Control device for work machine

Abstract

To reduce a load on an operator of a working machine.SOLUTION: A control device for a work machine includes a target path setting unit that sets a target path calculated based on an operation amount of an operation lever different from an operation device for traveling that causes the work machine to travel, and a traveling control unit that causes the work machine to travel along the target path.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device for a work machine. [Background technology]

[0002] BACKGROUND ART There has been known a working machine that has a travel control pedal that is provided on the floor panel in front of the driver's seat and that is operated by the operator's foot, and a travel control lever that is provided integrally with the travel control pedal and that is operated by the operator's hand, and the travel operation is controlled by the operator sitting in the driver's seat tilting the travel control pedal or the travel control lever in the forward / backward direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3583582 Summary of the Invention [Problem to be solved by the invention]

[0004] With the conventional technology described above, it is necessary to grasp road surface conditions and crawler posture to operate the work machine while driving, which places a heavy burden on the operator. Furthermore, when remotely operating a work machine, it is difficult to grasp road surface conditions and crawler posture from images of the work site, etc. Furthermore, when remotely operating a work machine, delays in communication between the work machine and the remote control room make operation difficult.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to reduce the burden on operators of work machines. [Means for solving the problem]

[0006] A control device for a work machine according to an embodiment of the present invention is a control device for a work machine that has a target route setting unit that sets a target route calculated based on the amount of operation of an operating lever that is different from the operating device for traveling that causes the work machine to travel, and a travel control unit that causes the work machine to travel along the target route. [Effects of the Invention]

[0007] This reduces the burden on the operator of the work machine. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a system configuration of a remote control system for a shovel. [Figure 2] FIG. 4 is a diagram showing another example of the configuration of a hydraulic system mounted on a work machine. [Figure 3] FIG. 1 is a diagram illustrating a remote control room. [Figure 4] FIG. 2 is a diagram illustrating functions of the remote control system. [Figure 5] FIG. 10 is a first diagram illustrating setting of a target route. [Figure 6] FIG. 10 is a second diagram illustrating setting of a target route. [Figure 7] FIG. 2 is a diagram illustrating the functional configuration of a remote controller. [Figure 8] FIG. 2 is a diagram illustrating a travel control unit. [Figure 9] 10 is a flowchart illustrating processing of a remote controller. [Figure 10] FIG. 10 is a third diagram illustrating setting of a target route. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, the present embodiment will be described with reference to the drawings: Fig. 1 is a diagram showing an example of the system configuration of a remote control system for an excavator.

[0010] The remote operation system SYS of this embodiment includes a remote control room RC and a work machine 100. The remote control room RC communicates with the work machine 100 via a predetermined network. The work machine 100 is an example of a work machine that is operated in response to an operation signal transmitted from the remote control room RC. Note that the work machine of this embodiment may be any type as long as it has a work attachment.

[0011] The work machine 100 comprises a lower traveling body 1, an upper rotating body 3 that is mounted on the lower traveling body 1 so as to be rotatable via a rotating mechanism 2, an attachment AT for performing various tasks, and a cabin 10. The cabin 10 is also called a cab. The front side of the work machine 100 (upper rotating body 3) corresponds to the side of the upper rotating body 3 to which the attachment AT is attached, when the work machine 100 is viewed from directly above along the rotation axis of the upper rotating body 3. Furthermore, the left, right, and rear sides of the work machine 100 (upper rotating body 3) correspond to the left, right, and rear sides, respectively, as viewed from an operator seated in the driver's seat inside the cabin 10.

[0012] The lower traveling body 1 includes, for example, a pair of left and right crawlers 1C. Specifically, the crawlers 1C include a left crawler 1CL and a right crawler 1CR. The lower traveling body 1 also includes, for example, a pair of left and right traveling hydraulic motors 2M. Specifically, the traveling hydraulic motors 2M include a left traveling hydraulic motor 2ML and a right traveling hydraulic motor 2MR. The left crawler 1CL is driven by the left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by the right traveling hydraulic motor 2MR. The left traveling hydraulic motor 2ML is a traveling drive unit that drives the left crawler 1CL as a driven part, and can rotate the left crawler 1CL. The right traveling hydraulic motor 2MR is a traveling drive unit that drives the right crawler 1CR as a driven part, and can rotate the right crawler 1CR. Note that the traveling drive units may be electric motors.

[0013] The upper rotating body 3 rotates relative to the lower traveling body 1 when the rotating mechanism 2 is driven by the hydraulic swing motor 2A. The hydraulic swing motor 2A is a swing drive unit that drives the upper rotating body 3 as a driven part, and can change the orientation of the upper rotating body 3. The swing drive unit may be an electric motor.

[0014] A boom 4 is rotatably attached to the center of the front of the upper rotating body 3, an arm 5 is rotatably attached to the tip of the boom 4, and a bucket 6 is rotatably attached to the tip of the arm 5. In the illustrated example, the boom 4, arm 5, and bucket 6 constitute an excavation attachment, which is an example of an attachment AT. The boom 4, arm 5, and bucket 6 are driven by a boom cylinder 7, an arm cylinder 8, and a bucket cylinder 9, respectively.

[0015] The bucket 6 is an example of a work tool (end attachment). The bucket 6 is used, for example, for excavation work. Instead of the bucket 6, another work tool may be attached to the end of the arm 5 depending on the type of work, etc. The other work tool may be, for example, another type of bucket, such as a large bucket, a slope bucket, or a dredging bucket. The other work tool may also be a type of work tool other than a bucket, such as an agitator, a breaker, a grapple, or a lifting magnet.

[0016] The swing hydraulic motor 2A, the left traveling hydraulic motor 2ML, the right traveling hydraulic motor 2MR, the boom cylinder 7, the arm cylinder 8, and the bucket cylinder 9 are hydraulic actuators driven by hydraulic oil discharged from a hydraulic pump.

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

[0018] Additionally, the work machine 100 is equipped with an external sound collection device M1, an imaging device S6, and an external sound output device SP1.

[0019] The imaging device S6 is provided on the upper rotating body 3 or the cabin 10, and captures images of the periphery of the work machine 100 to obtain image information showing the periphery of the work machine 100. In the illustrated example, the imaging device S6 includes a front camera S6F, a left camera S6L, a right camera S6R, and a rear camera S6B.

[0020] The front camera S6F is a camera that captures images in front of the work machine 100, and is attached to the exterior of the cabin 10, such as on the roof of the cabin 10 or on the side of the boom 4. The front camera S6F may also be attached to the interior of the cabin 10, for example, on the ceiling of the cabin 10. The left camera S6L is a camera that captures images to the left of the work machine 100, the right camera S6R is a camera that captures images to the right of the work machine 100, and the rear camera S6B is a camera that captures images to the right of the work machine 100. Specifically, the front camera S6F, left camera S6L, right camera S6R, and rear camera S6B are all monocular wide-angle cameras equipped with an imaging element such as a CCD or CMOS, and output the captured images to the display device D1. Information about the images captured by the imaging device S6 is taken into the controller 30.

