Abnormal shutdown response system

Abstract

This system helps to mitigate the decline in productivity of a machine when it malfunctions while under automatic control. [Solution] When the work machine 10, which was being automatically controlled, stops abnormally due to an abnormality, the controller 70 acquires information including the details of the abnormality. The controller 70 switches between selectable corresponding operation modes M according to the details of the abnormality. The corresponding operation modes M include termination mode M30 and restart mode M20. Restart mode M20 is a mode in which, when specific conditions set in the controller 70 are met, automatic control of the work machine 10 is resumed without stopping the operation of the device that automatically controls the work machine 10.

Description

Technical Field

[0001] The present invention relates to an abnormal stop response system.

Background Art

[0002] For example, in Patent Document 1, when an abnormality is detected during automatic control (automatic operation in this document) of a working machine (an automatic excavator in this document), an abnormal signal is output and the automatic control of the working machine stops (see Claims 1 and 2 of this document).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, there is no description regarding the resumption of automatic control after the automatic control stops due to an abnormal signal. When the working machine that was performing automatic control stops abnormally, the working machine cannot perform work. Therefore, it is desired to suppress a decrease in the productivity of the working machine when the working machine that was performing automatic control stops abnormally.

[0005] Therefore, an object of the present invention is to provide an abnormal stop response system that can suppress a decrease in the productivity of a working machine when the working machine that was performing automatic control stops abnormally.

Means for Solving the Problems

[0006] The abnormal stop response system includes a controller that issues commands to the work machine. When the work machine, which was being automatically controlled, stops abnormally due to an abnormality, the controller acquires information including the details of the abnormality. The controller switches between selectable response operation modes according to the details of the abnormality. The response operation mode is the mode of operation of the work machine after the abnormal stop. The response operation mode includes a termination mode and a restart mode. The termination mode is a mode in which the operation of the device that automatically controls the work machine is stopped. The restart mode is a mode in which, when a specific condition set in the controller is met, the automatic control of the work machine is restarted without stopping the operation of the device that automatically controls the work machine. [Effects of the Invention]

[0007] The above-described abnormal stop response system can mitigate the decrease in productivity of a work machine when it malfunctions while under automatic control. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of the work machine 10 of the abnormal stop response system 1. [Figure 2] Figure 1 is a block diagram of the abnormal shutdown response system 1. [Figure 3] Figure 2 is a flowchart showing the processing of the controller 70. [Figure 4] This figure shows the corresponding operation mode selection unit G15 and other elements displayed on the output unit 80 during an abnormal shutdown (S40) as shown in Figure 3. [Figure 5] This figure shows the operation selection screen G50, which allows you to select the operation method when the specific posture restart mode M23 shown in Figure 3 is selected. [Figure 6] This figure shows the external device operation unit 92 of the external device 90 shown in Figure 1. [Figure 7] This figure shows the abnormality notification screen G70 and the abnormality content notification section G72 displayed on the output section 80 during the abnormal shutdown (S40) shown in Figure 3. [Figure 8] This figure shows the surrounding conditions notification unit G73, etc., of the abnormal notification screen G70 displayed on the output unit 80 during the abnormal stop (S40) shown in Figure 3. [Figure 9] This figure shows the work notification screen G90 displayed on the output unit 80 shown in Figure 3. [Modes for carrying out the invention]

[0009] The abnormal shutdown response system 1 will be described with reference to Figures 1 to 9.

[0010] The abnormal stop response system 1 is a system for appropriately responding after the automatic control of the work machine 10 shown in Figure 1 has stopped abnormally. The abnormal stop response system 1 includes a system (work machine automatic control system) that operates the work machine 10 by automatic control. The abnormal stop response system 1 comprises the work machine 10, a detection unit 50 shown in Figure 2, an input unit 60, a controller 70, an output unit 80, and an external device 90 shown in Figure 1.

[0011] The work machine 10 is a machine that performs work. The work machine 10 may be a construction machine that performs construction work, or a material handling machine that performs material handling work. The work machine 10 may be, for example, a shovel or a crane. The work machine 10 (for example, an automatically controlled shovel) is configured to be operable by automatic control. The following description will mainly focus on the case where the work machine 10 is a shovel. The work machine 10 comprises a machine body 10a, an attachment 15, a specific part 16, an actuator 17, and a drive control unit 19 (see Figure 2).

[0012] The machine body 10a is the main body of the work machine 10. The machine body 10a comprises a lower body 11 and an upper rotating body 13.

[0013] The lower body 11 supports the upper rotating body 13 so that it can rotate. The lower body 11 may also be a lower traveling body that can travel on a traveling surface (such as the ground). If the lower body 11 is capable of traveling, it may be equipped with crawlers or wheels.

[0014] The upper revolving body 13 is rotatably supported by the lower main body 11. The upper revolving body 13 includes an operator cab 13c. The operator cab 13c is a part where an operator can operate the work machine 10. When the work machine 10 operates according to the operator's operation, the work machine 10 may be operated (boarding operation) by the operator in the operator cab 13c, or may be remotely operated from outside the work machine 10.

[0015] The attachment 15 is a part for performing work. The attachment 15 performs work on the work object. The attachment 15 is attached to the machine body 10a (specifically, the upper revolving body 13). For example, the attachment 15 includes a boom 15e, an arm 15f, and a tip attachment 15g. The boom 15e is rotatably attached to the upper revolving body 13 (rotatable in the front-rear direction and the up-down direction). The arm 15f is rotatably attached to the boom 15e (rotatable in the front-rear direction and the up-down direction).

[0016] The tip attachment 15g is provided at the tip of the attachment 15. The tip attachment 15g is rotatably attached to the arm 15f (rotatable in the front-rear direction and the up-down direction). The tip attachment 15g may be a bucket capable of performing operations such as scooping up the work object and excavation. The tip attachment 15g may include a device for clamping the work object (such as a grapple, nibbler, or rotating fork), a device for crushing the work object (such as a breaker), or a magnet for adsorbing a metallic work object. The work object is an object to be worked on by the work machine 10. The work object may be earth and sand, rock, a magnetic body (such as metal), resin, waste, wood (such as a log), or a structure (such as a block).

[0017] The specific part 16 is a part that is targeted to be arranged at the target position in the automatic control of the working machine 10. The specific part 16 may be set at a specific part of the attachment 15. The specific part 16 may be set, for example, at the tip of the tip attachment 15g, or may be set at the base end of the tip attachment 15g (the tip of the arm 15f). The specific part 16 may be set at a specific part of the machine body 10a. The specific part 16 may be set, for example, at the turning center of the upper swing body 13 with respect to the lower body 11, etc.

[0018] The actuator 17 is a device that moves the working machine 10. The actuator 17 may include a hydraulic actuator that moves by hydraulic pressure, or may include an electric actuator that moves by electric power. The actuator 17 may include a motor that generates rotational motion, or may include a linear actuator (for example, a telescopic cylinder) that generates linear motion. The actuator 17 includes a traveling motor 17a, a turning motor 17c, a boom cylinder 17e, an arm cylinder 17f, and a tip attachment cylinder 17g.

[0019] The traveling motor 17a makes the lower body 11 travel. The traveling motor 17a may be, for example, a hydraulic motor or an electric motor (the same applies to the turning motor 17c). The turning motor 17c turns the upper swing body 13 with respect to the lower body 11. The boom cylinder 17e rotates (rises and falls) the boom 15e in the vertical direction with respect to the upper swing body 13. The boom cylinder 17e is, for example, a hydraulic cylinder (the same applies to the arm cylinder 17f and the tip attachment cylinder 17g). The arm cylinder 17f rotates the arm 15f with respect to the boom 15e. The tip attachment cylinder 17g rotates the tip attachment 15g with respect to the arm 15f. If the tip attachment 15g itself is drivable, for example, like a device for clamping an object, an actuator 17 for driving the tip attachment 15g may be provided.

[0020] The drive control unit 19 (see Figure 2) controls the actuator 17. The drive control unit 19 may include a hydraulic circuit for controlling the hydraulic actuator. The drive control unit 19 may also include an electrical circuit for controlling the electric actuator.

[0021] The detection unit 50 (see Figure 2) detects various states. Part or all of the detection unit 50 may be mounted on the work machine 10 or located outside the work machine 10. The same applies to the input unit 60, controller 70, output unit 80, and external device 90, which will be described later, in that they may be mounted on the work machine 10 or located outside the work machine 10. The detection unit 50 may detect the state of the work machine 10 or the state of the work machine 10 outside of it (for example, the surrounding conditions). For example, the detection unit 50 includes an imaging device 53 and a posture detection unit 55.

[0022] The imaging device 53 images the object to be imaged. The imaging device 53 may image part or all of the work machine 10, or it may image objects around the work machine 10. The imaging device 53 may detect two-dimensional information (two-dimensional image) or three-dimensional information (three-dimensional image, distance image) that includes depth information. The imaging device 53 may be passive or active. Specifically, the imaging device 53 may be equipped with a camera (monocular camera) that detects two-dimensional information. The imaging device 53 may be equipped with a stereo camera that detects three-dimensional information. The imaging device 53 may detect three-dimensional information of the object to be imaged by irradiating the object with waves such as electromagnetic waves and detecting the reflected waves. The imaging device 53 may be equipped with a TOF (Time Of Flight) sensor that detects distance based on the time from wave irradiation to the return of the reflected wave, or it may be equipped with a sensor that detects distance based on the frequency of the reflected wave. The imaging device 53 may include a device for detecting three-dimensional information using light (e.g., laser light), such as LiDAR (Light Detection and Ranging). The imaging device 53 may also include a device for detecting three-dimensional information using radio waves (e.g., millimeter-wave radar). There may be only one imaging device 53, or there may be multiple imaging devices 53. If there are multiple imaging devices 53, the types of imaging devices 53 (type of imaging method, whether two-dimensional or three-dimensional, etc.) may be the same or different. The imaging device 53 may detect information about the object to be imaged (e.g., three-dimensional information) by combining multiple types of information (e.g., two-dimensional information and three-dimensional information).

