Working machine and method for controlling working machine

Abstract

In the present invention, controllers (31, 131) of a hydraulic shovel (1) output, to drive units (17, 44), drive signals (s1, s2, s3) for imparting, to a work machine control lever (150), a right work machine control lever (160), and a running lever (140), motion corresponding to operation of: hydraulic cylinders (10, 11, 12); a swing motor (5a) of a swinging cab (5); and running devices (4a, 4b). When the motion of the left work machine control lever (150), the right work machine control lever (160), or the running lever (140) operated by an operator differs from motion corresponding to the operation of the hydraulic cylinders (10, 11, 12), the swing motor (5a) of the swinging cab (5), or the running devices (4a, 4b), the controllers (31, 131) output control signals (s7', s8', s9') on the basis of the motion of the left working machine control lever (150), the right working machine control lever (160), or the travelling lever (140), as operated by the operator.

Description

[Technical field]

[0001] The present invention relates to a work machine and a method for controlling a work machine. [Background technology]

[0002] A hydraulic excavator, one example of a work machine, is provided with a travel lever for moving the travelling gear forward or backward, and two work equipment control levers for rotating the rotating body and operating the work equipment, and in many cases multiple control levers are provided.

[0003] For example, Patent Document 1 discloses a hydraulic excavator that performs automatic operation when repeating a series of monotonous tasks. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 5-306532 Summary of the Invention

[0005] However, since construction sites involve a variety of tasks, including monotonous work, manual work by operators is also required, and it is difficult to teach inexperienced operators how to operate the machines. An object of the present invention is to provide a work machine and a control method for a work machine that allows an operator to easily confirm the operation of an operating lever. (Means for solving the problem)

[0006] The disclosed work machine includes an operating member, a drive unit, and a controller. The drive unit moves the operating member. The controller outputs a control signal to operate an actuator of a travel device or a work implement of the work machine. The controller outputs a drive signal to the drive unit that imparts a movement corresponding to the movement of the actuator to the operating member, and moves the operating member based on the drive signal. When the movement of the operating member operated by the operator differs from the movement corresponding to the movement of the actuator, the controller outputs a control signal based on the movement of the operating member operated by the operator.

[0007] The disclosed method for controlling a work machine includes a first output step, a second output step, a determination step, and a third output step. The first output step outputs a control signal for operating an actuator. The second output step outputs a drive signal for imparting a movement corresponding to the movement of the actuator to an operating member to a drive section that drives the operating member. The determination step determines whether or not the movement of the operating member operated by the operator differs from the movement corresponding to the actuator. If it is determined that the movement of the operating member is different, the third output step outputs a control signal based on the movement of the operating member operated by the operator. (Effects of the Invention)

[0008] According to the present disclosure, it is possible to provide a work machine and a control method for a work machine that allows an operator to easily confirm the operation of an operating lever. [Brief description of the drawings]

[0009] [Figure 1] 1 is a perspective view of a hydraulic excavator according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view showing the inside of the cab of the hydraulic excavator of FIG. 1. [Diagram 3] FIG. 3 is an external perspective view showing the travel lever unit of FIG. 2; [Figure 4] 4 is a cross-sectional view taken along the line BB' in FIG. 3. [Diagram 5] FIG. 4 is a perspective view showing the external configuration of the left working machine operation lever unit of FIG. 3 . [Figure 6]FIG. 5 is a perspective view showing a schematic internal configuration of the left working machine operation lever unit shown in FIG. 4; [Figure 7] 6 is a cross-sectional view taken along the line AA' in FIG. 5. [Figure 8] FIG. 2 is a block diagram showing a control system for the hydraulic excavator shown in FIG. 1. [Figure 9] FIG. 2 is a flow chart showing a method for controlling the hydraulic excavator of FIG. 1. [Figure 10] FIG. 11 is a block diagram showing a control system for a hydraulic excavator according to a second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, a hydraulic excavator 1 (an example of a work machine) according to an embodiment of the present invention will be described with reference to the drawings.

[0011] (Embodiment 1) <Configuration> (Overview of the hydraulic excavator 1 configuration) FIG. 1 is a schematic diagram showing the configuration of a hydraulic excavator 1 according to the present embodiment.