[0021] In the illustrated example, the front camera S6F is attached to the roof of the cabin 10, the left camera S6L is attached to the left end of the upper surface of the upper rotating body 3, the right camera S6R is attached to the right end of the upper surface of the upper rotating body 3, and the rear camera S6B is attached to the rear end of the upper surface of the upper rotating body 3.

[0022] The imaging device S6 may constitute an object detection device that detects objects around the work machine 100. The objects may be, for example, people, animals, vehicles, construction machinery, buildings, holes, etc. The object detection device may be configured to be able to detect people and non-human objects by distinguishing between them. In other words, the object detection device may be configured to function as a person detection device. The object detection device may be constituted by a device other than a camera. For example, the object detection device may be a LiDAR. The LiDAR is a device that can measure the distance between the LiDAR (laser source) and a point cloud of one million or more points within a monitoring range, for example.

[0023] The object detection device may also be another device capable of measuring the distance to an object, such as a stereo camera, a range imaging camera, or a millimeter-wave radar. When a millimeter-wave radar or the like is used as the object detection device, the object detection device may derive the distance and direction of the object by emitting multiple signals (such as laser light) toward the object and receiving the reflected signals. Alternatively, the object detection device may be a combination of two or more types of devices. For example, the object detection device may be a combination of an imaging device and a LiDAR, a combination of an imaging device and a millimeter-wave radar, or a combination of an imaging device and a stereo camera.

[0024] The external sound collection device M1 is a device that collects external sounds and is also called a microphone or a microphone. In the illustrated example, the external sound collection device M1 is provided on the upper rotating body 3 or the cabin 10, and converts sounds (air vibrations) generated around the work machine 100 into mechanical vibrations, which are then converted into electrical signals. Specifically, the external sound collection device M1 is configured to be able to pick up the voices of workers around the work machine 100, and includes a front microphone M1F, a left microphone M1L, a right microphone M1R, and a rear microphone M1B.

[0025] The front microphone M1F is a microphone that collects sounds generated in front of the work machine 100, and is attached to the exterior of the cabin 10, such as on the roof of the cabin 10 or on the side of the boom 4. The front microphone M1F may also be attached to the interior of the cabin 10, for example, on the ceiling of the cabin 10. The left microphone M1L is a microphone that collects sounds generated to the left of the work machine 100, the right microphone M1R is a microphone that collects sounds generated to the right of the work machine 100, and the rear microphone M1B is a microphone that collects sounds generated behind the work machine 100. Electrical signals generated by each of the front microphone M1F, left microphone M1L, right microphone M1R, and rear microphone M1B are taken into the controller 30.

[0026] In the illustrated example, the front microphone M1F is attached to the roof of the cabin 10, the left microphone M1L is attached to the left end of the upper surface of the upper rotating body 3, the right microphone M1R is attached to the right end of the upper surface of the upper rotating body 3, and the rear microphone M1B is attached to the rear end of the upper surface of the upper rotating body 3. In this way, the four external sound collection devices M1 (the front microphone M1F, the left microphone M1L, the right microphone M1R, and the rear microphone M1B) are provided at different positions on the upper rotating body 3. Therefore, the controller 30 can detect the direction of the sound source based on the difference in the sounds collected by each of the four external sound collection devices M1 (e.g., difference in volume). Furthermore, when an array microphone is used as the external sound collection device M1, the direction of the sound source can be detected based on, for example, a phase shift or difference in volume.

[0027] In the illustrated example, the four external sound collection devices M1 and the four image capture devices S6 are arranged to correspond to one another. Specifically, the front microphone M1F is arranged adjacent to the front camera S6F, the left microphone M1L is arranged adjacent to the left camera S6L, the right microphone M1R is arranged adjacent to the right camera S6R, and the rear microphone M1B is arranged adjacent to the rear camera S6B.

[0028] The external sound output device SP1 is a device that outputs sound toward the periphery of the work machine 100. In the illustrated example, the external sound output device SP1 is an omnidirectional speaker that is configured to output sound uniformly in all directions. However, the external sound output device SP1 may also be a directional speaker that outputs sound toward a specific direction, such as the front.

[0029] The controller 30 is an example of a control device, and is configured, for example, by a computer including a CPU, a volatile storage device, a non-volatile storage device, and various input / output interfaces. The controller 30 then realizes various functions, for example, by reading a program from the non-volatile storage device, loading it into the volatile storage device, and having the CPU execute the program. In the illustrated example, the controller 30 is configured to realize various functions to control the work machine 100. The various functions include, for example, a machine guidance function that guides the operator in manually operating the work machine 100. The various functions may also include a contact avoidance function that automatically or autonomously operates or stops the work machine 100 to avoid contact between the work machine 100 and an object that is present within a monitoring range around the work machine 100.

[0030] The boom angle sensor S1 detects the boom angle, which is the rotation angle of the boom 4 relative to the upper rotating body 3. The arm angle sensor S2 detects the arm angle, which is the rotation angle of the arm 5 relative to the boom 4. The bucket angle sensor S3 detects the bucket angle, which is the rotation angle of the bucket 6 relative to the arm 5.

[0031] Each of the boom angle sensor S1, arm angle sensor S2, and bucket angle sensor S3 may be, for example, a rotary encoder, an acceleration sensor, a six-axis sensor, an IMU (Inertial Measurement Unit), a potentiometer using a variable resistor, a cylinder stroke sensor that detects the stroke amount of a hydraulic cylinder, etc.

[0032] The controller 30 receives a detection signal corresponding to the boom angle from the boom angle sensor S1, a detection signal corresponding to the arm angle from the arm angle sensor S2, and a detection signal corresponding to the bucket angle from the bucket angle sensor S3.

[0033] The machine body tilt sensor S4 detects the tilt state of the machine body (undercarriage 1 or upper rotating body 3) relative to the horizontal plane. The machine body tilt sensor S4 is attached to, for example, the upper rotating body 3, and detects the tilt angle of the work machine 100 (i.e., the upper rotating body 3) around two axes in the forward / backward and left / right directions. The machine body tilt sensor S4 may be, for example, an acceleration sensor, a six-axis sensor, an IMU, or the like. A detection signal corresponding to the tilt angle detected by the machine body tilt sensor S4 is input to the controller 30.

[0034] The rotation sensor S5 outputs information related to the rotation of the upper rotating body 3. The rotation sensor S5 detects, for example, the rotation angular velocity of the upper rotating body 3 relative to the lower traveling body 1. The rotation sensor S5 may also detect the rotation angle. The rotation sensor S5 may be, for example, a gyro sensor, a resolver, or a rotary encoder. A detection signal corresponding to the rotation angle or rotation angular velocity of the upper rotating body 3 detected by the rotation sensor S5 is input to the controller 30.

[0035] The boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and rotation sensor S5 of this embodiment may constitute an attitude detection device that detects the attitude of the work machine 100.

[0036] The positioning device PS measures the position of the upper rotating body 3. The positioning device PS is, for example, a Global Navigation Satellite System (GNSS) compass, and detects the position and orientation of the upper rotating body 3. A detection signal corresponding to the position and orientation of the upper rotating body 3 is input to the controller 30. The function of detecting the orientation of the upper rotating body 3 may be realized by a direction sensor attached to the upper rotating body 3.