[0023] The posture detection unit 55 detects the posture of the work machine 10. The posture detection unit 55 may be mounted on the work machine 10 or placed outside the work machine 10 (e.g., at the work site). The posture detection unit 55 may be equipped with one or more types of detection devices. The posture detection unit 55 may be equipped with a detection device (e.g., a rotary encoder) that detects information about the angle of one element of the work machine 10 relative to another element. The posture detection unit 55 may be equipped with a stroke sensor that detects the stroke of the cylinder that moves the attachment 15. The posture detection unit 55 may be equipped with a tilt sensor that detects the angle (tilt) with respect to the horizontal direction. The posture detection unit 55 may be equipped with a sensor (e.g., a gyro sensor) that detects the angular velocity relative to the work site, and may be equipped with a sensor that detects the acceleration relative to the work site. The posture detection unit 55 may be equipped with an inertial measuring device, etc. The posture detection unit 55 may be equipped with a position detection unit that detects the position of a specific part (one or more parts) of the work machine 10 at the work site. In this case, the posture detection unit 55 may detect the posture of a specific part (one or more parts) of the work machine 10 based on the position information detected by the position detection unit. The posture detection unit 55 may include a direction detection unit for detecting the direction of a specific part of the work machine 10. The posture detection unit 55 may include the above-mentioned imaging device 53. The posture detection unit 55 may detect the posture of the work machine 10 based on image recognition of a two-dimensional image. The posture detection unit 55 may detect the posture of the work machine 10 based on a three-dimensional image (distance image). The posture detection unit 55 may detect the posture of the work machine 10 based on a three-dimensional image (distance image) and a two-dimensional image. The posture detection unit 55 includes a reference position detection unit 55a, a tilt detection unit 55b, a slewing detection unit 55c, a boom detection unit 55e, an arm detection unit 55f, and a tip attachment detection unit 55g.

[0024] The reference position detection unit 55a detects the position and direction (orientation, posture) of the reference position (reference position) of the work machine 10 relative to the work site. The reference position of the work machine 10 is, for example, a specific position on the upper slewing body 13 or the lower body 11. The reference position of the work machine 10 may be the attachment point (boom foot) of the boom 15e to the upper slewing body 13, or a specific position on the pivot axis of the upper slewing body 13 relative to the lower body 11. The reference position detection unit 55a may be equipped with a device that detects position using electromagnetic waves (light, radio waves, etc.). The reference position detection unit 55a may be equipped with a device that uses a satellite positioning system, for example, a device that uses GNSS (Global Navigation Satellite System). The reference position detection unit 55a may be equipped with a device that detects position without using satellites, a device that detects position using a ground transmitter and receiver, or a device that detects position using the reflection of light (e.g., laser light) (e.g., a total station). The reference position detection unit 55a may calculate reference position information based on position information detected by multiple types of devices. The reference position detection unit 55a may include a device that uses geomagnetism to detect the direction of the reference position. The reference position detection unit 55a may detect the direction (orientation, posture) of the reference position based on the positions of multiple parts of the work machine 10 including the reference position (e.g., the upper rotating body 13) relative to the work site. The reference position detection unit 55a may detect reference position information based on a two-dimensional or three-dimensional captured image including the work machine 10. In Figure 1, the reference numeral for the reference position detection unit 55a is used to indicate the position of the GNSS antenna when the reference position detection unit 55a performs detection using a GNSS-based positioning system.

[0025] The tilt detection unit 55b detects the tilt of the work machine 10 with respect to the horizontal. The tilt detection unit 55b may also detect the tilt of the work machine 10 with respect to the ground. The tilt detection unit 55b may also detect the tilt of the work machine 10 based on information detected by a device that detects tilt in the horizontal direction (such as a gyro sensor, acceleration sensor, or inertial measurement device). For example, the tilt detection unit 55b may also detect the tilt of the work machine 10 with respect to the horizontal based on an image captured by the imaging device 53, which includes the work machine 10.

[0026] The rotation detection unit 55c (for example, a main body rotation angle sensor) detects rotation information (angle, angular velocity, angular acceleration, etc.) of the upper rotating body 13 relative to the lower main body 11. The rotation detection unit 55c may detect the rotation angle (rotation angle) of the upper rotating body 13 relative to the lower main body 11, or it may detect the angular velocity (rotation angular velocity), or it may detect the angular acceleration (rotation angular acceleration). The rotation detection unit 55c may also detect rotation information based on information detected by an angle sensor attached to the rotation axis or rotation support part (rotation bearing, etc.) of the upper rotating body 13 relative to the lower main body 11.

[0027] The boom detection unit 55e (for example, a boom angle sensor) detects the posture of the boom 15e. The boom detection unit 55e may also detect the angle (tilt, rotation angle) of the boom 15e with respect to the horizontal direction or the upper slewing body 13, or it may detect the rotational angular velocity or rotational angular acceleration. The arm detection unit 55f and the tip attachment detection unit 55g may also detect angles with respect to the horizontal direction or the components of the work machine 10.

[0028] The arm detection unit 55f (for example, an arm angle sensor) detects the posture of the arm 15f. The tip attachment detection unit 55g (for example, a bucket angle sensor) detects the posture of the tip attachment 15g. Specific examples of the arm detection unit 55f and the tip attachment detection unit 55g are the same as the specific example of the boom detection unit 55e. In Figure 2, the tip attachment detection unit 55g is referred to as the "tip ATT detection unit".

[0029] The input unit 60 is an input device for inputting information. The input unit 60 shown in Figure 1 is configured to accept information used for the automatic control of the work machine 10. The input unit 60 is configured to be operable by an operator and outputs signals corresponding to the operation. The input unit 60 outputs information to the controller 70. The input unit 60 may be equipped with a touch panel, a mouse, a keyboard, or switches. The input unit 60 may be equipped with a device for voice input (specifically, a microphone). The input unit 60 may be installed on a tablet, a smartphone, or a personal computer. Part or all of the input unit 60 may be mounted on the work machine 10 or installed outside the work machine 10 (specifically, an external device 90). The input unit 60 may be installed on the work machine 10, for example, in the operator's cab 13c. The input unit 60 may be installed on a remote control device for remotely controlling the work machine 10. The input unit 60 may be located in the driver's cab 13c or in an operating unit 62 (see Figure 2) (for example, an operating lever) located in the remote control device, or it may be located in the operating unit 62, or it may be located in a display unit (for example, a cluster gauge).

[0030] The control unit 62 (see Figure 2) is configured to be operated by an operator (worker) who operates the work machine 10. The control unit 62 receives input for operations to move the work machine 10. The control unit 62 may be located in the operator's cab 13c, on a remote control device for remotely operating the work machine 10, or on an external device 90 (see description of external device control unit 92 (see Figure 6)). The control unit 62 may be equipped with a lever or a pedal. The control unit 62 may be equipped with a dial. When the work machine 10 is moved (operated) by the automatic control of the controller 70, the controller 70 (in detail, the automatic control unit 73 (see Figure 2)) may be included in the control unit 62. The control unit 62 outputs a command corresponding to the operation input to the control unit 62. The control unit 62 may output a command corresponding to the amount of operation input to the control unit 62. The control unit 62 may receive input for operations to move the lower body 11 (travel operation). The control unit 62 may receive input for an operation to rotate the upper slewing body 13 relative to the lower body 11 (slewing operation). The control unit 62 may receive input for an operation to move the attachment 15 (attachment operation). The control unit 62 may receive input for an operation to rotate the boom 15e relative to the upper slewing body 13 (boom operation). The control unit 62 may receive input for an operation to rotate the arm 15f relative to the boom 15e (arm operation). The control unit 62 may receive input for an operation to rotate the tip attachment 15g relative to the arm 15f (tip attachment operation). The control unit 62 may receive input for an operation to command the rotation speed of the pump that supplies oil to the hydraulic actuator (pump rotation speed operation).

[0031] The controller 70 is a computer that performs signal input / output, calculations (processing), and information storage. The functions of the controller 70 shown in Figure 2 are realized by the execution of a program stored in the storage unit 70b of the controller 70 by the calculation unit 70a. The controller 70 may be connected to other devices by wireless communication or by wired communication. The controller 70 may be distributed and arranged in multiple locations (it may constitute a distributed system). The components of the controller 70 (for example, the machine-side controller 70c and the external device-side controller 70d described later) may be connected by wireless communication or by wired communication. For example, communication is performed by means of communication such as a mobile phone line, optical line, wireless LAN (Local Area Network), or wired LAN. For example, information is input to the controller 70 from the detection unit 50. Specifically, for example, information is input to the controller 70 from the posture detection unit 55 (the controller 70 has a posture information acquisition function). For example, the controller 70 performs processing related to the automatic control of the work machine 10. For example, the controller 70 outputs commands (signals) to the drive control unit 19 to operate the work machine 10. For example, the controller 70 issues commands to the work machine 10. For example, the controller 70 outputs information to the output unit 80. The controller 70 may be mounted on the work machine 10 or located outside the work machine 10.

[0032] This controller 70 comprises a calculation unit 70a and a storage unit 70b. Focusing on the position (arrangement) of the controller 70, the controller 70 comprises a machine-side controller 70c and an external device-side controller 70d. Focusing on the functions of the controller 70, the controller 70 comprises a work plan setting unit 71 and an automatic control unit 73.

[0033] The arithmetic unit 70a performs calculations (processing) of information. The storage unit 70b stores the information. For example, the storage unit 70b stores the results of calculations performed by the arithmetic unit 70a (it has a calculation result recording function).

[0034] The machine-side controller 70c is installed on the work machine 10. For example, the machine-side controller 70c outputs commands to the drive control unit 19 to operate the work machine 10.

[0035] The external device controller 70d is located on the external device 90 (see Figure 1). The external device controller 70d and the machine controller 70c communicate with each other (for example, via wireless communication).

[0036] The work plan setting unit 71 sets the work plan for the work machine 10. The work plan is information regarding the objectives of the work performed by the work machine 10. The work plan may include information about the target route of the work machine 10 as shown in Figure 1. The work plan may also include information about the target range in which the attachment 15 will perform work (e.g., target acquisition range, target release range). The work plan may also include information about the target path of a specific part 16. The work plan may also include information about the target trajectory of a specific part 16. The target trajectory is information in which time information is added to the target path information. Specific examples of how to set the work plan will be described later (see the explanation regarding step S21 shown in Figure 3).

[0037] The automatic control unit 73 (see Figure 2) (for example, an automatic driving controller) automatically controls the work machine 10 so that it moves according to the work plan. The automatic control unit 73 outputs commands to the drive control unit 19 (see Figure 2) so that the work machine 10 moves according to the work plan. The automatic control unit 73 controls the movement of the work machine 10 based on the posture detected by the posture detection unit 55.