[0012] The hydraulic excavator 1 includes a vehicle body 2 and a work machine 3. The vehicle body 2 includes a running body 4 and a rotating body 5 as shown in Fig. 1. The running body 4 includes a pair of running devices 4a, 4b. Each of the running devices 4a, 4b includes tracks 4c, 4d, and the driving force from the engine rotates running motors 4ae, 4be to drive the tracks 4c, 4d, thereby causing the hydraulic excavator 1 to run. Only the running motor 4be is shown in Fig. 1.

[0013] The rotating body 5 is placed on the traveling body 4. The rotating body 5 is provided so as to be rotatable relative to the traveling body 4 about an axis extending in the vertical direction by a turning device (not shown).

[0014] A cab 6 serving as a driver's compartment is provided at the front left position of the rotating body 5. The rotating body 5 houses an engine, a hydraulic pump, etc. (not shown). In this embodiment, unless otherwise specified, front, rear, left and right will be described based on the driver's seat in the cab 6. The direction in which the driver's seat faces directly ahead is defined as the forward direction F, and the direction opposite the forward direction is defined as the rear direction B. The right and left sides when the driver's seat faces directly ahead are defined as the right direction R and the left direction L, respectively.

[0015] The cab 6 has a door 6a on the left side opposite the work machine 3.

[0016] The working machine 3 has a boom 7, an arm 8, and an excavation bucket 9, and is attached to the front center position of the rotating body 5. More specifically, the working machine 3 is disposed on the right side of the cab 6. The base end of the boom 7 is rotatably connected to the rotating body 5. The tip of the boom 7 is rotatably connected to the base end of the arm 8. The tip of the arm 8 is rotatably connected to the excavation bucket 9. The excavation bucket 9 is attached to the arm 8 so that its opening faces the vehicle body 2 (rearward). A hydraulic excavator in which the excavation bucket 9 is attached in such a direction is called a backhoe. Hydraulic cylinders 10 to 12 (boom cylinder 10, arm cylinder 11, and bucket cylinder 12) are disposed corresponding to the boom 7, arm 8, and excavation bucket 9, respectively. The working machine 3 is driven by driving these hydraulic cylinders 10 to 12 (an example of an actuator of the working machine). This allows work such as excavation to be performed.

[0017] 8, which will be described later, is provided on the vehicle body 2. The control system 30 controls the work machine 3, the revolving body 5, the traveling devices 4a, 4b, and the drive units 17, 44, which will be described later.

[0018] (Cab 6) FIG. 2 is a perspective view showing the inside of the cab 6. As shown in FIG.

[0019] A driver's seat 13, a travel lever unit 14, a left work implement operation lever unit 15, and a right work implement operation lever unit 16 are provided in the cab 6.

[0020] The travel lever unit 14 is disposed in front of the driver's seat 13. The vehicle body 2 moves forward when a travel lever 140 (an example of an operating lever) of the travel lever unit 14 is pushed forward, and the vehicle body 2 moves backward when the travel lever 140 is pulled toward the driver. Note that the forward and reverse movements may be reversed depending on the orientation of the rotating body.

[0021] The left work implement operation lever unit 15 is provided in a console box 61 located to the left of the driver's seat 13. A left work implement operation lever 150 (an example of an operation lever) of the left work implement operation lever unit 15 can be tilted in four directions: forward / backward, left / right.

[0022] Tilting the left working machine operation lever 150 forward pushes out the arm 8, and tilting it backward retracts the arm 8. Tilting the left working machine operation lever 150 towards the driver's seat 13 rotates the rotating body 5 to the right, and tilting it away from the driver's seat 13 rotates the rotating body to the left. When the left working machine operation lever 150 is placed in a neutral position in the front-rear and left-right directions, the rotating body 5 and the arm 8 are stopped and held in that position.

[0023] The right work implement operation lever unit 16 is provided in a console box 62 located to the right of the driver's seat 13. A right work implement operation lever 160 (an example of an operation lever) of the right work implement operation lever unit 16 can be tilted in four directions: forward / backward, left / right. The boom 7 is lowered by tilting the right work machine operation lever 160 forward, and raised by tilting it backward. The excavation bucket 9 is dumped by tilting the right work machine operation lever 160 away from the driver's seat 13, and the excavation bucket 9 is excavated by tilting it towards the driver's seat 13. When the right work machine operation lever 160 is positioned in a neutral position in the front / rear / left / right directions, the boom 7 and the excavation bucket 9 do not move and are held in that position.