[0037] The cabin 10 is a compartment space in which the operator rides, and is provided on the front left side of the upper rotating body 3. However, when the work machine 100 is remotely controlled or when the work machine 100 operates in a fully automatic manner, the cabin 10 may be omitted.

[0038] The communication device T1 communicates with an external device through a communication network including a mobile communication network, a satellite communication network, the Internet, etc. The communication device T1 is, for example, a mobile communication module compatible with a mobile communication standard such as LTE (Long Term Evolution), 4G (4th Generation), or 5G (5th Generation), a communication module compatible with a short-range wireless communication standard such as Wi-Fi (registered trademark) or Bluetooth (registered trademark), or a satellite communication module for connecting to a satellite communication network.

[0039] In response to the operation of an operator inside the cabin 10, the work machine 100 operates actuators to drive driven parts such as the lower traveling body 1, upper rotating body 3, boom 4, arm 5, and bucket 6.

[0040] Alternatively, the work machine 100 may be configured so that it can be remotely controlled from outside the work machine 100. When the work machine 100 is remotely controlled, the inside of the cabin 10 may be unmanned.

[0041] Furthermore, the work machine 100 may automatically operate the actuators regardless of the operation by the operator. This allows the work machine 100 to realize a function of automatically operating at least some of the driven parts, such as the lower traveling structure 1, upper rotating structure 3, boom 4, arm 5, and bucket 6, i.e., a so-called "machine control function."

[0042] Next, the remote control room RC will be described. The remote control room RC is an example of an external device that supports the remote operation of the work machine 100. The remote control room RC is equipped with a remote controller 30R, a sound output device 53, an interior imaging device 55, a display device D2, an operation device 56, an operation pressure sensor 59, an engine rotation speed adjustment dial 75R, a communication device T2, and the like. The remote control room RC also is equipped with a driver's seat DS where an operator OP who remotely operates the work machine 100 sits.

[0043] The remote controller 30R is a computing device that executes various calculations. In this embodiment, the remote controller 30R is configured with a microcomputer including a CPU and memory, similar to the controller 30. The various functions of the remote controller 30R are realized by the CPU executing programs stored in the memory.

[0044] Furthermore, the remote controller 30R of this embodiment generates an operation signal in response to an operation by the operator OP on the operation device 56, and transmits the generated operation signal to the work machine 100 via the communication device T2.

[0045] The operating device 56 includes a left operating lever 56L, a right operating lever 56R, and a travel lever 56D. The travel lever 56D is an operating device for traveling to cause the work machine 100 to travel, and includes a left traveling lever 56DL and a right traveling lever 56DR.

[0046] The sound output device 53 is configured to output sound. In this embodiment, the sound output device 53 is a speaker, and is configured to play back sound collected by an external sound collection device M1 attached to the work machine 100.

[0047] The indoor imaging device 55 is configured to capture an image of the inside of the remote control room RC. In this embodiment, the indoor imaging device 55 is a camera installed inside the remote control room RC, and is configured to capture an image of the operator OP seated in the driver's seat DS.

[0048] The communication device T2 is configured to control wireless communication with the communication device T1 attached to the work machine 100. In this embodiment, the communication device T1 and the communication device T2 are configured to transmit and receive information via a fifth generation mobile communication line (5G line), an LTE line, a satellite line, or the like.

[0049] The engine rotation speed adjustment dial 75R receives an operational input for adjusting the rotation speed of the engine 11 of the work machine 100 (hereinafter referred to as "engine rotation speed").

[0050] Display device D2 is configured to display information relating to the situation around the work machine 100. In other words, display device D2 displays an image so that, despite being in the remote control room RC, the operator OP can confirm the situation around the work machine 100 as if he were inside the cabin 10 of the work machine 100. The image displayed on display device D2 may be an image of the surroundings of the work machine 100 captured by imaging device S6 of the work machine 100.

[0051] Specifically, in this embodiment, the display device D2 is a multi-display made up of nine monitors arranged in three rows and three columns, and is configured to be able to display the state of the space in front of, to the left of, and to the right of the work machine 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device D2 may also be made up of one or more curved monitors, or may also be made up of a projector. Details of the display device D2 will be described later.

[0052] The display device D2 of this embodiment may be a display device that can be worn by the operator OP. For example, the display device D2 may be a head-mounted display configured to be able to transmit and receive information to and from the remote controller 30R via wireless communication. The head-mounted display may be connected to the remote controller 30R by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0053] The operation device 56 is provided with an operation pressure sensor 59 for detecting the operation content of the operation device 56. The operation pressure sensor 59 is, for example, an inclination sensor that detects the inclination angle of an operation lever included in the operation device 56, or an angle sensor that detects the swing angle of the operation lever about the swing axis. The operation pressure sensor 59 outputs information related to the detected operation content of the operation device 56 to the remote controller 30R. The remote controller 30R generates an operation signal based on the received information and transmits the generated operation signal to the work machine 100. Note that the operation pressure sensor 59 may be configured to generate an operation signal. In this case, the operation pressure sensor 59 may output the operation signal to the communication device T2 without passing through the remote controller 30R.

[0054] Next, another example of the configuration of a hydraulic system mounted on a work machine 100 will be described with reference to Fig. 2. Fig. 2 is a diagram showing another example of the configuration of a hydraulic system mounted on a work machine. In Fig. 2, a mechanical power transmission system, hydraulic oil lines, pilot lines, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0055] The hydraulic system of FIG. 2 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve 17, an operating device 26, a discharge pressure sensor 28, an operating pressure sensor 29, a controller 30, and the like.

[0056] In FIG. 2, the hydraulic system circulates hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 40 or a parallel line 42 to a hydraulic oil tank.

[0057] The engine 11 is a drive source for the work machine 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to input shafts of the main pump 14 and the pilot pump 15.

[0058] The main pump 14 supplies hydraulic oil through a hydraulic oil line to the control valve 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0059] The regulator 13 controls the discharge amount of the main pump 14. In this embodiment, the regulator 13 controls the discharge amount of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0060] The pilot pump 15 is configured to supply hydraulic oil to hydraulic control devices including the operating device 26 via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pump 15 may be omitted. In this case, the function that was previously performed by the pilot pump 15 may be realized by the main pump 14. That is, the main pump 14 may have a function to supply hydraulic oil to the operating device 26 and the like after reducing the pressure of the hydraulic oil by a throttle or the like, in addition to the function of supplying hydraulic oil to the control valve 17.

[0061] The control valve 17 is a hydraulic control device that controls the hydraulic system in the work machine 100. In this embodiment, the control valve 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve 17 can selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators, and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0062] The operating device 26 is a device used by an operator to operate the actuator. The actuator includes at least one of a hydraulic actuator and an electric actuator. In this embodiment, the operating device 26 supplies hydraulic oil discharged from the pilot pump 15 to the pilot port of the corresponding control valve in the control valve 17 via a pilot line. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) corresponds to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator. However, the operating device 26 may be an electrically controlled type instead of the pilot pressure type described above. In this case, the control valve in the control valve 17 may be an electromagnetic solenoid type spool valve.