[0038] The output unit 80 is a device that outputs information. The output unit 80 outputs information based on a signal output from the controller 70. The output unit 80 may output light (such as a display), sound (such as voice), or vibration. The output unit 80 may be provided in a tablet, a smartphone, or a personal computer. The output unit 80 may be provided in the operator's cab 13c. The output unit 80 may be provided in a remote control device for remotely operating the work machine 10. If the output unit 80 outputs light, the output unit 80 may be equipped with a display device (monitor). If the output unit 80 outputs sound, the output unit 80 may be equipped with a sound output device (speaker, buzzer, etc.).

[0039] The external device 90 (for example, an information terminal) is a device that processes information. The external device 90 can be located outside the work machine 10. The external device 90 may be a tablet, a smartphone, or a personal computer. The external device 90 includes the input unit 60, the external device side controller 70d (see Figure 2), and the output unit 80. The external device 90 is a device for issuing commands for the automatic control of the work machine 10. The external device 90 can also function as an external device operation unit 92 (see Figure 6).

[0040] The external device operation unit 92 (see Figure 6) is an operation unit 62 (see Figure 2) (details above) provided on the external device 90. The external device operation unit 92 is an operation unit 62 for remotely operating the work machine 10.

[0041] (Operation) The abnormal shutdown response system 1 shown in Figure 1 is configured to operate as follows.

[0042] (Operation of the work machine 10) The work machine 10 may be operated by an operator inside the operator's cab 13c (onboard operation), or it may be remotely operated by an operator from outside the work machine 10 (remote control device). The remote control device may be a device (remote cockpit) that mimics the control unit 62 (see Figure 2) (levers, etc.) inside the operator's cab 13c of the actual machine, or it may be an external control unit 92 (see Figure 6). The work machine 10 may be operated (moved) by automatic control. The automatic control may be semi-automatic operation (machine control, MC; Machine Control system) or automatic operation. The work machine 10 may move by semi-automatic operation as follows: For example, a work plan is set in the controller 70. Then, the operator operates only some elements of the attachment 15 (for example, only the arm 15f). At this time, the controller 70 automatically moves the elements not operated by the operator (for example, the boom 15e and the tip attachment 15g) so that the work machine 10 moves according to the work plan. In this case, the controller 70 controls the movement of the work machine 10 based on the information detected by the attitude detection unit 55 (the same applies in the case of automatic operation). As a result, the work machine 10 moves according to the work plan. Alternatively, for example, the work machine 10 may be operated (moved) by automatic operation. In this case, the controller 70 controls the movement of the work machine 10 so that it moves automatically according to the work plan. Below, we will mainly describe the case where automatic operation is performed as automatic control, but semi-automatic operation may also be performed as automatic control.

[0043] (Transition of automatic control state) Referring to the flowchart (automatic control state transition diagram) shown in Figure 3, the general outline of the processing of the controller 70 (mainly the automatic control unit 73) will be explained. The following explanation will follow the order of processing. The order of processing may be changed. For the controller 70, mainly refer to Figure 2, and for each step (S10 to S50) shown in Figure 3, refer to Figure 3 for explanation.

[0044] In step S10, the controller 70 turns on the automatic control system (operating state). The automatic control system is a system that automatically controls the work machine 10 shown in Figure 1, and includes equipment for automatic control. The automatic control system includes at least an automatic control unit 73 (see Figure 2). The automatic control system may include equipment necessary for automatic control but not essential for manual operation of the work machine 10 (e.g., an imaging device 53). For example, the external device side controller 70d outputs a command to the machine side controller 70c to turn on the automatic control system, causing the machine side controller 70c to turn on the automatic control system.

[0045] In step S21, the controller 70 (specifically, the work plan setting unit 71 (see Figure 2)) performs settings related to automatic control. Specifically, the controller 70 acquires a work plan (parameters, etc.) to be used for automatic control. The work plan may include information on the target path of a specific part 16 (for example, the tip attachment 15g), and may also include information on the target speed of the specific part 16. The work plan may also include information on the target range in which the work machine 10 will work, for example, information on the target range for capturing the work object (e.g., excavation), and information on the target range for releasing the work object (e.g., soil removal). The work plan may be set automatically by the work plan setting unit 71 (see Figure 2). The work plan may also be set by the operator operating the input unit 60 (see Figure 2) (manual operation). For example, the work plan may be set by the operator moving the work machine 10 (by teaching), or by a method other than teaching (e.g., numerical input).

[0046] For example, teaching is performed as follows: An operator boards the work machine 10 and operates it, or the operator remotely operates the work machine 10. For example, the operator places a specific part 16 at a location (path, range, etc.) that they want to set as information for the work plan by operating the work machine 10. The position where the specific part 16 is placed is calculated based on the posture of the work machine 10 detected by the posture detection unit 55. Then, the work plan setting unit 71 (see Figure 2) sets the work plan based on the position where the specific part 16 is placed. Alternatively, for example, the operator places a specific part 16 at a specific position (for example, a corner of the target acquisition range) within a range that they want to set as the target range (target acquisition range or target release range) by operating the work machine 10. Then, the work plan setting unit 71 (see Figure 2) sets the target range based on the position where the specific part 16 is placed. Alternatively, for example, the operator moves the specific part 16 along a path that they want to set as the target path by operating the work machine 10. The worker may operate the work machine 10 to move a specific part 16 along a path that they want to set as the target trajectory, at a speed that they want to set as the target trajectory. The work plan setting unit 71 then sets the path (or trajectory) that the specific part 16 has traveled as the target path (or trajectory).

[0047] In step S23, the controller 70 determines whether the work machine 10 is in a specific posture. The specific posture is a posture suitable for the work machine 10 to start automatic control. The specific posture is, for example, a posture that allows the work machine 10 to be positioned in a stable state. The specific posture is, for example, an initial posture for starting automatic control. Information about what the specific posture is is set in the controller 70 in advance (before the determination in step S23). For example, the work machine 10 may be in a specific posture by an operator manually operating the work machine 10, or by the controller 70 automatically moving the work machine 10.

[0048] In step S25, the controller 70 starts automatic control if the work machine 10 is in a specific position (e.g., initial position). The controller 70 moves the work machine 10 according to the work plan.

[0049] The controller 70 performs abnormality detection during automatic control. Abnormality detection includes determining whether an abnormality exists and determining the nature of the abnormality (details will be described later). The controller 70 may perform abnormality detection before moving the work machine 10 by automatic control (step S25a, before operation starts). The controller 70 may also perform abnormality detection while the work machine 10 is being moved by automatic control (step S25b, during operation).

[0050] In step S30, the controller 70 turns OFF (inactive) the automatic control system (automatic control equipment such as the automatic control unit 73 (see Figure 2)). The controller 70 turns OFF the automatic control system, for example, when a task set as part of the work plan is completed. For example, the external device side controller 70d outputs a command to the machine side controller 70c to turn OFF the automatic control system, and the machine side controller 70c turns OFF the automatic control system.

[0051] In step S40, the work machine 10, which was being automatically controlled (step S25), makes an abnormal stop (stops due to an abnormality, emergency stop). The details of the abnormal stop are as follows: While the work machine 10 is being automatically controlled (step S25), the detection unit 50 continuously detects various states. At this time, the detection unit 50 may detect an abnormality. If an abnormality is detected, the controller 70 (for example, the machine-side controller 70c) stops the automatic control of the work machine 10. For example, if the controller 70 detects an abnormality while the work machine 10 is operating under automatic control (step S25b), it stops the movement of the work machine 10 under automatic control. If the controller 70 detects an abnormality before the start of operation of the work machine 10 under automatic control (step S25a), it does not start the movement of the work machine 10 under automatic control.

[0052] This abnormal stop (step S40) is different from the automatic control system being turned OFF (step S30). Specifically, when the automatic control system is turned OFF, the power to the automatic control equipment (for example, the automatic control unit 73 (see Figure 2)) is turned off. On the other hand, in an abnormal stop, the power to the automatic control equipment remains on. In an abnormal stop, the automatic control equipment maintains a state where it can immediately start operating in response to commands from the controller 70. Hereafter, the abnormal stop of the automatic control of the work machine 10 in step S40 may be simply referred to as "abnormal stop".

[0053] (Acquisition of abnormal information) When the work machine 10 stops abnormally, the controller 70 acquires information including the details of the abnormality (referred to as abnormality information). For example, the machine-side controller 70c acquires the abnormality information detected by the detection unit 50. Specifically, for example, the machine-side controller 70c (more specifically, the communication means and transmission means) transmits the abnormality information to the external device-side controller 70d. The external device-side controller 70d (more specifically, the communication means and receiving means) acquires (receives) the abnormality information.

[0054] (Content of the abnormal information) Anomaly information includes at least information about the nature of the anomaly (type of anomaly). Anomaly information may also include information about the condition of the work machine 10 when the anomaly occurred, and information about the conditions surrounding the work machine 10 (as described later). Anomaly information may also include information about the condition of the work machine 10 before the anomaly occurred, and / or after the anomaly occurred, and information about the conditions surrounding the work machine 10 (as described later).

[0055] (Switching between selectable operating modes M) The controller 70 is configured with a corresponding operation mode M (see Figure 3), which is the mode of operation for the work machine 10 after an abnormal stop. There are several types of corresponding operation modes M (specific examples will be described later). As will be described later, in step S50, one corresponding operation mode M to be executed by the work machine 10 is selected from one or more selectable corresponding operation modes M. The controller 70 switches the selectable corresponding operation modes M according to the nature of the abnormality it has acquired. Specifically, the controller 70 switches which of the multiple corresponding operation modes M are selectable according to the nature of the abnormality. Specific examples of the relationship between the nature of the abnormality and the selectable corresponding operation modes M will be described later. In the following, the corresponding operation modes M will be explained with reference to Figure 3.

[0056] The controller 70 that switches between selectable response modes M may be either the machine-side controller 70c shown in Figure 1 or the external device-side controller 70d. [Example A1] The machine-side controller 70c may switch between selectable response modes M depending on the nature of the abnormality. The machine-side controller 70c may then transmit information about the selectable response modes M (for example, a recovery availability signal (see Figure 4) described later) along with the abnormality information to the external device-side controller 70d. [Example A2] The machine-side controller 70c may transmit abnormality information to the external device-side controller 70d without switching between selectable response modes M. The external device-side controller 70d may then switch between selectable response modes M depending on the nature of the abnormality it has acquired.

[0057] (Selection of compatible operating mode M) In step S50, the controller 70 selects one corresponding operation mode M from one or more selectable corresponding operation modes M to be performed by the work machine 10.

