System and method for setting target positions for automatic swing control of a work machine

Abstract

The system determines whether the operator's teaching is appropriate so that the work machine operates appropriately through automatic turning control. [Solution] One aspect of the present disclosure provides a system for setting multiple target positions for automatic swing control of a work machine. The work machine includes a rotatable swing bed and a work implement operably attached to the swing bed. The system according to this aspect includes an input device and a controller. The input device is operable to teach the multiple target positions. The controller acquires the multiple target positions through teaching via the input device. The controller determines whether teaching of at least one of the multiple target positions is successful based on a position difference between the multiple target positions or a difference in the attitude of the work implement at the multiple target positions.

Description

[Technical Field]

[0001] SUMMARY The present disclosure relates to a system and method for setting a target position for automatic swing control of 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. In automatic swing control, an operator operates an input device to perform teaching, which sets the target position in advance. For example, in the excavator disclosed in Patent Document 1, the operator sets the excavation end position and the soil discharge start position. In more detail, when the operator presses a record switch with the bucket positioned at the excavation end position, the posture of the excavator at that time is stored in memory. When the operator presses a record switch with the bucket positioned at the soil discharge start position, the posture of the excavator at that time is stored in memory. A controller of the work machine calculates a target trajectory of the bucket in the automatic swing control based on the stored posture. When a start condition for the automatic swing control is met, the controller swings the excavator and moves the bucket up and down so that the bucket moves along the target trajectory. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. WO2019-181872 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described automatic swing control, the operator may teach target positions in a way that prevents the work machine from operating properly. For example, if multiple target positions that are too far apart are set, the work machine may not operate properly through automatic swing control. Alternatively, if the attitude of the work machine changes significantly during target position teaching, the work machine may not operate properly through automatic swing control. An object of the present disclosure is to determine the appropriateness of the operator's teaching so that the work machine operates properly through automatic swing control. [Means for solving the problem]

[0005] A system according to one aspect of the present disclosure is a system for setting multiple target positions for automatic swing control of a work machine. The work machine includes a rotatable swing unit and a work implement operably attached to the swing unit. The system according to this aspect includes an input device and a controller. The input device is operable to teach the multiple target positions. The controller acquires the multiple target positions by teaching using the input device. The controller determines whether to establish teaching of at least one of the multiple target positions based on a position difference between the multiple target positions or a difference in attitude of the work implement at the multiple target positions.

[0006] A system according to another aspect of the present disclosure is a method for setting multiple target positions for automatic swing control of a work machine. The work machine includes a rotatable swing unit and a work implement operably attached to the swing unit. The method according to this aspect includes acquiring multiple target positions by teaching using an input device, and determining whether the teaching of at least one of the multiple target positions is successful based on a position difference between the multiple target positions or a difference in attitude of the work implement at the multiple target positions. [Effects of the Invention]

[0007] According to the present disclosure, the success of teaching of at least one of a plurality of target positions is determined based on the difference in position between the plurality of target positions or the difference in the attitude of the work machine at the plurality of target positions, thereby making it possible to determine whether the teaching by the operator is appropriate so that the work machine operates appropriately through automatic swing control. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a work machine according to an embodiment. [Figure 2] 1 is a block diagram showing the configuration of a work machine and its control system. [Figure 3] FIG. 2 is a diagram showing a flow of work performed by a work machine. [Figure 4] FIG. 4 is a top view showing the operation of the work machine under automatic swing control. [Figure 5] FIG. 4 is a side view showing the operation of the work machine under automatic swing control. [Figure 6] 10 is a flowchart showing a process of automatic turning control. [Figure 7] FIG. 10 is a diagram showing a guide screen for automatic turning control. [Figure 8] FIG. 10 is a diagram showing a guide screen for automatic turning control. [Figure 9] 10 is a flowchart showing a process executed by the controller to determine whether teaching of a target position is successful. [Figure 10] FIG. 10 is a diagram showing the correct order of target positions when teaching conditions are not met. [Figure 11] 10A and 10B are diagrams illustrating the posture of the work machine when the teaching conditions are not met. [Figure 12] FIG. 10 is a diagram showing the angle of the target position when the teaching condition is not satisfied. [Figure 13] 10A and 10B are diagrams illustrating the correct order of target positions when teaching conditions are not met according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