[0063] The discharge pressure sensor 28 detects the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0064] The operation pressure sensor 29 detects the operation of the operation device 26 by the operator. In this embodiment, the operation pressure sensor 29 detects the operation direction and operation amount of the lever or pedal of the operation device 26 corresponding to each actuator in the form of pressure (operation pressure), and outputs the detected value to the controller 30. The operation of the operation device 26 may be detected using a sensor other than the operation pressure sensor.

[0065] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via a left center bypass line 40L or a left parallel line 42L, and the right main pump 14R circulates hydraulic oil to the hydraulic oil tank via a right center bypass line 40R or a right parallel line 42R.

[0066] The left center bypass line 40L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged within the control valve 17. The right center bypass line 40R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged within the control valve 17.

[0067] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0068] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0069] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0070] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0071] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0072] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0073] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0074] The left parallel conduit 42L is a hydraulic oil line that runs parallel to the left center bypass conduit 40L. When the flow of hydraulic oil through the left center bypass conduit 40L is restricted or blocked by any of the control valves 171, 173, and 175L, the left parallel conduit 42L can supply hydraulic oil to a downstream control valve. The right parallel conduit 42R is a hydraulic oil line that runs parallel to the right center bypass conduit 40R. When the flow of hydraulic oil through the right center bypass conduit 40R is restricted or blocked by any of the control valves 172, 174, and 175R, the right parallel conduit 42R can supply hydraulic oil to a downstream control valve.

[0075] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge rate of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate. The same applies to the right regulator 13R. This is to prevent the absorption horsepower of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output horsepower of the engine 11.

[0076] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0077] The left operating lever 26L is used for swing operation and operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

[0078] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and introduces hydraulic oil into the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0079] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

[0080] Specifically, when the right operating lever 26R is operated in the boom-lowering direction, it introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-raising direction, it introduces hydraulic oil to the right pilot port of the control valve 175R and also introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the bucket-closing direction, it introduces hydraulic oil to the right pilot port of the control valve 174, and when operated in the bucket-opening direction, it introduces hydraulic oil to the left pilot port of the control valve 174.

[0081] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to operate in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to operate in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 172.

[0082] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0083] The operation pressure sensor 29 includes operation pressure sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation pressure sensor 29LA detects the details of the forward / backward operation of the left operation lever 26L by the operator in the form of pressure, and outputs the detected value to the controller 30. The details of the operation include, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

[0084] Similarly, operating pressure sensor 29LB detects the operator's operation of left operating lever 26L in the left-right direction in the form of pressure, and outputs the detected value to controller 30. Operating pressure sensor 29RA detects the operator's operation of right operating lever 26R in the forward / backward direction in the form of pressure, and outputs the detected value to controller 30. Operating pressure sensor 29RB detects the operator's operation of right operating lever 26R in the left-right direction in the form of pressure, and outputs the detected value to controller 30. Operating pressure sensor 29DL detects the operator's operation of left traveling lever 26DL in the forward / backward direction in the form of pressure, and outputs the detected value to controller 30. Operating pressure sensor 29DR detects the operator's operation of right traveling lever 26DR in the forward / backward direction in the form of pressure, and outputs the detected value to controller 30.

[0085] The controller 30 receives the output of the operating pressure sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 provided upstream of the orifice 18 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The orifice 18 includes a left orifice 18L and a right orifice 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0086] A left throttle 18L is disposed in the left center bypass pipe 40L between the hydraulic oil tank and the control valve 176L, which is located most downstream. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0087] Specifically, when the work machine 100 is in a standby state in which none of the hydraulic actuators are operated as shown in Fig. 2, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass pipe 40L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the allowable minimum discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 40L.

[0088] On the other hand, when any of the hydraulic actuators is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulating sufficient hydraulic oil to the hydraulic actuator to be operated and ensuring reliable drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0089] With the above-described configuration, the hydraulic system of Fig. 2 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused in the center bypass pipe 40 by the hydraulic oil discharged from the main pump 14. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 2 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0090] Next, the remote control room RC will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining the remote control room.

[0091] In the remote control room RC, the driver's seat DS has a structure similar to that of a driver's seat installed in the cabin of a normal excavator. Specifically, a left console box 120L is disposed on the left side of the driver's seat DS, and a right console box 120R is disposed on the right side of the driver's seat DS.

[0092] A left operation lever is disposed at the front end of the top surface of the left console box 120L, and a right operation lever is disposed at the front end of the top surface of the right console box 120R. In addition, operation levers 56L, 56R, travel levers 56DL, 56DR, and travel pedals 56PL, 56PR are disposed in front of the driver's seat DS.

[0093] Furthermore, an engine speed adjustment dial 75R is disposed in the center of the top surface of the right console box 120R. Also, an operation switch 56a and an operation switch 56b are disposed on the top surface of the right console box 120R.

[0094] In this embodiment, a remote control lever 56c is provided near the right console box 120R.

[0095] The left operating lever 56L, the right operating lever 56R, the left travel lever 56DL, the right travel lever 56DR, the remote control lever 56c, the engine speed adjustment dial 75R, and the operating switches 56a and 56b are all included in the operating device 56. The left traveling lever 56DL and the right traveling lever 56DR may be configured to operate in conjunction with the left traveling pedal 56PL and the right traveling pedal 56PR, respectively.

[0096] The engine speed adjustment dial 75R is a dial for adjusting the speed of the engine 11, and is configured to be able to switch the engine speed between four levels, for example.

[0097] Specifically, the engine speed adjustment dial 75R is configured to be able to switch the engine speed among four modes: SP mode, H mode, A mode, and idling mode. The engine speed adjustment dial 75R transmits data relating to the setting of the engine speed to the controller 30.

[0098] The operation switch 56a is an operation member for issuing a stop command to the remote controller 30R. When the operation switch 56a is pressed, the remote controller 30R of this embodiment generates an operation signal indicating a stop command for the operating elements of the work machine 100 and transmits the operation signal to the work machine 100.

[0099] When the controller 30 of the work machine 100 receives this operation signal, it transmits a stop command to each operating element of the work machine 100. In this embodiment, by providing an operation member for issuing a stop command inside the remote control room RC in this way, the operator of the remote control room RC can immediately stop the operation of the work machine 100, for example, even if the work machine 100 is operating autonomously.

[0100] The operation switch 56b is an operating member for switching the operation signal used to control the work machine 100 from an operation signal generated in the remote control room RC to an operation signal generated by the operation device 26 provided in the cabin 10.

[0101] When the operation switch 56b is operated, the remote controller 30R may transmit to the work machine 100 an operation signal including a request to switch to operation by the operation device 26 inside the cabin 10. The controller 30 of the work machine 100 may receive this operation signal, stop receiving operation signals from the remote control room RC, and control the operating elements of the work machine 100 by operation signals corresponding to the operation inside the cabin 10.

[0102] The remote control lever 56c is an operating member for switching the operation signal used to control the work machine 100 from an operation signal generated by the controller 30 of the work machine 100 to an operation signal generated in the remote control room RC.

[0103] In this embodiment, when the remote control lever 56c is tilted in the remote control room RC while the work machine 100 is operating autonomously, the remote controller 30R may transmit a control request to the work machine 100 by remote operation.