[0058] (Manual selection of compatible operating mode M) The corresponding operation mode M to be executed by the work machine 10 may be selected by the operator through the operation of the input unit 60 (manual operation). In this case, it becomes possible to ensure that the operator confirms the corresponding operation mode M to be executed by the work machine 10 before the corresponding operation mode M is executed, thereby suppressing malfunctions of the automatic control. Specifically, the controller 70 outputs information to the output unit 80 for the operator to confirm the selectable corresponding operation mode M. The output of this output unit 80 may be a display (see Figure 4, described later), or it may be an audio message. The controller 70 sets (determines) the corresponding operation mode M selected by the input unit 60 as the corresponding operation mode M to be executed by the work machine 10.

[0059] (Selection screen for compatible operating modes G10) Specifically, for example, the controller 70 (for example, the external device controller 70d) outputs (displays) the corresponding operation mode selection screen G10 shown in Figure 4 to the output unit 80. The corresponding operation mode selection screen G10 is a screen for allowing the operator to select the corresponding operation mode M. The corresponding operation mode selection screen G10 is a GUI (Graphical User Interface). In the example shown in Figure 4, the corresponding operation mode selection screen G10 includes an abnormality notification unit G71 (see the description of the abnormality notification screen G70 (see Figure 7) described later) and a corresponding operation mode selection unit G15.

[0060] The corresponding operation mode selection unit G15 is the part that allows the operator to select the corresponding operation mode M to be executed by the work machine 10 from among the selectable corresponding operation modes M. The corresponding operation mode selection unit G15 includes, for example, a button-shaped image (corresponding operation mode selection button). The controller 70 switches the output of the corresponding operation mode selection unit G15 depending on which of the multiple corresponding operation modes M are selectable. The controller 70 outputs the corresponding operation mode selection unit G15 so that the operator can distinguish whether a corresponding operation mode M is selectable or not. Specifically, the controller 70 may display information (for example, a button) of an unselectable corresponding operation mode M in grayed out on the output unit 80. The controller 70 does not have to display information (for example, a button) of an unselectable corresponding operation mode M on the output unit 80. In the example shown in Figure 4, the corresponding operation mode selection unit G15 includes a restart mode selection unit G21 after setting, a specific posture restart mode selection unit G23, a stop position restart mode selection unit G25, and an end mode selection unit G30.

[0061] The restart mode selection unit G21 allows the operator to select the restart mode M21 (see Figure 3) (the contents of each corresponding operation mode M are described later). Specifically, when the restart mode selection unit G21 is selected by the operator (for example, by tapping or clicking), the restart mode M21 is selected as the corresponding operation mode M to be executed by the work machine 10. The specific posture restart mode selection unit G23 allows the operator to select the specific posture restart mode M23 (see Figure 3). The stop position restart mode selection unit G25 allows the operator to select the stop position restart mode M25 (see Figure 3). The termination mode selection unit G30 allows the operator to select the termination mode M30 (see Figure 3).

[0062] (Automatic selection of compatible operating mode M) The controller 70 may automatically select a corresponding operation mode M to be executed by the work machine 10 from among one or more selectable corresponding operation modes M. In this case, the effort required of the operator to select the corresponding operation mode M is eliminated. For example, if there is only one selectable corresponding operation mode M, the controller 70 may automatically select (determine) this single selectable corresponding operation mode M as the corresponding operation mode M to be executed by the work machine 10. Alternatively, for example, the controller 70 may automatically select a corresponding operation mode M to be executed by the work machine 10 based on various information necessary for automatic control (e.g., information detected by the detection unit 50, automatic control settings, etc.).

[0063] (Execution of corresponding operation mode M) The controller 70 (specifically, the machine-side controller 70c) causes the work machine 10 to execute the selected corresponding operation mode M. For example, the external device-side controller 70d transmits information to the machine-side controller 70c indicating which corresponding operation mode M is selected manually or automatically. The machine-side controller 70c then causes the work machine 10 to execute the selected corresponding operation mode M received from the external device-side controller 70d.

[0064] (Contents of compatible operating mode M) The corresponding operation mode M is the mode of operation of the work machine 10 after an abnormal stop (step S40) (more specifically, after the automatic control of the work machine 10 has abnormally stopped), as described above. The corresponding operation mode M includes a restart mode M20 (see Figure 3) and a termination mode M30 (see Figure 3). Each mode will be explained below with reference to Figure 3.

[0065] The restart mode M20 (see Figure 3) is a mode in which automatic control of the work machine 10 shown in Figure 1 is restarted (restored) when specific conditions set in the controller 70 are met. In restart mode M20, the controller 70 does not turn off the automatic control system (does not stop the operation of the device that automatically controls the work machine 10) (does not perform the process in step S30). If the automatic control system were to be turned off once and then turned on again to restart automatic control, it would take time for the equipment for automatic control (such as the automatic control unit 73 (see Figure 2)) to become usable (start up). On the other hand, in restart mode M20, the controller 70 keeps the automatic control system ON. Therefore, even if the automatic control of the work machine 10 has stopped abnormally, the decrease in productivity of the work performed by the automatic control of the work machine 10 is suppressed. Restart mode M20 includes the post-setting restart mode M21, the specific posture restart mode M23, and the stop position restart mode M25.

[0066] The restart after setting mode M21 (see Figure 3) is a mode in which the automatic control is restarted on the work machine 10 after the automatic control settings have been newly set or changed (step S21) (when certain conditions are met). For example, it is conceivable that an abnormal stop may occur due to improper automatic control settings. In this case, if the automatic control settings are appropriately changed or newly set (step S21), it is possible to appropriately restart the automatic control on the work machine 10. Therefore, it is preferable that the conditions under which the controller 70 can select the restart after setting mode M21 include a situation in which the work machine 10 has the potential to appropriately (without abnormality) restart automatic control if the automatic control settings are performed appropriately. Specific examples of the conditions under which the controller 70 can select the restart after setting mode M21 will be described later.

[0067] The automatic control settings (step S21) performed in the restart mode M21 after setting (see Figure 3) may be performed manually by the operator using the input unit 60. For example, the automatic control settings performed in the restart mode M21 may also be teaching (operation instruction) (the restart mode M21 after setting may also be restart mode after operation instruction). The automatic control settings (step S21) performed in the restart mode M21 may also be performed by the controller 70. For example, the controller 70 may calculate settings suitable for automatic control after restart. The controller 70 may use the calculated settings as the automatic control settings after restart. The controller 70 may use the calculated settings as the automatic control settings after having the operator confirm them. In this case, the controller 70 outputs the calculated settings to the output unit 80. Then, if the operator selects to use the calculated settings as the automatic control settings, the controller 70 may use the calculated settings as the automatic control settings.

[0068] The specific posture restart mode M23 (see Figure 3) is a mode in which automatic control is restarted to the work machine 10 after the work machine 10 has been set to a specific posture for starting automatic control (see step S30) (when specific conditions are met). The specific posture restart mode M23 (automatic control restart mode from a specific posture) is, for example, the initial posture restart mode (automatic control restart mode from an initial posture). The specific posture restart mode M23 is a mode in which automatic control is restarted to the work machine 10 without the automatic control setting (step S21) being performed. In this case, the time from abnormal stop to restart of automatic control is shortened compared to the case in which automatic control setting (step S21) is performed, the work machine 10 is set to a specific posture (step S23), and then automatic control is restarted to the work machine 10. Therefore, even if the automatic control of the work machine 10 abnormally stops, the decrease in productivity of the work due to the automatic control of the work machine 10 is suppressed.

[0069] The conditions under which the controller 70 can select the specific posture restart mode M23 preferably include a situation in which, after the work machine 10 has been placed in a specific posture, there is a possibility that the work machine 10 can appropriately (without abnormality) restart automatic control. Specific examples of the conditions under which the controller 70 can select the specific posture restart mode M23 will be described later.

[0070] Termination mode M30 (see Figure 3) is a mode in which the operation of the device that automatically controls the work machine 10 is stopped (automatic control termination mode). Specifically, termination mode M30 is a mode in which the controller 70 turns off (does not operate) the automatic control system (step S30).

[0071] (Selection of operation method) When the specific posture restart mode M23 (see Figure 3) is selected, the work machine 10 is moved to change its posture from the posture at the time of the abnormal stop (the posture at the time of the abnormal stop) to a specific posture. At this time, the controller 70 selects an operation method to move the work machine 10 according to the conditions set in the controller 70. For example, the controller 70 may select (confirm) the operation method manually selected in the input unit 60 as the operation to change the work machine 10 to a specific posture (see the operation selection screen G50 shown in Figure 5). The controller 70 may also automatically select (confirm) the operation to change the work machine 10 to a specific posture according to predetermined conditions (such as information on the situation).

[0072] (Operation selection screen G50) The controller 70 (for example, the external device controller 70d (see Figure 2)) outputs (displays) the operation selection screen G50 to the output unit 80, as shown in Figure 5. The operation selection screen G50 is a screen that allows the operator to select the operation method of the work machine 10 when the specific posture restart mode M23 (see Figure 3) is selected. The operation selection screen G50 is a GUI. In the example shown in Figure 5, the operation selection screen G50 includes a boarding operation selection unit G51, an external device remote operation selection unit G52, and an automatic operation selection unit G53.

[0073] The boarding operation selection unit G51 is a part (e.g., a button) that allows the operator to select a boarding operation. Specifically, when the boarding operation selection unit G51 is selected by the operator (e.g., by tapping), boarding operation is selected as the method of operating the work machine 10. The external device remote operation selection unit G52 is a part that allows the operator to select remote operation (described later) using the external device operation unit 92. The automatic operation selection unit G53 is a part that allows the operator to select automatic operation (described later). In the example shown in Figure 5, the work machine 10 is described as "heavy machinery," and the specific posture is "initial posture." The operation selection screen G50 may also include a part (remote cockpit operation selection unit) that allows the operator to select remote operation from a remote cockpit (not shown).

[0074] (How to operate) The following describes the operation method (hereinafter simply referred to as "operation method") for changing the working machine 10 to a specific position when the specific position restart mode M23 (see Figure 3) is selected.

[0075] (manual operation) The operation method may be manual operation by an operator using the control unit 62 (see Figure 2). Manual operation may be performed by an operator on board or remotely. Onboard operation is performed by an operator on board the work machine 10 (specifically, the operator's cab 13c).