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

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

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

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

[0013] Fig. 2 is a block diagram showing the configuration of the work machine 1 and its control system. As shown in Fig. 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, and a controller 24. The drive source 21 is controlled by a command signal from the controller 24. The drive source 21 is, for example, an internal combustion engine. Alternatively, the drive source 21 may include a drive source such as an electric motor or a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21 and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0014] The work machine 1 includes a swing motor 25. The swing motor 25 is, for example, a hydraulic motor. The swing motor 25 is driven by hydraulic oil from the hydraulic pump 22. Alternatively, the swing motor 25 may be an electric motor. The swing motor 25 causes the swing body 4 to swing. The work machine 1 includes a travel motor 23. The travel motor 23 is, for example, a hydraulic motor. The travel motor 23 is powered by hydraulic oil discharged from the hydraulic pump 22. Operation of the travel motor 23 drives the tracks 7, causing the work machine 1 to travel.

[0015] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is connected to the hydraulic pump 22. The pump control device 26 controls the tilt angle of the hydraulic pump 22. The pump control device 26 includes, for example, a solenoid valve, and is controlled by a command signal from the controller 24. The controller 24 controls the displacement of the hydraulic pump 22 by controlling the pump control device 26. Note that although one hydraulic pump is illustrated in FIG. 2, multiple hydraulic pumps may be provided.

[0016] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14-16, the swing motor 25, and the traveling motor 23 are connected by a hydraulic circuit via the control valve 27. The control valve 27 is controlled by a command signal from a controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14-16, the swing motor 25, and the traveling motor 23. The controller 24 controls the operation of the work machine 3 by controlling the control valve 27. The controller 24 controls the swing of the swing unit 4 by controlling the control valve 27. The controller 24 controls the traveling of the traveling unit 5 by controlling the control valve 27. It should be noted that the cylinders 14-16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven by an electric motor.

[0017] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processing for controlling the work machine 1. The storage device 32 includes memory such as RAM or ROM, and an auxiliary storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The storage device 32 stores data and programs for controlling the work machine 1.

[0018] The control system includes an operating device 33, an input device 34, and a display 35. The operating device 33 and the input device 34 are arranged in the cab 6. The operating device 33 can be operated by an operator. The operating device 33 includes, for example, a lever, a pedal, or a switch. The operating device 33 outputs an operation signal to the controller 24 in response to an operation by the operator of the operating device 33. The controller 24 controls the control valve 27 in response to the operation of the operating device 33 by the operator so as to operate the work implement 3. The controller 24 controls the control valve 27 in response to the operation of the operating device 33 by the operator so as to rotate the rotating body 4.

[0019] The input device 34 can be operated by the operator. The input device 34 is a touch screen. However, the input device 34 may also include hardware keys. The input device 34 may also be buttons or the like arranged on the operation device 33. The operator inputs various settings related to the work machine 1 by operating the input device 34. The input device 34 outputs an input signal in response to the operator's operation. The display 35 displays a screen in response to an image signal from the controller 24.

[0020] The control system includes a direction sensor 36 and an attitude sensor 37. The direction sensor 36 detects the direction of the work machine 1. The direction sensor 36 includes, for example, a sensor using a Global Navigation Satellite System (GNSS). In detail, the direction sensor 36 detects the direction of the rotating unit 4. The direction sensor 36 outputs direction data indicating the direction of the rotating unit 4. The direction data is expressed in east-west, north-south direction coordinates.

[0021] The attitude sensor 37 detects the attitude of the work implement 3. The attitude of the work implement 3 is indicated by the angle of the boom 11 (hereinafter referred to as the boom angle), the angle of the arm 12 (hereinafter referred to as the arm angle), and the angle of the bucket 13 (hereinafter referred to as the bucket angle). The attitude sensor 37 includes, for example, an IMU (Inertial Measurement Unit). Alternatively, the attitude sensor 37 may be a sensor that directly detects each of the boom angle, arm angle, and bucket angle. The attitude sensor 37 outputs attitude data that indicates the attitude of the work implement 3.