[0024] (Traction lever unit 14) Fig. 3 is a perspective view of the traveling lever unit 14. Fig. 4 is a cross-sectional view taken along the line BB' in Fig. 3.

[0025] The travel lever unit 14 includes a travel lever 140 , a connecting portion 41 , a shaft portion 42 , a potentiometer 43 , a drive portion 44 , and a travel pedal 45 .

[0026] The travel lever 140 extends upward from the floor 6f of the cab 6. A grip 141 is provided at the upper end of the travel lever 140, which is gripped by the operator during operation. The connector 41 connects the lower part of the travel lever 140 to the shaft 42. The connector 41 is fixed to both the travel lever 140 and the shaft 42. The shaft 42 is disposed along the left-right direction.

[0027] The potentiometer 43 is provided on one end of the shaft 42. When the travel lever 140 is tilted in the front-rear direction, the connecting part 41 fixed to the travel lever 140 also moves in the front-rear direction, and the shaft 42 rotates together with the connecting part 41. The operating position of the travel lever 140 can be detected by detecting the position of the shaft 42 with the potentiometer 43.

[0028] The drive unit 44 has an electric motor 44a connected to the other end of the shaft unit 42. An output shaft 44b of the electric motor 44a is connected to the shaft unit 42 and can rotate the shaft unit 42. By rotating the shaft unit 42, the travel lever 140 can be tilted in the front-rear direction.

[0029] The travel pedal 45 is disposed above the connecting portion 41, and as shown in Fig. 3, by depressing the front end 45a downward, the travel lever 140 also moves forward, causing the hydraulic excavator 1 to move forward. By depressing the rear end 45b downward, the travel lever 140 also moves rearward, causing the hydraulic excavator 1 to move backward.

[0030] (Left work machine operation lever unit 15 and right work machine operation lever unit 16) Since the left working implement operation lever unit 15 and the right working implement operation lever unit 16 have the same configuration, the left working implement operation lever unit 15 will be described as an example.

[0031] Fig. 5 is a perspective view showing a typical external configuration of the left working machine operation lever unit 15. Fig. 6 is a perspective view showing a typical internal configuration of the left working machine operation lever unit 15. Fig. 7 is a cross-sectional view taken along the line AA' in Fig. 5.

[0032] As shown in FIG. 6, the left working implement operation lever unit 15 includes a first support frame 21, a second support frame 22, a third support frame 23, and a drive portion 17.

[0033] (First support frame 21) The first support frame 21 is fixed to the frame of the console box 61, and supports the left working machine operation lever 150 via the second support frame 22 and the third support frame 23 so that the left working machine operation lever 150 can be tilted forward / backward and left / right.

[0034] For example, as shown in FIG. 5, the first support frame 21 is box-shaped and has an upper surface 21a, a pair of side surfaces 21b, a pair of side surfaces 21c, a pair of mounting surfaces 21d, and a pair of mounting surfaces 21e.

[0035] A through hole 21h having a rectangular shape in a plan view is formed in the upper surface 21a.

[0036] The pair of side surfaces 21b are provided so as to extend downward from the front end and the rear end of the upper surface 21a. The pair of side surfaces 21b are disposed so as to face each other in the front-rear direction. A through hole 21f is formed in each of the pair of side surfaces 21b. Only one of the through holes 21f is shown in the figure.

[0037] The pair of side surfaces 21c are provided so as to extend downward from the left and right ends of the upper surface 21a. The pair of side surfaces 21c are disposed so as to face each other in the left-right direction. A through hole 21g is formed in each of the pair of side surfaces 21c. Only one of the through holes 21g is shown in the figure.

[0038] The top surface 21a, the pair of side surfaces 21b and the pair of side surfaces 21c form a box shape.

[0039] The pair of placement surfaces 21d are provided so as to extend outward from the lower ends of the pair of side surfaces 21b, respectively, perpendicular to the side surfaces 21b.

[0040] The pair of placement surfaces 21e are provided so as to extend outward from the lower ends of the pair of side surfaces 21c, respectively, perpendicular to the side surfaces 21c.

[0041] (Second support frame 22) In FIG. 6, the first support frame 21 is indicated by a two-dot chain line, and the configuration inside thereof is indicated by a solid line.

[0042] The second support frame 22 tilts in accordance with the forward / rearward tilt of the left working machine operation lever 150. The second support frame 22 does not rotate in response to the left / right tilt of the left working machine operation lever 150, and supports the left / right tilt of the left working machine operation lever 150.