[0076] (Remote control) Remote control (remote control mode) is operation by an operator from outside the work machine 10. If remote control is performed in the specific posture restart mode M23 (see Figure 3) after the work machine 10 has abnormally stopped, the operator can change the work machine 10 to a specific posture without having to approach the abnormally stopped work machine 10. Therefore, the operator can change the work machine 10 to a specific posture more efficiently than when the operator is on board (which helps to suppress the decrease in productivity).

[0077] The device for remote operation (remote control device) may be a device (remote cockpit) that mimics the operating section 62 (see Figure 2) (for example, levers, pedals, etc.) inside the operator's cab 13c of the actual machine, which is different from the device (external device 90) for issuing commands for the automatic control of the work machine 10. The device for remote operation may also be the external device operating section 92 shown in Figure 6.

[0078] (Remote control via external device control unit 92) The external device operation unit 92 is an operation unit 62 provided on the external device 90 for issuing commands for the automatic control of the work machine 10 (see Figure 1). The external device 90 is capable of issuing commands for the automatic control of the work machine 10 (e.g., start, end, and setting of automatic control), and further includes the external device operation unit 92 (operation interface) for manual remote operation. Remote operation using the external device operation unit 92 is also called "external device remote operation". The external device operation unit 92 is the GUI of the external device 90. Specifically, the external device operation unit 92 functions as an operation unit 62 that operates the work machine 10 by being operated (e.g., tapping) by the input unit 60 of the external device 90 on an image displayed on the output unit 80 of the external device 90.

[0079] In the example shown in Figure 6, the external device operating unit 92 includes a travel operating unit 92c, a right operating unit 92r, and a left operating unit 92l. The travel operating unit 92c is the part to which operations for moving the lower body 11 (see Figure 1) (travel operations) are input. For example, the travel operating unit 92c is the part for operating the forward, reverse, and in-place turns of the lower body 11. The left operating unit 92l and left operating unit 92l correspond to the left and right operating levers provided in the driver's cab 13c (see Figure 1). The left operating unit 92l and left operating unit 92l are the parts to which operations for rotating the upper slewing body 13 (see Figure 1) relative to the lower body 11 (turning operations), and operations for moving the attachment 15 (attachment operations) are input. Furthermore, the external device controller 70d (see Figure 2) may output a section (remote operation termination section G92e) (shown as "heavy equipment operation termination" in Figure 6) to the output section 80 of the external device 90, allowing the operator to select to terminate remote operation using the external device operation section 92.

[0080] (Automated operation) When the specific posture restart mode M23 (see Figure 3) is selected, the operation method of the work machine 10 shown in Figure 1 may be automatic operation by the controller 70 (more specifically, the automatic control unit 73 (see Figure 2)). The controller 70 may also automatically change the posture of the work machine 10 so that it changes from the posture of the work machine 10 when it stopped abnormally to the specific posture. In this case, the operation method of the work machine 10 when the specific posture restart mode M23 is selected can reduce the workload on the operator compared to manual operation (it can suppress the decrease in productivity).

[0081] The stop position restart mode M25 (see Figure 3) is a mode that restarts automatic control of the work machine 10 from the position of the work machine 10 when it stopped abnormally. The "position" in "the position of the work machine 10 when it stopped abnormally" includes the overall position of the work machine 10, as well as the posture of the work machine 10 (the position of each part of the work machine 10). The stop position restart mode M25 is a mode that restarts automatic control (step S25) without performing automatic control settings (step S21) and changes to a specific posture (step S23). In this case, the time from abnormal stop to restart of automatic control is shortened compared to when one or both of the automatic control settings (step S21) and changes to a specific posture (step S23) are performed. Therefore, even if the automatic control of the work machine 10 stops abnormally, the decrease in productivity of the work performed by the automatic control of the work machine 10 is suppressed.

[0082] The conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control from the position where it abnormally stopped. Specific examples of the conditions under which the controller 70 can select the stop position restart mode M25 will be described later.

[0083] (Difference between the abnormal stop position and the restart position) It is conceivable that the position of the work machine 10 when it has stopped abnormally may differ from the position of the work machine 10 when the corresponding operation mode M is selected (or is about to be selected, currently). This difference is called a "position difference." This position difference may occur, for example, in the following cases: For example, if the work machine 10 moves after it has stopped abnormally due to manual operation by an operator, a position difference may occur. Furthermore, even if the work machine 10 itself does not move after it has stopped abnormally, the controller 70 may determine that a position difference has occurred if the detection unit 50 (for example, the posture detection unit 55) that detects the position of the work machine 10 is misaligned.

[0084] If the difference in position is significant, the position of the work machine 10 when the corresponding operation mode M is selected (currently) may not be an appropriate position for initiating automatic control. For example, this could be due to the work machine 10 being in a position where it may come into contact with surrounding objects, or the work machine 10 being in an unstable position.

[0085] (Determination of positional differences) Therefore, the controller 70 stores information about the position of the work machine 10 when it stopped abnormally. The controller 70 compares the stored position information with the position of the work machine 10 when the corresponding operation mode M is selected (or about to be selected, currently). If the difference in position exceeds the allowable range, the controller 70 makes it impossible to select the stop position restart mode M25 (see Figure 3). If the difference in position is within the allowable range (when certain conditions are met), the controller 70 makes it possible to select the stop position restart mode M25. The allowable range of the difference in position is set in advance in the controller 70 (before determining the difference in position). The difference in position determined by the controller 70 may include the difference in the distance traveled by the work machine 10 from the time it stopped abnormally until the corresponding operation mode M is selected (currently), or it may include the difference in the angle of movement. Specifically, the difference in position determined by the controller 70 may include the difference in either the distance traveled or the angle of movement of each part of the attachment 15, or both. The positional differences determined by the controller 70 may include differences in the travel distance of the work machine 10 (lower body 11), and may also include differences in the slewing angle of the upper slewing body 13 relative to the lower body 11.

[0086] (Specific examples of the relationship between the nature of the anomaly and whether or not the corresponding operation mode M can be selected) As described above, after the work machine 10 has stopped abnormally, the controller 70 switches between selectable response operation modes M depending on the nature of the abnormality. The relationship between the nature of the abnormality and the selectable response operation mode M can be set in various ways.

[0087] If multiple types of abnormalities occur simultaneously (i.e., there are multiple types of abnormalities), the controller 70 processes them as follows: If there is even one type of abnormality that makes a particular corresponding operation mode M unselectable, the controller 70 makes that corresponding operation mode M unselectable. For example, if there is even one type of abnormality that makes restart mode M20 (see Figure 3) unselectable (an abnormality that makes only termination mode M30 (see Figure 3) selectable), the controller 70 makes only termination mode M30 selectable.

[0088] The conditions under which the controller 70 can select restart mode M20 (see Figure 3) include the possibility that automatic control can be appropriately resumed if the circumstances surrounding the abnormal stop of the work machine 10 change. For example, the conditions under which the controller 70 can select restart mode M20 include the determination that there is an abnormality in one or more of the following: the external conditions of the work machine 10, the posture of the work machine 10, and the settings of the automatic control. The conditions under which the controller 70 can select restart mode M20 may further include the fact that there is no abnormality in the device that automatically controls the work machine 10.

[0089] The conditions under which the controller 70 can select the restart mode M21 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control if the automatic control settings are performed appropriately.Specific examples of this situation are as follows: [Example B1] It is conceivable that the work machine 10 may stop abnormally if a specific part 16 of the work machine 10 deviates from the target path or deviates from the target range (work range, etc.). In such cases, for example, if the automatic control settings such as the target path and target range are performed appropriately, it is possible that the automatic control can be appropriately restarted.Therefore, the conditions under which the restart mode M21 (see Figure 3) can be selected may include the case in which the specific part 16 deviates from the target path (an example of the nature of the abnormality), or the case in which the specific part 16 deviates from the target range (an example of the nature of the abnormality).

[0090] The conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control after being placed in a specific posture. A specific example of this situation is as follows.

[0091] [Example B2] It is conceivable that the work machine 10 may stop abnormally if the actual position or speed of part or all of the work machine 10 exceeds the restricted range. In this case, by positioning the work machine 10 in an appropriate position (specific posture), the actual position or actual speed may fall within the restricted range, and the work machine 10 may be able to restart automatic control appropriately (without abnormality). Therefore, the conditions under which the controller 70 can select the specific posture restart mode M23 may include the fact that the actual position or speed of part or all of the work machine 10 exceeds the restricted range (an example of the nature of the abnormality). The above "restricted range" is set in advance in the controller 70 (before the abnormal stop is determined).

[0092] [Example B3] It is conceivable that the work machine 10 may stop abnormally if its tilt relative to the horizontal exceeds a predetermined allowable value. In this case, if the posture of the work machine 10 is set to a specific posture and the tilt of the work machine 10 is below a predetermined value, the work machine 10 may be able to resume automatic control appropriately (without abnormality). Therefore, the conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) may include the fact that the tilt of the work machine 10 relative to the horizontal exceeds a predetermined allowable value (an example of the nature of the abnormality). The allowable value for the tilt of the work machine 10 relative to the horizontal is set in advance in the controller 70 (before the abnormal stop is determined).

[0093] [Example B4] It is conceivable that the work machine 10 may stop abnormally if an abnormality is detected in the output of the detection unit 50 (e.g., imaging device 53) that detects the surroundings of the work machine 10. For example, it is conceivable that communication between the detection unit 50 that detects the surroundings of the work machine 10 and the controller 70 is performed appropriately, but there is an abnormality in the output (content) detected by the detection unit 50. It is also conceivable that the work machine 10 may stop abnormally if an abnormality is detected in the output of a detection unit 50 (external sensor) (e.g., curtain sensor) provided outside the work machine 10. In these cases, if the external conditions of the work machine 10 change, it is possible that the work machine 10 can appropriately (without abnormality) resume automatic control. Therefore, the conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) may include the detection of an abnormality in the output of the detection unit 50 that detects the surroundings of the work machine 10 (an example of the content of the abnormality).

[0094] The conditions under which the controller 70 can select the specific posture restart mode M23 (see Figure 3) may include the abnormality described in [Example B1] above, and may also include the abnormality described in [Example B5] (including [Example B5a] and [Example B5b]) below.

[0095] The conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) preferably include a situation in which the work machine 10 can appropriately (without abnormality) restart automatic control from the position in which it abnormally stopped. A specific example of this situation is as follows.