[0022] The controller 24 receives an operation signal from an operation device 33. The controller 24 receives an input signal from an input device 34. The controller 24 receives orientation data from an orientation sensor 36. The controller 24 receives attitude data from an attitude sensor 37.

[0023] The controller 24 executes automatic swing control, which automatically controls the swing of the swing unit 4 and the operation of the work unit 3, based on the orientation of the swing unit 4 and the attitude of the work unit 3 described above. FIG. 3 is a diagram showing the flow of work performed by the work machine 1. As shown in FIG. 3, the work machine 1 sequentially executes excavation, loading swing, soil discharge, and return swing. After performing a return swing, the work machine 1 again sequentially executes excavation, loading swing, soil discharge, and return swing. By repeating these operations, the work machine 1 loads objects such as earth and sand onto a transport vehicle such as a dump truck. The automatic swing control of the work machine 1 will be described below.

[0024] Fig. 4 is a top view showing the operation of the work machine 1 under automatic turning control. Fig. 5 is a side view showing the operation of the work machine 1 under automatic turning control. Fig. 6 is a flowchart showing the processing of automatic turning control.

[0025] As shown in FIG. 6, in step S101, the controller 24 acquires a swing mode. The controller 24 stores a swing mode selected in advance by an operator. The swing modes include a left loading swing mode and a right loading swing mode. In the left loading swing mode, the controller 24 swings the swing unit 4 counterclockwise to an end position P3 (described later) in automatic swing control. In the right loading swing mode, the controller 24 swings the swing unit 4 clockwise to an end position P3 in automatic swing control.

[0026] In step S102, the controller 24 determines a target position. The target position is indicated by a target orientation of the revolving unit 4 indicating the target position and a target attitude of the work implement 3 at the target position. As shown in FIGS. 4 and 5, the target position includes a return position P1, an interference avoidance position P2, and an end position P3. As shown in FIG. 4, the controller 24 acquires the target orientation of the revolving unit 4 at each of the target positions of the return position P1, the interference avoidance position P2, and the end position P3. The controller 24 acquires the target attitude of the work implement 3 at each of the target positions of the return position P1, the interference avoidance position P2, and the end position P3.

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

[0028] The target positions P1-P3 are set in advance by an operator teaching the target positions P1-P3 by operating the input device 34. Teaching of the target positions P1-P3 will be described later.

[0029] In step S103, the controller 24 determines whether to start automatic swing control. For example, after the operator operates the work implement 3 to perform excavation, the operator issues a command to start automatic swing control via the input device 34. The controller 24 determines to start loading swing control if predetermined control conditions are met. For example, the predetermined control conditions include completion of teaching of the target positions P1-P3. The predetermined control conditions include the work implement 3 being located within an area permitted for automatic swing control, which will be described later. If the controller 24 determines to start loading swing control, the controller 24 executes automatic swing control in step S104.

[0030] 4 and 5, in the automatic swing control, the controller 24 swings the swing unit 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the end position P3, and also raises the work unit 3. At this time, if the left loading swing mode is selected, the controller 24 swings the swing unit 4 counterclockwise, as shown in Fig. 4. If the right loading swing mode is selected, the controller 24 swings the swing unit 4 clockwise.

[0031] In step S105, the controller 24 determines whether the work implement 3 has reached the end position P3. If the controller 24 determines that the work implement 3 has reached the end position P3, the controller 24 ends the automatic swing control in step S106. That is, the controller 24 stops the swing unit 4 at the end position P3. Thereafter, the operator operates the work implement 3 to unload the object from the work implement 3. As a result, the object is loaded onto the loading platform 101 of the transport vehicle 100.