[0043] The second support frame 22 is disposed inside the first support frame 21 so as to be rotatable relative to the first support frame 21. As shown in Fig. 7, the second support frame 22 is formed in an inverted U-shape when viewed along the front-rear direction.

[0044] The second support frame 22 has an upper surface 22a, a pair of side surfaces 22b, and a shaft 22c. The pair of side surfaces 22b are provided so as to extend downward from the left and right ends of the upper surface 22a. A through hole 22d formed along the left-right direction is provided in the upper surface 22a. The width of the through hole 22d in the front-rear direction is set to be approximately the same length as the diameter of the left working implement operation lever 150. The left working implement operation lever 150 inclines in the left-right direction along the through hole 22d.

[0045] The shafts 22c are provided on each of the pair of side surfaces 22b along the left-right direction so as to protrude outward. The shaft 22c on the left side surface 22b is provided from the left side surface 22b toward the left, and the shaft 22c on the right side surface 22b is provided from the right side surface 22b toward the right. The pair of shafts 22c are rotatably inserted into through holes 21g (see FIG. 5) formed in each of the pair of side surfaces 21c.

[0046] (Third support frame 23) The third support frame 23 rotates in accordance with the left-right tilt of the left working machine operation lever 150. The third support frame 23 does not rotate in response to the front-rear tilt of the left working machine operation lever 150, but supports the rotation of the left working machine operation lever 150.

[0047] The third support frame 23 is disposed inside the first support frame 21 so as to be rotatable relative to the first support frame 21. The third support frame 23 is disposed inside the second support frame 22.

[0048] As shown in FIG. 6, the third support frame 23 has a frame portion 23a and a shaft 23b. The frame portion 23a has a rectangular shape formed long in the front-rear direction in a plan view. The frame portion 23a surrounds the left working machine operation lever 150 in a plan view. The left working machine operation lever 150 is inclined along the front-rear direction of the frame portion 23a. The frame portion 23a has a pair of side surfaces 23c and a pair of side surfaces 23d. The pair of side surfaces 23c are arranged opposite each other in the front-rear direction. The pair of side surfaces 23d are arranged opposite each other in the left-right direction. The side surfaces 23d are formed longer than the side surfaces 23c in a plan view. A through hole 23e is formed in each of the pair of side surfaces 23d as shown in FIG. 5.

[0049] As shown in Fig. 6, the shafts 23b are provided on each of the pair of side surfaces 23d along the front-rear direction so as to protrude outward. The shafts 23b provided on the front side surface 23c are provided from the front side surface 23c toward the front direction, and the shafts 23b provided on the rear side surface 23c are provided from the rear side surface 23c toward the rear direction. The pair of shafts 23b are rotatably inserted into through holes 21f (see Fig. 5) formed in each of the pair of side surfaces 21b.

[0050] As shown in Fig. 5, the left working machine operation lever 150 has a shaft 150a protruding in each of the left and right directions at its base. The shaft 150a is rotatably inserted into each of the through holes 23e of the pair of side surfaces 23d. The shaft 150a and the pair of shafts 22c of the second support frame 22 described above are arranged coaxially (see shaft C2). The pair of shafts 23b of the third support frame 23 are arranged coaxially (see shaft C1).

[0051] As a result, for example, when the left working implement control lever 150 is tilted in the front-rear direction, the left working implement control lever 150 rotates about the shaft 150a relative to the third support frame 23. At this time, because the frame portion 23a of the third support frame 23 is formed long in the front-rear direction, the left working implement control lever 150 can be tilted in the front-rear direction without interfering with the frame portion 23a.

[0052] On the other hand, since the left working implement control lever 150 abuts against the edge of the through-hole 22d, the second support frame 22 rotates about the shaft 22c as the left working implement control lever 150 rotates in the front-rear direction. Since the shaft 150a and the pair of shafts 22c of the second support frame 22 described above are arranged on the same axis C2, the left working implement control lever 150 tilts in the front-rear direction about the axis C2.

[0053] Furthermore, when the left working implement control lever 150 is tilted left or right, the left working implement control lever 150 rotates about the shaft 23b together with the third support frame 23. When the left working implement control lever 150 is tilted left or right, the left working implement control lever 150 moves along the through-hole 22d of the second support frame 22, so that the left working implement control lever 150 can be tilted left or right without interfering with the upper surface 22a of the second support frame 22. Since the pair of shafts 23b of the third support frame 23 are arranged on the same axis C1, the left working implement control lever 150 tilts left or right about the axis C1.