[0096] [Example B5] It is conceivable that the work machine 10 may stop abnormally due to a malfunction in a device operated by an operator that stops automatic control (referred to as an "emergency stop switch"). The emergency stop switch is a device that can stop the automatic control in an emergency from outside (remotely) or inside (inside the operator's cab 13c) of the work machine 10. [Example B5a] For example, it is conceivable that the work machine 10 may stop abnormally when a command to stop the automatic control abnormally is transmitted from the emergency stop switch to the controller 70 (for example, the machine-side controller 70c). In this case, it is assumed that there is no malfunction in the work machine 10 or the automatic control, and that the work machine 10 stopped abnormally because the operator instructed it to stop abnormally. Therefore, it is possible that the work machine 10 can appropriately (without malfunction) restart automatic control from the position where it stopped abnormally. Thus, the conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) may include the fact that an instruction to stop the work machine 10 has been given by the emergency stop switch (an example of the nature of the malfunction).

[0097] [Example B5b] Depending on the communication environment, such as the relative positions of the emergency stop switch and the work machine 10, communication between the emergency stop switch and the controller 70 may be temporarily interrupted. In this case, once communication is restored, the work machine 10 may be able to resume automatic control appropriately (without any problems) from the position where it stopped abnormally. Therefore, the conditions under which the controller 70 can select the stop position restart mode M25 (see Figure 3) may include the fact that communication between the emergency stop switch and the controller 70 has been temporarily interrupted (for less than a predetermined time).

[0098] The conditions under which the controller 70 makes only the termination mode M30 (see Figure 3) selectable (and makes the restart mode M20 unavailable) include an abnormality that directly affects the automatic control of the work machine 10. For example, an abnormality that directly affects the automatic control of the work machine 10 may include an abnormality in the equipment necessary for the automatic control of the work machine 10. This "equipment necessary for the automatic control of the work machine 10" may include, for example, the actuator 17, a valve that controls the actuator 17 (such as a proportional valve), and the detection unit 50. The "equipment necessary for the automatic control of the work machine 10" may also include, for example, the attitude detection unit 55 and a sensor that detects the hydraulic pressure of the actuator 17 (an example of the detection unit 50). An abnormality in the "equipment necessary for the automatic control of the work machine 10" includes, for example, a power supply abnormality (such as a broken wire or short circuit) and a communication abnormality. If the "equipment necessary for the automatic control of the work machine 10" is the detection unit 50, then the equipment abnormality includes a drift abnormality.

[0099] The above relationship between the nature of the anomaly and the selectable corresponding operating mode M is merely an example. This relationship can be configured in various ways.

[0100] In the example shown in Figure 4, the abnormalities can be divided into three types. Specifically, the controller 70 is configured with a relationship between the abnormality and the "recovery possible" information (signal, value). Recovery possible can be "0", "1", or "2". For abnormalities configured with recovery possible "0", only termination mode M30 (see Figure 3) is selectable. For abnormalities configured with recovery possible "1", the corresponding operation mode M can be selected from the restart mode after setting M21 (see Figure 3), specific posture restart mode M23 (see Figure 3), and termination mode M30. For abnormalities configured with recovery possible "2", the corresponding operation mode M can be selected from the restart mode after setting M21, specific posture restart mode M23, stop position restart mode M25 (see Figure 3), and termination mode M30.

[0101] (Notification of abnormal shutdown) When the work machine 10 stops abnormally, the controller 70 outputs abnormality information to the output unit 80. For example, the controller 70 outputs the abnormality notification screen G70 shown in Figure 7 to the output unit 80. For example, there may be cases where there is no worker at the work site where the work machine 10 is operating, such as when an operator is giving automatic control commands from outside (remotely) the work machine 10. Even in this case, if the output unit 80 of the external device 90 outputs abnormality information, it is possible to make the worker aware of the abnormality. As a result, when the worker selects a corresponding operation mode M (manual selection), it is possible to assist the worker in selecting the appropriate corresponding operation mode M. Even when there is a worker at the work site where the work machine 10 is operating, the output unit 80 outputs abnormality information so that the worker can be aware of the abnormality.

[0102] The abnormality notification screen G70 includes an abnormality occurrence notification unit G71, an abnormality content notification unit G72, and, as shown in Figure 8, an ambient conditions notification unit G73 and a machine conditions notification unit G74. Notifications from these units do not necessarily have to be displayed, but may be made by means of voice, for example, as long as it is possible to notify the operator. The abnormality notification screen G70 also includes a playback state selection unit G75.

[0103] The abnormality notification unit G71 notifies that the work machine 10 (see Figure 1) has stopped abnormally (indicated as "emergency stop" in Figure 8). The abnormality notification unit G71 may notify that the work machine 10 has stopped abnormally in text, by using graphics, or by using the color of the display screen of the output unit 80.

[0104] The abnormality notification unit G72 notifies the details of the abnormality, as shown in Figure 7. For example, the abnormality notification unit G72 may notify the cause of the abnormality or the type of abnormality. The abnormality notification unit G72 may also notify identification information (for example, an error number) corresponding to the details of the abnormality. In the example shown in Figure 7, the abnormality notification unit G72 notifies that the work machine 10 has stopped abnormally because the emergency stop switch has sent a command to the controller 70 to stop the automatic control abnormally (the message being "Wireless emergency stop has been pressed").

[0105] As shown in Figure 8, the surrounding conditions notification unit G73 notifies the surrounding conditions of the work machine 10 (see Figure 1). The surrounding conditions notification unit G73 notifies the surrounding conditions of the work machine 10 at one or more of the following times: when the work machine 10 has stopped abnormally, before the abnormal stop, and after the abnormal stop.

[0106] The machine status notification unit G74 notifies the status of the work machine 10 (see Figure 1). The status of the work machine 10 notified by the machine status notification unit G74 may be, for example, the position of the work machine 10, or for example, the posture of the work machine 10. The machine status notification unit G74 notifies the status of the work machine 10 at one or more of the following times: when the work machine 10 has stopped abnormally, before the abnormal stop, and after the abnormal stop.

[0107] Each of the surrounding conditions notification unit G73 and the machine conditions notification unit G74 may display a status (an example of output). Each of the surrounding conditions notification unit G73 and the machine conditions notification unit G74 may display two-dimensional information or three-dimensional information. Each of the surrounding conditions notification unit G73 and the machine conditions notification unit G74 may display video (actual footage) captured by a camera or an image generated by the controller 70. Each of the surrounding conditions notification unit G73 and the machine conditions notification unit G74 may display information (video) about the movement of the work machine 10 or its surroundings.

[0108] The playback state selection unit G75 is the part of the ambient conditions notification unit G73 and / or the machine conditions notification unit G74 that allows the operator to select the playback state of the video. The playback state selection unit G75 may include, for example, a part that allows the operator to select the start and stop of video playback (e.g., a play button, a stop button), and a part that allows the operator to select the playback position of the video (a fast-forward button, a rewind button). The abnormality notification screen G70 may also display a part that allows the operator to select the end of the display of the abnormality notification screen G70 (an end selection unit) (e.g., an OK button).

[0109] (Notification of work progress) The controller 70 outputs information on the progress of the work to the output unit 80 (see the current work information notification unit G91 in Figure 9). Preferably, the controller 70 outputs information on the progress of the work to the output unit 80 after the work machine 10 has stopped abnormally. In this case, the "progress information" is the work information (work information) of the work performed by the work machine 10 under automatic control up to the time the work machine 10 stopped abnormally. The controller 70 may also output information on the progress to the output unit 80 during automatic control.

[0110] The progress information may include, for example, information on the amount of work, or information on the location of the work. For example, the work machine 10 may perform the task of loading the work object into a container (e.g., the bed of a dump truck). In this case, the progress information may include information on the number of loadings, or information on the amount loaded (e.g., mass, volume, etc.). Also, for example, if the work machine 10 performs the task of capturing the work object (e.g., excavation), the progress information may include information on the number of captures, or information on the amount captured (e.g., mass, volume, etc.). If the work machine 10 captures the work object within a certain range (work range), the progress information may include information on the location where the work object was captured (location where the work was completed), or information on locations where the work object was not captured (location where the work was not completed). Notification of progress information may be made by display, by voice, etc., if it is possible to notify the worker.

[0111] When the work machine 10 is remotely operated, it is assumed that the operator will be operating it remotely from a location away from the work site. Therefore, it may be difficult for the operator to grasp the progress of the work. On the other hand, even when the work machine 10 is remotely operated, if progress information is output to the output unit 80, the operator can be made aware of the progress of the work.

[0112] For example, as shown in Figure 9, the controller 70 causes the output unit 80 to output the work notification screen G90. The work notification screen G90 includes a current work information notification unit G91 (other parts will be described later).

[0113] The current work information notification unit G91 notifies progress information. If the current work information notification unit G91 is output after the work machine 10 has stopped abnormally, the current work information notification unit G91 notifies work information of the work performed by the work machine 10 under automatic control up to the time the work machine 10 stopped abnormally. In the example shown in Figure 9, the current work information notification unit G91 notifies the amount of work performed up to the time of the abnormal stop, specifically the number of loadings and the amount of soil loaded. The current work information notification unit G91 may also notify information on the progress status regarding the location of the work.

[0114] (Work after resumption) When automatic control is resumed in restart mode M20 (see Figure 3), it is preferable to have the work machine 10 continue working under automatic control from where it left off before the work machine 10 abnormally stopped, as shown in Figure 1. Specifically, the controller 70 stores information on the progress of the work machine 10 under automatic control up to the time the work machine 10 abnormally stopped. When restart mode M20 (see Figure 3) is selected, the controller 70 has the work machine 10 resume work under automatic control from where it left off when the work machine 10 abnormally stopped, based on the progress information. In this case, even if the work machine 10 abnormally stops, the decrease in productivity of the work machine 10 under automatic control is suppressed.

[0115] Furthermore, if restart mode M20 is selected, the work machine 10 may be automatically controlled to start work from the first task in the work plan, rather than continuing from where it left off when the work machine 10 stopped abnormally (see the new task selection unit G95 described later (see Figure 9)).

[0116] (Notification of work after resumption) When the controller 70 restarts the work machine 10 from where it left off when the machine stopped abnormally, it is preferable to output (for example, display) the restarted work information (remaining work information, remaining scheduled operations) to the output unit 80 (see Figure 9). In this case, the operator can be made to confirm the restarted work information. The "work information" that the controller 70 outputs to the output unit 80 may include information on the amount of work, similar to the "progress information" described above, and may also include information on the work location (for example, excavation location). For example, as shown in Figure 9, the controller 70 outputs a work notification screen G90 to the output unit 80. In the example shown in Figure 9, the work notification screen G90 includes the current work information notification unit G91 and the remaining work information notification unit G92. Notifications from the remaining work information notification unit G92 do not have to be made by display, but may be made by voice, for example, as long as it is possible to notify the operator. Furthermore, the work notification screen G90 includes a work information adjustment unit G93, a continuation work selection unit G94, and a new work selection unit G95.