[0032] In step S107, the controller 24 determines whether to start return swing control. For example, after the operator unloads an object from the work implement 3, the operator issues a command to start automatic swing control via the input device 34. The controller 24 determines to start return swing control if predetermined control conditions are met. For example, the predetermined control conditions include that teaching of the target positions P1-P3 has been completed. The predetermined control conditions include that the work implement 3 is located within an allowable area for automatic swing control, which will be described later. If the controller 24 determines to start return swing control, it executes return swing control in step S108.

[0033] 4 and 5, in the return swing control, the controller 24 swings the swing unit 4 so that the work unit 3 passes through the interference avoidance position P2 and moves to the return position P1, and also lowers the work unit 3. At this time, the controller 24 swings the swing unit 4 in the direction opposite to that in the loading swing control. That is, when the left loading swing mode is selected, the controller 24 swings the swing unit 4 clockwise to move the work unit 3 to the return position P1. When the right loading swing mode is selected, the controller 24 swings the swing unit 4 counterclockwise to move the work unit 3 to the return position P1.

[0034] In step S109, the controller 24 determines whether the work unit 3 has reached the return position P1. If the controller 24 determines that the work unit 3 has reached the return position P1, the controller 24 ends the return swing control in step S110. That is, the controller 24 stops the rotating body 4 at the return position P1. Thereafter, the operator operates the work unit 3 to excavate the object. As a result, the object is held by the work unit 3. Then, the process returns to step S103, and the above-described operations are repeated.

[0035] Note that when the operator manually operates the work machine 3 or the rotating body 4 using the operation device 33, the controller 24 may operate the work machine 3 or the rotating body 4 in accordance with the operator's operation of the operation device 33. For example, after the work machine 3 reaches the end position P3 by the loading swing control, the operator can manually move the work machine 3 to any position to unload soil. Also, after the work machine 3 reaches the return position P1 by the return swing control, the operator can manually move the work machine 3 to any position to excavate.

[0036] Next, the teaching of the target positions P1-P3 will be described. The controller 24 displays a guide screen 40 for automatic turning control, as shown in Fig. 7, on the display 35. The operator performs teaching of the target positions P1-P3 on the guide screen 40 by operating the input device 34. The guide screen 40 includes an icon 41 of the work machine 1, a direction display 42, a height display 43, a status display 44, and a message field 50.

[0037] The orientation display 42 includes an orientation gauge 45 and an indication 46 of the current orientation of the rotating body 4. The height display 43 includes a height gauge 47 and an indication 48 of the current height of the work implement 3. The status display 44 indicates the control mode of the automatic swing control. The status display 44 includes an indication 49 of the swing mode. The swing mode indication 49 indicates the selected swing mode from the above-mentioned left loading swing mode and right loading swing mode. A message field 50 displays messages related to teaching.

[0038] The guide screen 40 includes teaching buttons 51-53. The teaching buttons 51-53 are buttons for teaching target positions P1-P3. The operator operates the teaching buttons 51-53 using the input device 34. The teaching buttons 51-53 include a return teaching button 51, an interference avoidance teaching button 52, and an end teaching button 53. The return teaching button 51 is a button for teaching the return position P1. The end teaching button 53 is a button for teaching the end position P3. The interference avoidance teaching button 52 is a button for teaching the interference avoidance position P2.

[0039] The controller 24 sets the return position P1 based on the position of the work implement 3 when teaching is instructed by the return teaching button 51. The controller 24 sets the interference avoidance position P2 based on the position of the work implement 3 when teaching is instructed by the interference avoidance teaching button 52. The controller 24 sets the end position P3 based on the position of the work implement 3 when teaching is instructed by the end teaching button 53. The position of the work implement 3 is, for example, the center in the left-right direction of the cutting edge of the bucket 13. However, the position of the work implement 3 may be another position on the work implement 3.

[0040] Once the target positions P1-P3 are set, the controller 24 displays displays indicating the target positions P1-P3 on the guide screen 40. For example, once the end position P3 is set, the controller 24 displays displays 54, 55 indicating the end position P3 on the guide screen 40, as shown in Fig. 7. In detail, the controller 24 displays display 54 indicating the direction of the end position P3 on the direction display 42. The controller 24 displays display 55 indicating the height of the end position P3 on the height display 43.