[0104] The display device D2 is configured to display information relating to the situation around the work machine 100. In this embodiment, the display device D2 is a multi-display made up of nine monitors arranged in three rows and three columns, and is configured to be able to display the state of the space in front of, to the left of, and to the right of the work machine 100. Each monitor is a liquid crystal monitor, an organic EL monitor, or the like. However, the display device D2 may be made up of one or more curved monitors, or may be made up of a projector.

[0105] The display device D2 may be a display device that can be worn by the operator OP. For example, the display device D2 may be a head-mounted display configured to be able to transmit and receive information to and from the remote controller 30R via wireless communication. The head-mounted display may be connected to the remote controller 30R by wire. The head-mounted display may be a transparent head-mounted display or a non-transparent head-mounted display. The head-mounted display may be a monocular head-mounted display or a binocular head-mounted display.

[0106] The display device D2 is configured to display images that enable the operator OP in the remote control room RC to visually recognize the surroundings of the work machine 100. In other words, the display device D2 displays images so that the operator can confirm the situation around the work machine 100 as if he or she were inside the cabin 10 of the work machine 100, even though he or she is in the remote control room RC.

[0107] In this embodiment, the display device D2 is a multi-display consisting of nine monitors arranged in three rows and three columns. Specifically, the display device D2 includes a center monitor D2a, an upper monitor D2b, a lower monitor D2c, a left monitor D2d, a right monitor D2e, an upper-left monitor D2f, an upper-right monitor D2g, a lower-left monitor D2h, and a lower-right monitor D2i.

[0108] The central monitor D2a is configured to display an image capturing the situation of the space in the central range. The upper monitor D2b is configured to display an image capturing the situation of the space represented by the upper range. The lower monitor D2c is configured to display an image capturing the situation of the space represented by the lower range. The left monitor D2d is configured to display an image capturing the situation of the space represented by the left range. The right monitor D2e is configured to display an image capturing the situation of the space represented by the right range. The same is true for the upper left monitor D2f, the upper right monitor D2g, the lower left monitor D2h, and the lower right monitor D2i.

[0109] However, the display device D2 may be a multi-display consisting of, for example, six monitors arranged in two rows and three columns. In this case, the range in which an image is displayed on the display device D2 may be divided into six ranges corresponding to the six monitors. Alternatively, the display device D2 may be a multi-display consisting of five monitors: a center monitor, an upper monitor, a left monitor, a lower monitor, and a right monitor. In this case, the display of images capturing the respective situations of the upper left range, the upper right range, the lower left range, and the lower right range may be omitted. Alternatively, the display device D2 may be a multi-display in which multiple monitors are arranged in any other arrangement.

[0110] In the above-described embodiment, the display device D2 is installed in front, on the left front, and on the right front of the operator OP, but it may be installed in a rectangular or cylindrical shape so as to surround the operator OP. That is, the display device D2 may include a monitor installed behind the operator OP. Alternatively, the display device D2 may be installed in a hemispherical shape so as to surround the operator OP. That is, the display device D2 may include a monitor installed directly above the operator OP.

[0111] Next, an overview of remotely operating the work machine 100 from the remote control room RC in the remote operation system SYS of this embodiment will be described with reference to Fig. 4. Fig. 4 is a diagram for explaining the functions of the remote operation system.

[0112] In the remote operation system SYS of this embodiment, a target route for the travel route is set by an operator OP in the remote operation room RC when the work machine 100 is to travel. Then, when the operator OP starts an operation to travel the work machine 100, the work machine 100 travels along the set target route.

[0113] Specifically, the remote operation system SYS may include a current position recording unit 30A, a target route setting unit 30B, a travel operation unit 30C, and a travel control unit 30D.

[0114] These units may all be realized by a remote controller 30R installed in the remote control room RC, or may be realized by the controller 30 of the excavator 100.

[0115] Furthermore, each of these units may be realized by both the remote controller 30R and the controller 30 of the work machine 100. In that case, for example, the controller 30 of the work machine 100 may realize the current position recording unit 30A, and the remote controller 30R may realize the target route setting unit 30B, the travel operation unit 30C, and the travel control unit 30D. Also, for example, the controller 30 of the work machine 100 may realize the current position recording unit 30A and the travel control unit 30D, and the remote controller 30R may realize the route correction unit 30D1 and the travel operation unit 30C.

[0116] In the remote operation system SYS of this embodiment, it is sufficient that at least the target route setting unit 30B is provided in the remote controller 30R. In other words, the current position recording unit 30A, the target route setting unit 30B, the travel operation unit 30C, and the travel control unit 30D are provided in the control device of the work machine 100 (remote controller 30R, controller 30).

[0117] These units may be realized by the controller 30 of the work machine 100 or the remote controller 30R reading and executing a program stored in a memory or the like possessed by the controller 30 of the work machine 100 or the remote controller 30R.

[0118] The current position recording unit 30A records information indicating the current position of the work machine 100. The information indicating the current position is information acquired by the positioning device PS that indicates the position and orientation of the work machine 100. Note that the information indicating the orientation of the work machine 100 includes information that indicates the orientation of the upper rotating body 3 and the lower traveling body 1.

[0119] The target route setting unit 30B has an operation acquisition unit 30B1 and a target route calculation unit 30B2, and calculates a target route in the remote control room RC according to the operation angle (lever operation amount) and operation direction of the left operation lever 56L or the right operation lever 56R. Note that the operation lever used to set the target route may be either the left operation lever 56L or the right operation lever 56R.

[0120] Furthermore, in the remote operation system SYS of this embodiment, when an operation is performed to switch to a mode that accepts setting of a target route for the work machine 100, a target route setting screen may be displayed on the display device D2. In the following description, the mode that accepts setting of a target route is referred to as a target route setting mode.

[0121] The target route setting screen may display an image of the front of the work machine 100 acquired by the front camera S6F of the work machine 100. Details of the target route setting screen will be described later.

[0122] The operation acquisition unit 30B1 acquires the operation angle and operation direction of the left operation lever 56L or the right operation lever 56R in the target route setting mode. The target route calculation unit 30B2 calculates the target route for traveling according to the operation angle and operation direction of the left operation lever 56L or the right operation lever 56R acquired by the operation acquisition unit 30B1.

[0123] The target route calculation unit 30B2 of this embodiment calculates the curvature of the travel route according to the operation angle, and sets a curve that follows the curvature as the target route. The calculation of the target route by the target route setting unit 30B will be described in detail later.

[0124] The travel operation unit 30C includes operation angle acquisition units 30C1 and 30C2, a right travel command current output unit 30C3, and a left travel command current output unit 30C4, and controls the travel of the work machine 100 in response to operations by an operator OP in the remote control room RC.

[0125] In the travel operation unit 30C, operation angle acquisition units 30C1 and 30C2 acquire the pedal input amount (operation amount) of each of the right travel pedal 56PR and the left travel pedal 56PL. The right travel command current output unit 30C3 and the left travel command current output unit 30C4 output a right travel command value and a left travel command value corresponding to the pedal input amount of each of the right travel pedal 56PR and the left travel pedal 56PL.

