control; When the control status is set to the first status and then transits to the third status by satisfying a second permission condition, the control unit executes the loading swing control when it determines that the work machine is in a hoarding posture.

5. The work machine according to claim 4.

10. 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 or the rotating body; a control unit that performs automatic rotation control to control the rotating body and the work machine, When the control unit detects a manual intervention operation based on the operation of the operation member, the control unit stops the automatic turning control and changes the control status according to the progress of the automatic turning control. system.

11. A control method for a work machine having a rotatable rotating body and a work implement attached to the rotating body, comprising: starting an automatic swing control for controlling the swing body and the work machine; Detecting a manual intervention operation based on an operation of an operating member that operates the work machine or the rotating body; When the manual intervention operation is detected, the automatic turning control is stopped, and a control status is changed according to progress of the automatic turning control. A method for controlling a work machine.

12. The control status includes a first status indicating that the automatic turning control can be returned to and a second status indicating that the automatic turning control can be returned to with greater difficulty than the first status. A method for controlling a work machine according to claim 11.

13. The progress of the automatic turning control is divided into a section on the turning start position side and a section on the turning end position side, The changing of the control status includes setting the control status to the second status when the work machine is located in the section on the start position side when the manual intervention operation is detected, setting the control status to the first status when the work machine is located in the section on the end position side when the manual intervention operation is detected. A method for controlling a work machine according to claim 12.

14. The automatic turning control includes a loading turning control in which the work machine turns while carrying earth and sand, The end position of the swing is the end position of the loading swing control.

14. A work machine according to claim 13.

15. the automatic turning control includes a return turning control for turning in an opposite direction to the loading turning control, The end position of the swing is the end position of the return swing control.

14. A work machine according to claim 13.

16. the section on the start position side is a section located before a position based on a predetermined interference avoidance position in the turning direction in order to avoid interference of the work implement with an object to be unloaded, the section on the end position side is a section that is later in the turning direction than the position based on the interference avoidance position, 14. A work machine according to claim 13.

17. the control status further includes a third status capable of receiving a start signal for the automatic turning control; When a first permission condition is satisfied, the control status transitions from the second status to the first status, When a second permission condition is satisfied, the control status transitions from the first status to the third status.

13. A work machine according to claim 12.

18. the control status further includes a third status capable of receiving a start signal for the automatic turning control; and when the control status has transitioned to the third status after having transitioned to the first status and satisfying a second permission condition, executing the return swing control when it is determined that the work machine is in an earth-discharging posture. A method for controlling a work machine according to claim 15.

19. the control status further includes a third status capable of receiving a start signal for the automatic turning control; and when the control status has transitioned to the third status by satisfying a second permission condition after being set to the first status, executing the loading swing control when it is determined that the work machine is in a hoarding posture.

15. A work machine according to claim 14.

Images