[0054] (Drive unit 17) The drive unit 17 drives the left working implement operation lever 150 in accordance with the lever operation stored in the memory unit 32, which will be described later.

[0055] The drive unit 17 includes a first motor 24 and a second motor 25 .

[0056] (First motor 24) The first motor 24 is an electric motor, and is connected to one of the pair of shafts 23b of the third support frame 23. The first motor 24 is fixed to the placement surface 21d.

[0057] The first motor 24 is capable of tilting the left working machine operation lever 150 in the left-right direction by applying a force to the shaft 23b.

[0058] (Second motor 25) The second motor 25 is an electric motor, and is connected to one of the pair of shafts 22c of the second support frame 22. The second motor 25 is fixed to the placement surface 21e.

[0059] The second motor 25 is capable of tilting the left working implement operation lever 150 in the front-rear direction by applying a force to the shaft 22c.

[0060] (First potentiometer 18) 5, the first potentiometer 18 is connected to a pair of shafts 23b of the third support frame 23. The first potentiometer 18 is fixed to the mounting surface 21d of the first support frame 21.

[0061] The first potentiometer 18 detects the rotational position of the shaft 23b, thereby detecting the left-right tilt position of the left working implement operation lever 150. Based on this tilt position, a command signal is transmitted and the rotating body 5 rotates.

[0062] (2nd potentiometer 19) The second potentiometer 19 is connected to a pair of shafts 22c of the second support frame 22. The second potentiometer 19 is fixed to the mounting surface 21e of the first support frame 21.

[0063] The second potentiometer 19 detects the rotational position of the shaft 22c, thereby detecting the tilt position in the front-rear direction of the left working implement operation lever 150. Based on this tilt position, a command signal is transmitted and the arm 8 is pushed out or retracted.

[0064] (Control System 30) Fig. 8 is a block diagram showing the configuration of the control system 30. In Fig. 8, the first potentiometer 18 and the second potentiometer 19 are shown together. The first motor 24 and the second motor 25 are shown together.

[0065] The control system 30 includes a control unit 31, a memory unit 32, an IMU 33, stroke sensors 34, 35, and 36, a driving speed sensor 37, and a turning angle sensor 38.

[0066] The control unit 31 includes a processor such as a CPU (Central Processing Unit) and a main memory including a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The control unit 31 reads out a program stored in the storage unit 32, loads it into the main memory, and executes a predetermined process according to the program. The program may be distributed to the control system 30 via a network.

[0067] The storage unit 32 stores predetermined operations of the hydraulic excavator 1 for automatic operation in chronological order. The predetermined operations of the hydraulic excavator 1 include at least one of the operation of the work implement 3, the rotation operation of the rotating body 5, and the traveling operation of the traveling devices 4a, 4b. In this embodiment, the storage unit 32 is provided separately from the control unit 31, but may be provided within the control unit 31.

[0068] The memory unit 32 also stores, in chronological order, the lever operations of the left work implement operating lever 150, the right work implement operating lever 160, and the travel lever 140 that execute the predetermined operation of the hydraulic excavator 1, in addition to the predetermined operation of the hydraulic excavator 1. These lever operations can also be said to be movements that correspond to the predetermined operation of the hydraulic excavator 1.

[0069] The predetermined actions and lever actions stored in the memory unit 32 can be created by the operator, for example, by teaching playback. Teaching playback refers to the operation procedures of the left work implement operation lever 150, the right work implement operation lever 160, and the travel lever 140 being operated by the operator, and the operation procedures being stored in the memory unit 32.

[0070] The control unit 31 includes a lever driving unit 51, a vehicle body driving unit 52, and a determination unit 53.

[0071] The lever drive unit 51 controls the left work implement operation lever unit 15, the right work implement operation lever unit 16 and the travel lever unit 14 so as to execute the lever operations stored in the memory unit 32. The lever drive unit 51 transmits drive signals s1, s2, s3 to the left work implement operation lever unit 15, the right work implement operation lever unit 16 and the travel lever unit 14, respectively, so as to execute predetermined lever operations stored in the memory unit 32.