[0041] The same applies to setting the return position P1 and the interference avoidance position P2. Once the return position P1 is set, the controller 24 displays displays 56 and 57 indicating the return position P1 on the guide screen 40, as shown in Fig. 8. In detail, the controller 24 displays display 56 indicating the orientation of the return position P1 on the orientation display 42. The controller 24 displays display 57 indicating the height of the return position P1 on the height display 43.

[0042] When the interference avoidance position P2 is set, the controller 24 displays a display 58 indicating the interference avoidance position P2 on the guide screen 40. In detail, the controller 24 displays a display 58 indicating the direction of the interference avoidance position P2 on the direction display 42. In this embodiment, the height of the interference avoidance position P2 is set to be the same as the height of the end position P3. Therefore, the display 58 indicating the height of the end position P3 also indicates the height of the interference avoidance position P2. When teaching of all target positions P1-P3 is complete, the controller 24 displays a message in message field 50 indicating that teaching is complete, as shown in Fig. 8. The controller 24 also displays a rotation direction display 59 for automatic rotation control and a rotation range display 60 on the guide screen 40. The rotation direction display 59 indicates the direction in which the rotating unit 4 will rotate under automatic rotation control. The rotation range display 60 indicates the range in which the rotating unit 4 will rotate under automatic rotation control.

[0043] The controller 24 also displays a first allowed area A1, a second allowed area A2, and a prohibited area A3 on the guide screen 40. The first allowed area A1 and the second allowed area A2 are areas where execution of automatic swing control is permitted. In detail, the first allowed area A1 is an area where execution of return swing control is permitted. The second allowed area A2 is an area where execution of loading swing control is permitted. The prohibited area A3 is an area where execution of automatic swing control is prohibited.

[0044] The controller 24 determines a first allowed area A1, a second allowed area A2, and a prohibited area A3 based on the orientation of the end position P3 relative to the work machine 1 and the orientation of the interference avoidance position P2 relative to the work machine 1. For example, the first allowed area A1 is the range between the interference avoidance position P2 and a position opposite the interference avoidance position P2 with respect to the end position P3. The second allowed area A2 is a range of a predetermined angle from the interference avoidance position P2 in the direction of the return swing. The prohibited area A3 is a range of a predetermined angle from the first allowed area A1 in the direction of the loading swing.

[0045] The return position P1, the interference avoidance position P2, and the end position P3 can be set in any order. However, when teaching the second or subsequent target positions P1-P3, the controller 24 determines whether the teaching of the target positions P1-P3 has been successful or not, depending on the previously set target positions P1-P3 and the turning mode. The following describes the determination of whether the teaching of the target positions P1-P3 has been successful, which is performed when teaching the second or subsequent target positions P1-P3. Figure 9 is a flowchart showing the process of determining whether the teaching of the target positions P1-P3 has been successful, which is executed by the controller 24.

[0046] 9, in step S201, the controller 24 acquires target positions P1-P3. The controller 24 acquires the position of the work implement 3 when teaching is instructed by the return teaching button 51 as the return position P1. The controller 24 acquires the position of the work implement 3 when teaching is instructed by the interference avoidance teaching button 52 as the interference avoidance position P2. The controller 24 acquires the position of the work implement 3 when teaching is instructed by the end teaching button 53 as the end position P3.

[0047] In step S201, the controller 24 determines whether the teaching of the target positions P1-P3 is successful. The controller 24 determines whether the teaching is successful based on the following teaching failure conditions. The teaching failure conditions include the following conditions: Condition 1: In the selected turning direction, the order of the return position P1, the interference avoidance position P2, and the end position P3 is incorrect. Condition 2: The posture of the work implement 3 at the end position P3 is not the same as the posture of the work implement 3 at the interference avoidance position P2. Condition 3: The angle between the orientation of the interference avoidance position P2 and the orientation of the end position P3 is equal to or greater than the first angle threshold in the selected turning direction. Condition 4: The height of the return position P1 is higher than the height of the end position P3 (or the height of the interference avoidance position P2). Condition 5: The angle between the orientation of the end position P3 and the orientation of the return position P1 is equal to or greater than a second angle threshold in the selected turning direction.