[0126] More specifically, when the left travel pedal 56PL is operated in the forward / backward direction, the travel operating unit 30C outputs a left travel command value for introducing a control pressure corresponding to the pedal input amount of the left travel pedal 56PL into the pilot port of the control valve 171 of the work machine 100.

[0127] The left travel lever 56DL may be configured to operate in conjunction with the left travel pedal 56PL and may be used to operate the left crawler 1CL. When the left travel pedal 56PL is operated in the forward or backward direction, the travel operation unit 30C uses the hydraulic oil discharged from the pilot pump 15 to output a left travel command value for introducing a control pressure corresponding to the pedal input amount into the pilot port of the control valve 172. A right travel command value is output in a similar manner for the right travel pedal 56PR.

[0128] The travel control unit 30D has a path correction unit 30D1. When the operator OP performs an operation to cause the work machine 100 to travel, the path correction unit 30D1 calculates a correction value for causing the work machine 100 to travel along the target route, based on the current position of the work machine 100 recorded by the current position recording unit 30A and the target route set by the target route setting unit 30B. Next, the path correction unit 30D1 corrects the right travel command value and left travel command value output from the travel operation unit 30C. The travel control unit 30D then transmits the corrected right travel command value and left travel command value to the work machine 100 via the communication device T2. Details of the travel control unit 30D will be described later.

[0129] In the following description, among the controls for traveling the work machine 100, control in which the travel control unit 30D travels the work machine 100 along a target route after a target route has been set may be referred to as semi-automatic control. Also, in the following description, among the operations for traveling the work machine 100, control in which the work machine 100 travels based on the operation of the operator OP without setting a target route may be referred to as manual control.

[0130] Next, the setting of a target route in this embodiment will be described with reference to Figures 5 and 6. Figure 5 is the first diagram for explaining the setting of a target route.

[0131] The target route setting unit 30B of this embodiment calculates the radius of curvature of the travel route according to the operation angle (operation amount) of the left operating lever 56L or the right operating lever 56R. The radius of curvature of the travel route is the radius of a circle that approximates the curve near a certain point on the curve.

[0132] Then, the target path setting unit 30B sets the arc or circumference of a circle having the calculated radius of curvature as the target path.

[0133] For example, in the target route setting unit 30B, if the operation angle acquired by the operation acquisition unit 30B1 is the angle θ1 shown in Fig. 5 and the operation direction of the left operation lever 56L or the right operation lever 56R is the direction indicated by the arrow Y1, the target route calculation unit 30B2 calculates the radius r1, which is the radius of curvature of a circle 501 approximated from the current position Pa of the work machine 100, the direction indicated by the arrow Y1, and the angle θ1. The target route calculation unit 30B2 then sets the route proceeding in the direction indicated by the arrow Y11 on the arc of the circle 501 of radius r1 as the target route. Note that the current position Pa may be the position of the center of rotation of the work machine 100, for example.

[0134] 5, and the operation direction of the left operation lever 56L or the right operation lever 56R is the direction indicated by the arrow Y2, the target route calculation unit 30B2 calculates the radius r2, which is the radius of curvature of the circle 502 approximated from the current position Pa of the work machine 100, the direction indicated by the arrow Y2, and the angle θ2. The target route calculation unit 30B2 then sets the route that proceeds on the arc of the circle 502 with the radius r2 in the direction indicated by the arrow Y12 as the target route.

[0135] In the example of Figure 5, radius r2 is larger than radius r1, and it can be seen that a larger radius of curvature results in a gentler curve, while a smaller radius of curvature results in a sharper curve. In other words, the radius of curvature is an index of the degree of curvature of the curve. In this embodiment, the degree of curvature is determined based on the operating angle of the left operating lever 56L or the right operating lever 56R.

[0136] Furthermore, in this embodiment, the target path of the work machine 100 is determined according to the operation direction of the left operation lever 56L or the right operation lever 56R. Specifically, in this embodiment, the operation direction of the left operation lever 56L or the right operation lever 56R may be divided into four directions, and the traveling direction of the work machine 100 may be determined according to each operation direction. The four directions are the right front direction, left front direction, right rear direction, and left rear direction when a front-to-rear axis and a left-to-right axis are provided with respect to the operation direction of the left operation lever 56L or the right operation lever 56R.

[0137] In this embodiment, when the left operating lever 56L or the right operating lever 56R is tilted in the left forward direction at an operating angle θ1, the target route of the work machine 100 may be the route indicated by arrow Y11 on the arc of the circle 501. Also, in this embodiment, when the left operating lever 56L or the right operating lever 56R is tilted in the left rearward direction at an operating angle θ1, the traveling direction of the work machine 100 may be the direction indicated by arrow Y12 on the arc of the circle 501.

[0138] Furthermore, in this embodiment, when the left operating lever 56L or the right operating lever 56R is tilted in the front right direction at an operating angle θ1, the traveling direction of the work machine 100 may be the direction indicated by the arrow Y13 on the arc of the circle 503 with a radius of r1. Furthermore, in this embodiment, when the left operating lever 56L or the right operating lever 56R is tilted in the rear right direction at an operating angle θ1, the traveling direction of the work machine 100 may be the direction indicated by the arrow Y14 on the arc of the circle 503 with a radius of r1.

[0139] That is, in this embodiment, the target route is determined by the operation angle and operation direction of the left operation lever 56L or the right operation lever 56R.

[0140] The operation direction of the left operating lever 56L or the right operating lever 56R may be divided into two, right and left. In this case, the traveling direction of the work machine 100 may be determined based on the operation direction of the right traveling pedal 56PR or the left traveling pedal 56PL. Specifically, for example, when the left operating lever 56L or the right operating lever 56R is tilted to the left at an operating angle θ1, it may be determined whether the traveling direction of the work machine 100 is the direction indicated by arrow Y11 or arrow Y12, depending on the operation of the right traveling pedal 56PR or the left traveling pedal 56PL.

[0141] When the operating direction of the left operating lever 56L or the right operating lever 56R is divided in this manner, the operation of tilting the left operating lever 56L or the right operating lever 56R on the left-right axis or the front-rear axis may be invalidated.

[0142] Furthermore, in this embodiment, the operation direction of the left operation lever 56L or the right operation lever 56R does not have to be divided. In this case, the radius of curvature may be determined based on the operation angle of the left operation lever 56L or the right operation lever 56R, and the traveling direction of the work machine 100 may be determined by the operation of the right traveling pedal 56PR or the left traveling pedal 56PL. Specifically, for example, when the left operation lever 56L or the right operation lever 56R is tilted so that the operation angle is θ1 and the right traveling pedal 56PR or the left traveling pedal 56PL is operated so as to move the work machine 100 forward to the right, the traveling direction of the work machine 100 may be determined to be the direction indicated by arrow Y11.

[0143] Furthermore, in this embodiment, the target route may be set without using the left operating lever 56L or the right operating lever 56R. In this case, the controller 30 may determine the target route according to the amount of input to the right traveling pedal 56PR or the left traveling pedal 56PL after the target route setting mode is entered. At this time, operation of the work machine 100 is prohibited.