[0117] The remaining work information notification unit G92 notifies the difference between the work status (progress) performed up to the abnormal stop and the target work information. In the example shown in Figure 9, the remaining work information notification unit G92 notifies the difference between the number of loadings up to the abnormal stop and the target number of loadings, and the difference between the amount of soil loaded up to the abnormal stop and the target amount of soil loaded. The work notification screen G90 may also notify information about the target work information (for example, the target number of loadings, the target amount of soil loaded, etc.).

[0118] (Adjustment of work after resumption) The controller 70 may be able to adjust the work information after restart. The controller 70 may be able to adjust the work information after restart in response to the operator's operation of the input unit 60 (manual operation). The reason for this is as follows: Depending on the timing of the abnormal stop of the work machine 10, there may be a difference between the progress of the work recognized by the controller 70 (in detail, the automatic control unit 73 (see Figure 2)) (for example, the number of loadings) and the actual progress. For example, suppose the work machine 10 is abnormally stopped while it is capturing (excavating) the work object and moving the work object (for example, while lifting and rotating). After this abnormal stop, it is expected that the operator will operate the operation unit 62 (see Figure 2) (manual operation) to load the work machine 10 into a container. In this case, the work performed by manual operation is an operation that the controller 70 (in detail, the automatic control unit 73) does not recognize. Thus, when automatic control is resumed, there may be a discrepancy between the work progress recognized by the controller 70 and the actual progress. Therefore, the controller 70 is made capable of adjusting the work information after the restart. For example, the controller 70 outputs the work information adjustment unit G93 to the output unit 80.

[0119] The work information adjustment unit G93 is the part that allows the worker to adjust the work information after the work has resumed. The work information adjustment unit G93 is a GUI. For example, the work information adjustment unit G93 may be configured to allow the worker to increase or decrease information on the amount of work after the work has resumed (e.g., number of loadings, mass, volume, etc.). The work information adjustment unit G93 may be configured to allow the worker to adjust (change, move) the position of the work after the work has resumed (e.g., excavation position, etc.).

[0120] The continuation work selection unit G94 allows the operator to choose whether to resume the work machine 10 from where it left off when it abnormally stopped, using automatic control. If the work information adjustment unit G93 adjusts the work information after the restart, and the continuation work selection unit G94 is selected, the controller 70 will resume the work machine 10 using automatic control based on the adjusted work information.

[0121] The new task selection unit G95 allows the operator to choose whether to start the work machine 10 using automatic control from the first task in the work plan, rather than continuing from where the work machine 10 stopped abnormally.

[0122] (Manual operation after abnormal shutdown) After the work machine 10 shown in Figure 1 has stopped abnormally (step S40 in Figure 4), the work machine 10 may be operated manually (either by boarding or remotely). For example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually after the termination mode M30 (see Figure 4) has been selected. Also, for example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually even if the restart mode M20 (see Figure 4) is selectable. For example, after the work machine 10 has stopped abnormally, manual operation may be performed if predetermined conditions are met. Specifically, for example, after the work machine 10 has stopped abnormally, the work machine 10 may be operated manually if the operator chooses to operate the work machine 10 manually. If the controller 70 determines that automatic control should not be restarted, it may switch the operation method of the work machine 10 from automatic operation to manual operation.

[0123] As described above, it is preferable that progress information (for example, the current work information notification unit G91 shown in Figure 9) is output (notified) to the output unit 80 after the work machine 10 has stopped abnormally. In this case, the worker who receives the progress information can manually operate the work machine 10 after the work machine 10 has stopped abnormally, referring to the progress information. For example, even if the work machine 10 is remotely operated, the worker who receives the progress information can remotely operate the work machine 10, referring to the progress information.

[0124] (effect) The effects of the abnormal shutdown response system 1 shown in Figure 1 are as follows:

[0125] (Effects of the first invention) [Configuration 1] The abnormal shutdown response system 1 comprises the following [Configuration 1-1] and [Configuration 1-2].

[0126] [Configuration 1-1] The abnormal stop response system 1 includes a controller 70 that issues commands to the work machine 10. When the work machine 10, which was being automatically controlled, stops abnormally due to an abnormality, the controller 70 acquires information including the details of the abnormality. The controller 70 switches between selectable response operation modes M (see Figure 3) according to the details of the abnormality (see Figure 4). The response operation mode M is the mode of operation of the work machine 10 after the abnormal stop. As shown in Figure 3, the response operation mode M includes an end mode M30 and a restart mode M20. The end mode M30 is a mode that stops the operation of the device that automatically controls the work machine 10.

[0127] [Configuration 1-2] Restart mode M20 is a mode in which, when certain conditions set in the controller 70 are met, the device that automatically controls the work machine 10 shown in Figure 1 is not stopped (step S30), and automatic control of the work machine 10 is resumed.

[0128] In the above configuration [1-1], the controller 70 can select a restart mode M20 (see Figure 3) depending on the nature of the abnormality when the work machine 10 stops abnormally. In the above configuration [1-2], when restart mode M20 is selected, when specific conditions set in the controller 70 are met, automatic control of the work machine 10 can be resumed without stopping the operation of the device that automatically controls the work machine 10 (step S30). Therefore, compared to the case where it is necessary to stop the operation of the device that automatically controls the work machine 10 when the work machine 10 stops abnormally, the decrease in productivity of the work machine 10 when the work machine 10 that was being automatically controlled stops abnormally can be suppressed.

[0129] (Effects of the second invention) [Configuration 2] The abnormal shutdown response system 1 of [Configuration 1] described above includes the following [Configuration 2-1].

[0130] [Configuration 2-1] The abnormal stop response system 1 includes an external device 90. The external device 90 is a device for issuing commands for the automatic control of the work machine 10 and can be placed outside the work machine 10. The selection of the corresponding operation mode M (see Figure 3) to be executed by the work machine 10 is performed by the external device 90.

[0131] As described in [Configuration 2-1] above, the selection of the selectable corresponding operating mode M (see Figure 3) can be performed outside of the work machine 10.

[0132] (Effects of the third invention) [Configuration 3] The abnormal shutdown response system 1 of [Configuration 1] or [Configuration 2] described above includes the following [Configuration 3-1].

[0133] [Configuration 3-1] The abnormal stop response system 1 comprises an output unit 80 and an input unit 60. The output unit 80 outputs information. The input unit 60 is configured to be operable by an operator. The controller 70 causes the output unit 80 to output information for the operator to confirm the selectable response operation mode M (see Figure 3) according to the nature of the abnormality (see Figure 4). The controller 70 sets the response operation mode M selected by the input unit 60 as the response operation mode M to be executed by the work machine 10.

[0134] As described in [Configuration 3-1] above, the operator (person) can be made to confirm the selectable corresponding operation mode M (see Figure 3) and to select the corresponding operation mode M (see Figure 4).

[0135] (Effects of the fourth invention) [Configuration 4] Any one of the above [Configuration 1] to [Configuration 3] abnormal shutdown response system 1 includes the following [Configuration 4-1].

[0136] [Configuration 4-1] As shown in Figure 3, the restart mode M20 includes one or more modes from among the restart mode after setting M21, specific posture restart mode M23, and stop position restart mode M25. The restart mode after setting M21 is a mode in which automatic control is restarted on the work machine 10 (see Figure 1) after the automatic control settings have been newly set or changed (step S21). The specific posture restart mode M23 is a mode in which automatic control is restarted on the work machine 10 after the posture of the work machine 10 has been set to a specific posture for starting automatic control (step S23). The stop position restart mode M25 is a mode in which automatic control is restarted on the work machine 10 from the position of the work machine 10 when it stopped abnormally (step S25).

[0137] The above configuration [4-1] provides the following effects: When the restart mode M21 is selected, the automatic control settings are set to be suitable for the automatic control of the work machine 10 (see Figure 1), making it easier to restart automatic control. When the specific posture restart mode M23 is selected, the work machine 10 can restart automatic control from a specific posture suitable for automatic control. When the stop position restart mode M25 is selected, the automatic control of the work machine 10 can be restarted directly from the position where the work machine 10 abnormally stopped. Therefore, even if the work machine 10 abnormally stops, the automatic control of the work machine 10 can be appropriately restarted.

[0138] (Effects of the fifth invention) [Configuration 5] The abnormal shutdown response system 1 described in [Configuration 4] above comprises the following [Configuration 5-1].

[0139] [Configuration 5-1] When the specific posture restart mode M23 is selected, the controller 70 selects an operation method to move the work machine 10 shown in Figure 1, according to the conditions set in the controller 70. The above "operation method" includes onboard operation by an operator on the work machine 10, remote operation by an operator from outside the work machine 10, and automatic operation by the controller 70.

[0140] The above [Configuration 5-1] provides the following effects: If onboard operation or remote operation is selected as the operating method, the operator can arbitrarily operate the work machine 10 to bring it to a specific position. If remote operation or automatic operation is selected as the operating method, the work machine 10 can be brought to a specific position without the operator having to board the abnormally stopped work machine 10. If automatic operation is selected as the operating method, the work machine 10 can be brought to a specific position without the operator having to operate the work machine 10.

[0141] (Effects of the sixth invention) [Configuration 6] The abnormal shutdown response system 1 of [Configuration 4] or [Configuration 5] described above comprises the following [Configuration 6-1].

[0142] [Configuration 6-1] The abnormal stop response system 1 includes an external device 90. The external device 90 is a device for issuing commands for the automatic control of the work machine 10 and can be placed outside the work machine 10. The external device 90 includes an external device operation unit 92 (see Figure 6). The external device operation unit 92 is configured to allow remote operation by an operator from outside the work machine 10 when the specific posture restart mode M23 (see Figure 3) is selected.

[0143] In the above configuration [6-1], when the specific posture restart mode M23 (see Figure 3) is selected, the operation to set the work machine 10 to a specific posture can be performed by the external device 90 for commanding automatic control. Therefore, there is no need to provide a separate device for remote control in addition to the device for commanding automatic control.

[0144] (Effects of the seventh invention) [Configuration 7] Any one of the above [Configuration 4] to [Configuration 6] abnormal shutdown response system 1 includes the following [Configuration 7-1].