[0048] The controller 24 determines that the teaching of the target positions P1-P3 is not established when any one of the above-mentioned teaching non-establishment conditions is satisfied.

[0049] For example, with regard to condition 1, as shown in FIG. 10 , if the interference avoidance position P2 is between the return position P1 and the end position P3 in the selected turning direction, the controller 24 determines that the order of the return position P1, the interference avoidance position P2, and the end position P3 is correct. The selected turning direction is the loading turning direction according to the selected turning mode. For example, if the left loading turning mode is selected, the selected turning direction is the left turning direction. If the right loading turning mode is selected, the selected turning direction is the right turning direction. If the interference avoidance position P2 is not between the return position P1 and the end position P3 in the selected turning direction, the controller 24 determines that the order of the return position P1, the interference avoidance position P2, and the end position P3 is incorrect.

[0050] Regarding condition 2, as shown in Fig. 11, the controller 24 determines whether the posture of the work machine 3 at the end position P3 is the same as the posture of the work machine 3 at the interference avoidance position P2, based on the amount of change in the position of a reference point 17 of the work machine 3 and the amount of change in the bucket angle θ1. The reference point 17 is, for example, the bucket pin, but may be at another position. The bucket angle θ1 is, for example, the angle of a line connecting the reference point 17 and the cutting edge relative to the horizontal direction.

[0051] In detail, if the amount of change of reference point 17 in the X-axis direction of the work machine 1 is smaller than a first allowable value, the amount of change of reference point 17 in the Z-axis direction of the work machine 1 is smaller than a second allowable value, and the amount of change of bucket angle θ1 is smaller than a third allowable value, the controller 24 determines that the attitude of the work machine 3 at end position P3 is the same as the attitude of the work machine 3 at interference avoidance position P2. If the amount of change of reference point 17 in the X-axis direction of the work machine 1 is equal to or larger than the first allowable value, the amount of change of reference point 17 in the Z-axis direction of the work machine 1 is equal to or larger than the second allowable value, or the amount of change of bucket angle θ1 is equal to or larger than the third allowable value, the controller 24 determines that the attitude of the work machine 3 at end position P3 is not the same as the attitude of the work machine 3 at interference avoidance position P2.

[0052] The controller 24 may determine that the posture of the work implement 3 at the end position P3 is not the same as the posture of the work implement 3 at the interference avoidance position P2 if the posture of the work implement 3 is displaced beyond an allowable value after teaching either the end position P3 or the interference avoidance position P2 and before teaching the other.

[0053] The X-axis, Y-axis, and Z-axis of the work machine 1 are a coordinate system based on the revolving unit 4, and rotate together with the revolving unit 4. The X-axis of the work machine 1 extends in the front-to-rear direction of the revolving unit 4. The Y-axis of the work machine 1 extends in the left-to-right direction of the revolving unit 4. The Z-axis of the work machine 1 extends in the up-and-down direction of the revolving unit 4.

[0054] Regarding condition 3, as shown in Fig. 12, the controller 24 determines whether the angle θ2 from the interference avoidance position P2 to the end position P3 in the selected turning direction is equal to or greater than a first angle threshold. The first angle threshold is set based on the expected width W1 of the loading platform 101. The first angle threshold is set so that the angle θ2 between the end position P3 and the interference avoidance position P2 does not become too large relative to the width W1 of the loading platform 101.

[0055] Regarding condition 4, when the loading swing is performed while raising the work machine 3, i.e., when the loading swing is not performed downward, the controller 24 may determine whether the height of the return position P1 is higher than the height of the end position P3 (or the height of the interference avoidance position P2).

[0056] Regarding condition 5, as shown in Fig. 12, the controller 24 determines whether the angle θ3 from the end position P3 to the return position P1 in the return turning direction is equal to or greater than the second angle threshold. The second angle threshold is set so that the return position P1 is not set within the above-mentioned prohibited area A3.