[0144] For example, the controller 30 may determine the radius of curvature and the traveling direction of the work machine 100 from the difference between the input amount of the right traveling pedal 56PR and the input amount of the left traveling pedal 56PL after the target route setting mode has been entered. Specifically, when the left traveling pedal 56PL is depressed more strongly than the right traveling pedal 56PR, the controller 30 may set the target route for the work machine 100 to a route that moves in a right forward direction along an arc with a curvature radius that corresponds to the difference in input amount.

[0145] In this embodiment, when the left operating lever 56L or the right operating lever 56R is neutral in the target route setting mode, a straight route may be set as the target route. When the left operating lever 56L or the right operating lever 56R is neutral, the operating angle is 0 degrees and the radius of curvature is infinite. In this embodiment, by doing so, a straight route can be included in the target route.

[0146] Furthermore, in the example of Figure 5, the circle that can be the target route is a circle that passes through a reference point (e.g., the turning center Pa) of the work machine 100 and is tangent to a straight line L that is parallel to the direction of the lower traveling body 1, but is not limited to this.

[0147] 6 is a diagram illustrating a target route setting screen. When the remote controller 30R of this embodiment is set to a target route setting mode, it may display an image captured by the front camera S6F of the work machine 100 on the central monitor D2a of the display device D2. When the left operation lever 56L or the right operation lever 56R is operated, the remote controller 30R may display an image showing the target route calculated in accordance with the operation angle, superimposed on the image captured by the front camera S6F.

[0148] For example, when the operator OP operates the left operation lever 56L or the right operation lever 56R so that the operation angle is θ1, the remote controller 30R displays an image 501r showing the target route superimposed on the image captured by the front camera S6F. Also, when the operator OP operates the left operation lever 56L or the right operation lever 56R so that the operation angle is θ2, the remote controller 30R displays an image 502r showing the target route superimposed on the image captured by the front camera S6F.

[0149] Here, angle θ1>angle θ2. Therefore, according to this embodiment, the operator OP can visually and intuitively recognize that the greater the operation angle of the left operation lever 56L or the right operation lever 56R, the greater the degree of curvature of the target route.

[0150] Furthermore, in this embodiment, the operator OP can set the target route simply by operating the left operating lever 56L or the right operating lever 56R while checking the image displayed on the central monitor D2a. Therefore, the target route can be set easily.

[0151] When the operator OP continuously changes the operation angle of the left operation lever 56L or the right operation lever 56R, the image showing the target route may change in accordance with the change in the operation angle.

[0152] Furthermore, in this embodiment, the image showing the target route on the central monitor D2a may be maintained even after travel operation has commenced for the work machine 100. In other words, in this embodiment, the image showing the target route may be displayed on the display device D2 even while the work machine 100 is being operated to travel.

[0153] Furthermore, in this embodiment, during a traveling operation, the display device D2 may display information indicating that the traveling of the work machine 100 is being controlled by the traveling control unit 30D. Specifically, for example, when the work machine 100 is traveling on a target route under the control of the traveling control unit 30D, a message such as "Semi-automatic control in progress" may be displayed on the display device D2.

[0154] Next, the functions of the remote controller 30R of this embodiment will be further described with reference to Fig. 7. Fig. 7 is a diagram illustrating the functional configuration of the remote controller. In the example of Fig. 7, the units shown in Fig. 4 are provided in the remote controller 30R.

[0155] The remote controller 30R receives, via the communication device T2, the output values ​​of the boom angle sensor S1, arm angle sensor S2, bucket angle sensor S3, machine body inclination sensor S4, and rotation sensor S5 of the work machine 100, image data showing images acquired by the imaging device S6, position information acquired by the positioning device PS, etc. The remote controller 30R also receives signals output by the operation device 56, etc., performs various calculations to generate operation signals, and transmits the operation signals to the work machine 100 via the communication device T2. The controller 30 of the work machine 100 controls the operation of the work machine 100 in accordance with the operation signals received via the communication device T1.

[0156] The remote controller 30R has, as functional elements, a current position recording unit 30A, a target route setting unit 30B, a travel operation unit 30C, and a travel control unit 30D. Each functional element may be configured by a program stored in the remote controller 30R.

[0157] The current position recording unit 30A is configured to record information relating to the current position of the work machine 100. In this embodiment, the current position recording unit 30A records in RAM information relating to the current position of the work machine 100 when the target route setting mode is selected.

[0158] The target route setting unit 30B and the travel operation unit 30C have been explained in FIG. 4, so explanation thereof will be omitted here.

[0159] The travel control unit 30D is configured to autonomously operate the work machine 100. In other words, the travel control unit 30D is configured to cause the work machine 100 to travel along the target route calculated by the target route setting unit 30B.

[0160] The traveling control unit 30D will be described below with reference to Fig. 8. Fig. 8 is a diagram illustrating the traveling control unit.

[0161] 8, the traveling control unit 30D has functional elements F1 to F4. The functional elements may be configured by software.

[0162] The functional element F1 acquires information indicating the current position of the work machine 100 that is recorded in the current position recording unit 30A.

[0163] The functional element F2 calculates the next position of the work machine 100 as a target position based on the operation pressure sensor 59 that detects the amount of operation of the traveling pedal 56P and the target route set by the target route setting unit 30B.

[0164] Functional element F3 is configured to generate a command value related to the speed of the work machine 100. In this embodiment, the current position of the work machine 100 acquired by functional element F1 and the next position of the work machine 100 calculated by functional element F2 are input to functional element F3, and the functional element F3 calculates a command value (speed command value) related to the traveling speed required to move the work machine 100 from the current position to the next position in a predetermined time.

[0165] The functional element F4 is configured to calculate command values ​​for operating the actuators. In this embodiment, the functional element F4 calculates command values ​​for controlling the drive of the left crawler 1CL and the right crawler 1CR, based on the target position calculated by the functional element F2 and the speed command value calculated by the functional element F3, in order to move the work machine 100 from the current position to the target position. More specifically, the command values ​​calculated by the functional element F4 include a rotation direction F41 of the left traveling hydraulic motor 2ML that rotates the left crawler 1CL, a pilot pressure F42 that is applied to the control valve 171, a rotation direction F43 of the right traveling hydraulic motor 2MR that rotates the right crawler 1CR, and a pilot pressure F44 that is applied to the control valve 172.

[0166] In this embodiment, by configuring the travel control unit 30D in this manner, it is possible to follow the operation of the travel lever 56R by the operator OP and correct the travel route of the work machine 100 to the target route in real time in accordance with the operation of the operator OP.

[0167] Next, the processing of the remote controller 30R of this embodiment will be described with reference to Fig. 9. Fig. 9 is a flowchart illustrating the processing of the remote controller.

[0168] The remote controller 30R of this embodiment determines whether an operation to set the target route setting mode has been performed (step S901). The operation to set the target route setting mode may be, for example, a switch or the like provided on the operating device 56.

[0169] In step S901, if the target route setting mode is not set, the remote controller 30R waits until the target route setting mode is set.