[0145] [Configuration 7-1] The controller 70 stores information about the position of the work machine 10 when it has stopped abnormally. If the difference between the information about the position of the work machine 10 stored by the controller 70 and the information about the position of the work machine 10 when the corresponding operation mode M (see Figure 3) is selected exceeds an acceptable range, the controller 70 makes it impossible to select the stop position restart mode M25 (see Figure 3).

[0146] The above configuration [7-1] provides the following effect. Assume that the position (including orientation) of the work machine 10 when it stopped abnormally was a suitable position for automatic control. Even in this case, if the work machine 10 moves from the position where it stopped abnormally, the position of the work machine 10 may become unsuitable for automatic control (for example, unstable). Therefore, in the above configuration [7-1], if the difference between the position information of the work machine 10 when it stopped abnormally and the position information of the work machine 10 when the corresponding operation mode M is selected exceeds an acceptable range, the stop position restart mode M25 (see Figure 3) becomes unselectable. Thus, automatic control can be restarted for the work machine 10 from a position suitable for restarting automatic control.

[0147] (Effects of the 8th Invention) [Configuration 8] Any one of the above [Configuration 1] to [Configuration 7] abnormal shutdown response system 1 includes the following [Configuration 8-1].

[0148] [Configuration 8-1] The abnormal stop response system 1 includes an output unit 80 that outputs information. When the work machine 10 has stopped abnormally, the controller 70 causes the output unit 80 to output information about one or more of the following: the conditions around the work machine 10 and the conditions of the work machine 10, or both of the conditions of the work machine 10, which are information about one or more of the following: the conditions around the work machine 10 and the conditions of the work machine 10.

[0149] As described in [Configuration 8-1] above, the operator can be made aware of the situation of the work machine 10 or its surroundings, such as when the work machine 10 stops abnormally (see Figures 7 and 8). For example, even if there is no operator at the work site where the work machine 10 is working, the operator can be made aware of the situation, such as when the work machine 10 stops abnormally.

[0150] (Effects of the 9th Invention) [Configuration 9] Any one of the above [Configuration 1] to [Configuration 8] abnormal shutdown response system 1 includes the following [Configuration 9-1].

[0151] [Configuration 9-1] The abnormal shutdown response system 1 is equipped with an output unit 80 that outputs information. The controller 70 causes the output unit 80 to output information indicating the nature of the abnormality (see abnormality notification unit G72 in Figure 7).

[0152] The above configuration [9-1] allows the operator to understand the cause (details of the abnormality) of the abnormal stoppage of the work machine 10.

[0153] (Effects of the 10th Invention) [Configuration 10] Any one of the above [Configuration 1] to [Configuration 9] abnormal shutdown response system 1 includes the following [Configuration 10-1].

[0154] [Configuration 10-1] The controller 70 stores information on the progress of the work performed by the work machine 10 under automatic control up to the time the work machine 10 abnormally stopped. When restart mode M20 (see Figure 3) is selected, the controller 70 restarts the work performed by the work machine 10 under automatic control from where it left off when it abnormally stopped, based on the information on the progress.

[0155] The above configuration [10-1] makes it possible to suppress the waste of the work machine 10 having to repeat tasks that it has already performed. Therefore, it is possible to suppress the decrease in productivity of the work machine 10 in the event of an abnormal stop.

[0156] (Effects of the 11th Invention) [Configuration 11] Any one of the above [Configuration 1] to [Configuration 10] abnormal shutdown response system 1 includes the following [Configuration 11-1].

[0157] [Configuration 11-1] The conditions under which the controller 70 can select restart mode M20 (see Figure 3) include the determination that there is an abnormality in one or more of the following conditions: the external conditions of the work machine 10, the posture of the work machine 10, and the settings of the automatic control.

[0158] In the above configuration [11-1], the conditions under which the controller 70 can select restart mode M20 (see Figure 3) include conditions under which automatic control can be appropriately resumed if the circumstances that caused the abnormal stop change. Specifically, if the work machine 10 is abnormally stopped due to external conditions of the work machine 10, automatic control can be appropriately resumed if the external conditions of the work machine 10 change. If the work machine 10 is abnormally stopped due to the posture of the work machine 10, automatic control can be appropriately resumed if the posture of the work machine 10 changes. If the work machine 10 is abnormally stopped due to the settings of the automatic control, automatic control can be appropriately resumed if the settings of the automatic control change. Therefore, in the above configuration [11-1], appropriate conditions are set as the conditions under which the controller 70 can select restart mode M20 (see Figure 3). As a result, automatic control can be appropriately resumed.

[0159] (modified version) The above embodiments (including modified examples within the embodiments (hereinafter the same)) may be modified in various ways. For example, the number of components in the above embodiments may be changed, and some components may not be provided. For example, the arrangement of the components (including the arrangement of each part of the display of the output unit 80) may be changed. For example, the connections between the components shown in Figure 2 may be changed. For example, the inclusion relationships of the components may be changed in various ways. For example, a component described as a subordinate component included in a higher-level component may not be included in this higher-level component, but may be included in other components. For example, a group of elements described as distinct from each other may be treated as a single element. For example, a single element may be divided into a group of distinct elements. For example, each component may have only a part of each characteristic (function, arrangement, shape, operation, etc.).

[0160] For example, various types of information (values, ranges, etc.) may be pre-set in the controller 70, or they may be set by being read into the controller 70 from an external storage device. Various types of information may also be set in the controller 70 based on information set by an operator (manual setting). Various types of information may also be set in the controller 70 (automatic setting) based on information detected by the detection unit 50. For example, various types of information may not be changeable, may be changed by manual operation, or may be automatically changed by the controller 70 according to certain conditions. For example, the controller 70 may perform processing that is substantially the same as the processing (calculation, judgment, etc.) of the above embodiment. For example, the controller 70 may perform processing using information that can be converted into the various types of information used in the above embodiment. The processing performed by the controller 70 may be combined in various ways.

[0161] The abnormal shutdown response system 1 is configured to perform each of the operations described above. An abnormal shutdown response program may be set up to cause a computer (controller 70) to execute the processes that cause each of the operations described above. An abnormal shutdown response method may be performed to perform each of the operations described above. Each of the operations described above may be referred to as a "step" in the program and method described above. For example, the switching of selectable response operation modes M by the controller 70 may be referred to as a "switching step". [Explanation of Symbols]

[0162] 10 Working Machines 60 Input section 70 Controllers 80 Output section 90 External device 92 External device operation section M Compatible Operating Modes M20 Restart Mode M21 Restart mode after setup M23 Specific Attitude Restart Mode M25 Stop Position Restart Mode M30 Exit Mode

Claims

1. Equipped with a controller that issues commands to the work machine, The aforementioned controller, When the aforementioned work machine, which was being automatically controlled, stops abnormally due to an abnormality, information including the details of the abnormality is acquired. Depending on the nature of the abnormality, the selectable corresponding operation mode is switched. The corresponding operating mode is: This is the mode of operation of the work machine after the abnormal stop described above. The termination mode is a mode in which the operation of the device that automatically controls the aforementioned work machine is stopped, A restart mode is a mode in which, when a specific condition set in the controller is met, the automatic control of the work machine is resumed without stopping the operation of the device that automatically controls the work machine, including, An abnormal shutdown response system.

2. An abnormal shutdown response system according to claim 1, A device for issuing commands for the automatic control of the aforementioned work machine, comprising an external device that can be placed outside the work machine, The selection of the corresponding operating mode to be performed by the aforementioned work machine is performed by the external device. An abnormal shutdown response system.

3. An abnormal shutdown response system according to claim 1, An output unit that outputs information, An input unit configured to be operable by the operator, Equipped with, The aforementioned controller, The output unit outputs information to allow the operator to confirm the corresponding operating mode, which can be selected according to the nature of the abnormality. The corresponding operation mode selected in the input unit is set as the corresponding operation mode to be executed by the work machine. An abnormal shutdown response system.

4. An abnormal shutdown response system according to claim 1, The aforementioned restart mode is, A restart mode after the automatic control settings have been newly set or changed is a mode in which the automatic control is restarted on the work machine, A specific posture restart mode is a mode in which the automatic control is restarted on the work machine after the posture of the work machine has been set to a specific posture for initiating the automatic control, A stop position restart mode is a mode in which the automatic control of the work machine is restarted from the position of the work machine when it stopped abnormally, Includes one or more of the following modes: An abnormal shutdown response system.

5. An abnormal shutdown response system according to claim 4, When the specific posture restart mode is selected, the controller selects an operation method to move the work machine according to the conditions set in the controller. The aforementioned operating method is: Boarding operations by a worker riding on the aforementioned work machine, Remote operation of the aforementioned work machine by an operator from outside, Automatic operation by the aforementioned controller, including, An abnormal shutdown response system.

6. An abnormal shutdown response system according to claim 4, A device for issuing commands for the automatic control of the aforementioned work machine, comprising an external device that can be placed outside the work machine, The external device includes an external device operation unit configured to allow remote operation by an operator from outside the work machine when the specific posture restart mode is selected. An abnormal shutdown response system.

7. An abnormal shutdown response system according to claim 4, The aforementioned controller, The system stores information about the position of the work machine at the time the work machine stopped abnormally. If the difference between the position information of the work machine stored in the controller and the position information of the work machine when the corresponding operation mode is selected exceeds an acceptable range, the stop position restart mode will be made unselectable. An abnormal shutdown response system.

8. An abnormal shutdown response system according to claim 1, It is equipped with an output unit that outputs information, The aforementioned controller, When the aforementioned work machine stops abnormally, the output unit outputs information from one or more of the following times: before the abnormal stop and after the abnormal stop, including information about the surrounding conditions of the work machine and information about the conditions of one or both of the work machine. An abnormal shutdown response system.

9. An abnormal shutdown response system according to claim 1, It is equipped with an output unit that outputs information, The controller causes the output unit to output information indicating the nature of the abnormality. An abnormal shutdown response system.

10. An abnormal shutdown response system according to claim 1, The aforementioned controller, The system stores information on the progress of the work performed by the aforementioned work machine by the automatic control system up to the time the work machine abnormally stops. When the restart mode is selected, based on the progress information, the automatic control operation is restarted on the work machine from where it left off when it stopped abnormally. An abnormal shutdown response system.

11. An abnormal shutdown response system according to claim 1, The conditions under which the controller can select the restart mode include determining that there is an abnormality in one or more of the following conditions: the external conditions of the work machine, the posture of the work machine, and the settings of the automatic control. An abnormal shutdown response system.

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