[0057] If any one of the above-described non-establishment conditions is satisfied during teaching of the second or subsequent target positions, the controller 24 determines in step S202 shown in Fig. 9 that the teaching of the target positions P1-P3 is not established. In this case, the controller 24 discards the target positions P1-P3 in step S203. That is, the controller 24 does not set the target positions P1-P3 instructed by teaching, and the process returns to step S201.

[0058] For example, after teaching the interference avoidance position P2 and the end position P3, if condition 1, condition 4, or condition 5 is satisfied when teaching the return position P1, the controller 24 discards the return position P1 instructed by teaching. After teaching the return position P1 and the interference avoidance position P2, if condition 1, condition 3, condition 4, or condition 5 is satisfied when teaching the end position P3, the controller 24 discards the end position P3 instructed by teaching.

[0059] After teaching the return position P1 and the end position P3, if condition 1, condition 3, or condition 4 is satisfied when teaching the interference avoidance position P2, the controller 24 discards the interference avoidance position P2 specified by teaching. Note that if condition 2 is satisfied when teaching the end position P3 or the interference avoidance position P2, the controller 24 discards both the interference avoidance position P2 and the end position P3.

[0060] If the above-described non-establishment condition is not satisfied, the controller 24 determines in step S202 that the teaching of the target positions P1-P3 is established. In step S204, the controller 24 sets the target positions P1-P3. Then, in step S205, the controller 24 determines whether all of the target positions P1-P3 have been set.

[0061] If at least one of the return position P1, the interference avoidance position P2, and the end position P3 has not been set, the process returns to step S201, and the teaching of the target positions P1-P3 is repeated. If all of the return position P1, the interference avoidance position P2, and the end position P3 have been set, the process proceeds to step S206, and the teaching of the target positions P1-P3 is completed.

[0062] According to the control system for the work machine 1 according to the present embodiment described above, the success or failure of teaching at least one of the plurality of target positions P1-P3 is determined based on the difference in position between the plurality of target positions P1-P3 or the difference in the attitude of the work implement 3 at the plurality of target positions P1-P3. This makes it possible to determine whether the teaching by the operator is appropriate so that the work machine 1 operates appropriately through automatic swing control.

[0063] 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.

[0064] The configuration of the work machine 1 is not limited to that of the above embodiment and may be modified. For example, the work machine 1 may be operable remotely. In that case, the operation device 33, input device 34, display 35, etc. may be located outside the work machine 1. The processing by the controller 24 described above may be executed in a distributed manner by multiple controllers. Some of the multiple controllers may be located outside the work machine 1.

[0065] The automatic turning control process is not limited to that of the above embodiment and may be modified. For example, in the above embodiment, the controller 24 sets the target position P1-P3 itself instructed by teaching as the target position P1-P3. However, the controller 24 may set a position obtained by offsetting the target position P1-P3 instructed by teaching as the target position.

[0066] For example, as shown in Fig. 13, the controller 24 may set a position obtained by offsetting the interference avoidance position P2A instructed by the operator through teaching, in the direction opposite the selected swing direction, with a margin D1, as a corrected interference avoidance position P2B. In automatic swing control, the controller 24 may control the work machine 1 so that it passes through the corrected interference avoidance position P2B. The margin D1 may be, for example, half the value of the width of the bucket 13 in the left-right direction. Alternatively, the margin D1 may be set arbitrarily.

[0067] When the corrected interference avoidance position P2B is set, the controller 24 may determine whether the teaching non-establishment condition is met for the corrected interference avoidance position P2B in addition to or instead of the above-mentioned interference avoidance position P2A. For example, in condition 1, the controller 24 may determine that condition 1 is not met when the interference avoidance position P2A and the corrected interference avoidance position P2B are between the return position P1 and the end position P3 in the selected turning direction, as shown in Fig. 13.