[0170] If the travel lever 56D is operated before the remote controller 30R receives an operation to switch to the target route setting mode, the remote controller 30R may not set a target route and may allow the work machine 100 to travel in accordance with manual operation. In step S901, when an operation for setting a target route is performed, the remote controller 30R displays a setting screen for the target route on the central monitor D2a of the display device D2 (step S902). Note that the setting screen may be displayed on a monitor other than the central monitor D2a of the display device D2.

[0171] Subsequently, when the left operation lever 56L or the right operation lever 56R is operated, the remote controller 30R causes the target path setting unit 30B to set a target path based on the operation angle.

[0172] Next, the remote controller 30R determines whether a driving operation has been performed (step S904). In other words, the remote controller 30R determines whether an operation has been performed on the driving lever 56D. If a driving operation has not been performed in step S904, the remote controller 30R waits until a driving operation is performed.

[0173] In step S904, if a travel operation is performed, the remote controller 30R controls the travel control section 30D to cause the work machine 100 to travel along the target route based on the operation of the travel lever 56D and the target route (step S905).

[0174] Next, the remote controller 30R determines whether the engine 11 has been stopped (step S906). If the engine has not been stopped in step S906, the remote controller 30R returns to step S901. If the engine 11 has been stopped in step S906, the remote controller 30R ends the process.

[0175] In this embodiment, while the work machine 100 is traveling under the control of the travel control unit 30D, control by the travel control unit 30D may be stopped, and the work machine 100 may be traveled under the control of the travel operation unit 30C alone. In other words, in this embodiment, the control used when traveling the work machine 100 may be switched from semi-automatic control to manual control. In this case, switching from semi-automatic control to manual control may be performed in response to the operation of a selector switch or the like included in the operation device 56, for example.

[0176] In this embodiment, by doing so, the operator OP can switch from semi-automatic control to manual control at any timing.

[0177] Setting of a target route will be described in more detail below with reference to Fig. 10. Fig. 10 is a third diagram illustrating setting of a target route.

[0178] FIG. 10 shows a schematic diagram of a case where an operator OP in a remote control room RC sets a target route for a work machine 100 at a work site at each of points P1, P2, and P3.

[0179] In the remote control room RC, when the current position of the work machine 100 is point P1, the operator OP sets the mode to target route setting and sets the operation angle of the left operation lever 56L or the right operation lever 56R to θ2. Then, an arc 101 of a circle 502 having a curvature radius r2 calculated from the angle θ2 is set as the target route. When the operator OP starts operating the travel lever 56D (travel operation) in this state, the work machine 100 travels along the arc 101.

[0180] In this embodiment, once the target route is set and travel begins, the target route setting mode may be automatically cancelled.

[0181] Furthermore, in this embodiment, when travel begins after the target route has been set, the work machine 100 may travel along the target route until an operation is performed to switch from semi-automatic operation to manual operation or to switch to target route setting mode.

[0182] Furthermore, in this embodiment, the operation of switching from semi-automatic operation to manual operation or the operation of switching to target route setting mode may be performed while the work machine 100 is traveling, or may be performed after the work machine 100 has stopped traveling.

[0183] When the work machine 100 reaches point P2, the operator OP in the remote control room RC again switches to target route setting mode and sets the operation angle of the left operation lever 56L or the right operation lever 56R to θ1. Then, arc 102 of circle 501 having a curvature radius r1 calculated from angle θ1 is set as the target route. When the operator OP starts operating the travel lever 56D (travel operation) in this state, the work machine 100 travels along arc 102.

[0184] Furthermore, in the remote control room RC, when the operator OP reaches point P3, he or she again switches the system to target route setting mode and neutralizes the left operation lever 56L or the right operation lever 56R. This sets a straight line 103 from point P3 in the direction of travel of the work machine 100 as the target route, and when the operator OP begins operating the travel lever 56D, the work machine 100 travels along the straight line 103. In this case, the travel control unit 30D may cause the work machine 100 to travel in a straight line by controlling the left crawler 1CL or the right crawler 1CR to match the speed of the other crawler with the faster crawler.

[0185] 10, the straight line 103 is set on the target route at the point P3, but this is not limiting. For example, the operator OP may switch from semi-automatic control to manual control at the point P3.

[0186] As described above, according to this embodiment, a route intended by the operator OP in the remote control room RC can be set as a target route with a simple operation, and the work machine 100 is caused to travel along the target route.

[0187] Therefore, in this embodiment, even if it is difficult to grasp the road surface conditions or the crawler posture from images of the work site, or if there is a delay in communication between the work machine 100 and the remote control room RC, the work machine 100 can be made to travel along the route intended by the operator OP.

[0188] Furthermore, according to this embodiment, the efficiency of remote control can be improved, thereby reducing the burden on the operator.

[0189] The preferred embodiments of the present invention have been described above in detail. However, the present invention is not limited to the above-described embodiments. Various modifications, substitutions, etc. may be applied to the above-described embodiments without departing from the scope of the present invention. Furthermore, features described separately may be combined unless technical contradictions arise. [Explanation of symbols]

[0190] 1 Undercarriage 2. Swivel mechanism 3 Upper rotating body 4. Boom 5 Arm 6 buckets 30 Controllers 30R Remote Controller 30A Current position recording section 30B Target route setting unit 30C Travel control unit 30D Driving control unit 30D1 Path correction unit D1, D2 display device 100 Work Machinery

Claims

1. a target route setting unit that sets a target route calculated based on an operation amount of an operating lever that is different from an operating device for traveling that causes the work machine to travel; a travel control unit that causes the work machine to travel along the target route.

2. The control device of the work machine includes:

2. A control device for a work machine according to claim 1, wherein control for causing the work machine to travel along the target route by the travel control unit and control for causing the work machine to travel based on operation of the operating device for travel are switched in response to a switching operation.

3. the work machine has a left crawler and a right crawler, a left traveling hydraulic motor and a right traveling hydraulic motor that rotate the left crawler and the right crawler, respectively, and the traveling operation device is an operation device for driving the left crawler and the right crawler, respectively; The traveling control unit 3. The control device for a work machine according to claim 2, wherein command values ​​indicating the rotation directions of the left traveling hydraulic motor and the right traveling hydraulic motor, and command values ​​including pilot pressures for rotating the left traveling hydraulic motor and the right traveling hydraulic motor, are calculated based on an operation on the operating device for traveling and the target route.

4. The target route setting unit 2. A control device for a work machine according to claim 1, wherein a curve that advances in a direction indicated by the operating direction of the operating lever and that is indicated by an indicator of the degree of curvature corresponding to the amount of operation of the operating lever is set as the target path.

5. The target route setting unit 2. The control device for a work machine according to claim 1, wherein the target path is set as a curved line that is an arc of a circle having a radius of curvature calculated from the amount of operation of the operating lever and that faces in the operating direction of the operating lever.

6. The target route setting unit 6. A control device for a work machine according to claim 4, wherein when the operation lever is in the neutral position, a straight line in the direction of travel of the work machine is set as the target route.

7. The control device of the work machine includes: displaying a setting screen for setting the target route on a display device; The control device for a work machine according to claim 1 , wherein an image of a front view of the work machine and the target route are displayed superimposed on the setting screen.

8. 2. The control device for a work machine according to claim 1, wherein the operating device and the operating lever are disposed in a remote control room provided outside the work machine.

Images