[0072] The left working implement operation lever unit 15 drives the first motor 24 and the second motor 25 based on a drive signal s1 to drive the left working implement operation lever 150. The right working implement operation lever unit 16 drives the first motor 24 and the second motor 25 based on a drive signal s2 to drive the right working implement operation lever 160. The traveling lever unit 14 drives the first motor 24 and the second motor 25 based on a drive signal s3 to drive the traveling lever 140.

[0073] The vehicle body drive unit 52 controls the working machine 3, the revolving body 5, or the traveling devices 4a, 4b to execute a predetermined operation stored in the memory unit 32. The vehicle body drive unit 52 transmits a control signal s7 to the working machine 3, transmits a control signal s8 to the revolving body 5, and transmits a control signal s9 to the traveling devices 4a, 4b to execute a predetermined operation stored in the memory unit 32. As an example, the EPC valve that receives the control signal s7 is driven to supply hydraulic oil to the hydraulic cylinders 10-12, and the working machine 3 operates. Also, when the control signal s8 is received, the revolving motor 5a is driven to revolve the revolving body 5. When the control signal s9 is received, the traveling motors 4ae, 4be provided on each of the traveling devices 4a, 4b drive the tracks 4c, 4d, and the traveling body 4 moves forward or backward. The hydraulic cylinders 10-12 are an example of an actuator of the working machine. The traveling motors 4ae, 4be are an example of an actuator of the traveling device. The rotation motor 5a is an example of an actuator of a rotating body.

[0074] The IMU (Inertial Measurement Unit) 33 has a three-axis gyro and a three-directional accelerometer, and can detect three-dimensional angular velocity and acceleration. The stroke sensor 34 detects the stroke of the boom cylinder 10. The stroke sensor 35 detects the stroke of the arm cylinder 11. The stroke sensor 36 detects the stroke of the bucket cylinder 12. The posture of the work machine 3 can be detected by the stroke sensors 34 to 36.

[0075] The traveling speed sensor 37 detects the traveling speed of the traveling devices 4a, 4b. The turning angle sensor 38 detects the turning angle of the turning body 5. The determination unit 53 determines whether the operator intervenes in an operation during automatic driving of a predetermined operation. The determination unit 53 determines whether the operation of the left work implement operation lever 150, the right work implement operation lever 160, or the travel lever 140 matches the lever operation stored in the memory unit 32.

[0076] The left working implement operation lever unit 15 transmits a position signal s4 of the left working implement operation lever 150 detected by the first potentiometer 18 and the second potentiometer 19 to the control unit 31. The right working implement operation lever unit 16 transmits a position signal s5 of the right working implement operation lever 160 detected by the first potentiometer 18 and the second potentiometer 19 to the control unit 31. The traveling lever unit 14 transmits a position signal s6 of the traveling lever 140 or the traveling pedal 45 detected by the potentiometer 43 to the control unit 31.

[0077] The determination unit 53 determines, based on the position signals s4 to s6, whether the operator's operation of any of the left working implement control lever 150, the right working implement control lever 160, and the travel lever 140 has resulted in an operation different from the predetermined lever operation stored in the memory unit 32. Note that since the first motor 24, the second motor 25, and the electric motor 44a are driven to perform the lever operation stored in the memory unit 32, the operator needs to operate against the driving force of the motor in order to intervene in the operation.

[0078] When the determination unit 53 determines that an operation other than a predetermined lever operation has been performed on the left work implement operation lever 150, the right work implement operation lever 160, or the travel lever 140, the vehicle body drive unit 52 generates control signals s7', s8', s9' corresponding to the different operation based on the position signals s4 to s6, and transmits them to the work implement 3, the revolving body 5, or the travel devices 4a, 4b. The work implement 3 operates based on the control signal s7', the revolving body 5 operates based on the control signal s8', and the travel devices 4a, 4b operate based on the control signal s9'. The vehicle body drive unit 52 creates the control signals s7', s8', s9' so that the levers operate more or less than the operating positions when the predetermined operation is performed by an amount corresponding to the difference between the different operating positions.

[0079] As a result, even if an operator interrupts and operates the lever during automatic operation to perform a specified operation, the operation can be performed corresponding to the operator's lever operation, allowing the operator to smoothly interrupt during automatic operation.