[0068] When teaching of the interference avoidance position P2 is performed in a state where the interference avoidance position P2 and the end position P3 have already been set by teaching, the controller 24 may overwrite the interference avoidance position P2 and discard the end position P3. When teaching of the end position P3 is performed in a state where the interference avoidance position P2 and the end position P3 have already been set by teaching, the controller 24 may overwrite the end position P3 and discard the interference avoidance position P2.

[0069] In the above embodiment, if the controller 24 determines that the teaching is not successful, it discards the target position specified by teaching. However, if the controller 24 determines that the teaching is not successful, it may set the target position specified by teaching and discard the target position that was previously set.

[0070] Whether to discard the target position instructed by teaching or the previously set target position may be selectable by the operator operating the input device 34. The controller 24 may receive a selection of whether to discard the target position instructed by teaching or the previously set target position from the input device 34. When discarding the target position instructed by teaching is selected, the controller 24 may maintain the previously set target position and discard the target position instructed by teaching. When discarding the previously set target position is selected, the controller 24 may set the target position instructed by teaching and discard the previously set target position. [Industrial Applicability]

[0071] According to the present disclosure, it is possible to determine whether teaching by an operator is appropriate so that the work machine operates appropriately through automatic swing control. [Explanation of symbols]

[0072] 1: Work machine, 3: Work equipment, 4: Swing body, 24: Controller, 34: Input device, P1: Return position, P2: Interference avoidance position, P3: End position

Claims

1. 1. A system for setting a plurality of target positions for automatic swing control of a work machine including a rotatable swing body and a work implement operably attached to the swing body, comprising: an input device operable to teach the plurality of target positions; A controller; Equipped with The controller acquiring the plurality of target positions by teaching using the input device; determining whether teaching of at least one of the plurality of target positions is successful based on a difference in position between the plurality of target positions or a difference in attitude of the work machine at the plurality of target positions; system.

2. the controller determines that teaching of at least one of the plurality of target positions is not established when the attitudes of the work machine at the plurality of target positions are different from each other; The system of claim 1 .

3. the position difference includes a difference in orientation of the plurality of target locations; the controller determines whether teaching of at least one of the plurality of target positions is successful based on a difference in orientation of the plurality of target positions; The system of claim 1 .

4. the position difference includes a height difference of the plurality of target positions; the controller determines whether teaching of at least one of the plurality of target positions is successful based on a difference in height between the plurality of target positions; The system of claim 1 .

5. The controller Acquire a turning direction of the automatic turning control; determining whether teaching of at least one of the plurality of target positions is successful based on the order of the plurality of target positions in the turning direction; The system of claim 1 .

6. When the controller determines that the teaching of the target position is not successful, the controller accepts a selection by an operator between discarding the target position instructed by teaching, or discarding the target position previously set and setting the target position instructed by teaching. The system of claim 1 .

7. 1. A method for setting a target position for automatic swing control of a work machine including a rotatable swing bed and a work implement operably attached to the swing bed, comprising: acquiring the plurality of target positions by teaching using an input device; determining whether teaching of at least one of the plurality of target positions is successful based on a difference in position between the plurality of target positions or a difference in attitude of the work implement at the plurality of target positions; A method for providing the above.

8. determining that teaching of at least one of the plurality of target positions is not established when the attitudes of the work machine at the plurality of target positions are different from each other; The method of claim 7.

9. the position difference includes a difference in orientation of the plurality of target locations; determining whether teaching of at least one of the plurality of target positions is successful based on a difference in orientation of the plurality of target positions; The method of claim 7.

10. the position difference includes a height difference of the plurality of target positions; determining whether teaching of at least one of the plurality of target positions is successful based on a difference in height between the plurality of target positions; The method of claim 7.

11. Obtaining a turning direction of the automatic turning control; determining whether teaching of at least one of the plurality of target positions is successful based on the order of the plurality of target positions in the turning direction; The method of claim 7 comprising:

12. and when it is determined that the teaching of the target position is not established, accepting a selection by an operator of whether to discard the target position designated by teaching or to discard the target position previously set and set the target position designated by teaching. The method of claim 7.

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