[0080] Furthermore, when the determination unit 53 determines based on the position signals s4 to s6 that the operation of the left working implement control lever 150, the right working implement control lever 160, or the travel lever 140 matches the lever operation stored in the memory unit 32, the vehicle body drive unit 52 generates and transmits control signals s7, s8, and s9 to execute the predetermined operation stored in the memory unit 32. Here, since the first motor 24, the second motor 25, or the electric motor 44a are driven to perform the lever operation stored in the memory unit 32, when the operator who has been operating the lever releases his / her hand, the left working implement control lever 150, the right working implement control lever 160, or the travel lever 140 returns to the original lever operation position. This return is determined by the determination unit 53 based on the position signals s4 to s6.

[0081] As a result, if an operator interrupts and performs an operation during automatic operation performing a specified operation, an operation corresponding to the operator's operation can be performed, allowing the interrupt operation to be performed smoothly.

[0082] In addition, if the operator keeps his or her hands on the left work equipment operation lever 150, the right work equipment operation lever 160, or the travel lever 140, the operator can smoothly intervene in the automatic operation when it becomes necessary to operate the machine in a larger (addition) or smaller (subtraction) direction than the automatic operation.

[0083] In addition, if the judgment unit 53 determines that the position of the left work equipment operation lever 150, the right work equipment operation lever 160 or the travel lever 140 matches the lever operation position for performing a specified operation, the vehicle can return to automatic driving again.

[0084] <Operation> The operation of the hydraulic excavator 1 according to the embodiment of the present disclosure will be described below.

[0085] FIG. 9 is a flow diagram for explaining the operation of the hydraulic excavator 1 according to the embodiment of the present disclosure.

[0086] First, in step S10, the hydraulic excavator 1 is operated so as to perform automatic operation in which a predetermined operation stored in the memory unit 32 is performed. Specifically, the vehicle body drive unit 52 transmits a control signal s7 to the hydraulic cylinders 10-12 of the work machine 3, transmits a control signal s8 to the swing motor 5a of the swing body 5, and transmits a control signal s9 to the traveling motors 4ae, 4be of the traveling devices 4a, 4b while feeding back detection values ​​of the IMU 33 and the various sensors 34-38 so as to execute the predetermined operation stored in the memory unit 32. Next, in step S11, a lever operation is performed to perform an operation corresponding to the operation of the hydraulic excavator 1. Specifically, the lever drive unit 51 transmits a drive signal s1 to the left work implement operation lever unit 15, transmits a drive signal s2 to the right work implement operation lever unit 16, and transmits a drive signal s3 to the traveling lever unit 14 to execute the lever operation stored in the memory unit 32. The lever operation stored in the memory unit 32 refers to a movement that executes the operation of the work implement 3, the revolving body 5, and the traveling devices 4a, 4b stored in the memory unit 32, and corresponds to the operation of the work implement 3, the revolving body 5, and the traveling devices 4a, 4b stored in the memory unit 32.

[0087] Next, in step S12, the control unit 31 determines whether or not the time series of the predetermined operation stored in the memory unit 32 has ended. If the time series has not ended, the control unit 31 acquires position signals s4 to s6 of the left work implement operation lever 150, the right work implement operation lever 160, and the travel lever 140 in step S13.

[0088] Next, in step S14, the determination unit 53 of the control unit 31 determines whether the movements of the left work implement operation lever 150, the right work implement operation lever 160, and the travel lever 140 differ from the predetermined operations stored in the memory unit 32.

[0089] Next, if it is determined that the lever movement is different from the predetermined movement, in step S15, the vehicle body drive unit 52 operates the hydraulic excavator with a different lever movement.

[0090] After step S15, control proceeds to step S12, where the control unit 31 determines whether the time series of the specified actions stored in the memory unit 32 has ended, and if not, steps S13 and S14 are performed.

[0091] Then, in step S14, if it is determined that the lever operation is not different from the specified operation (if the lever returns to the original position of the original operation), control proceeds to step S11, and automatic operation is performed in which the specified operation stored in memory unit 32 is carried out, and the lever operation is performed to execute the specified operation.

[0092] On the other hand, if it is determined in step S12 that the predetermined operation has ended, the control unit 31 ends the control.

[0093] (Embodiment 2) The following describes a hydraulic excavator according to embodiment 2. The hydraulic excavator 1 according to embodiment 2 acquires information on the terrain to be the work target and creates operations by calculation, rather than by teaching.

[0094] <Configuration> 10 is a block diagram showing a configuration of a control system 130 according to the second embodiment. The control system 130 according to the second embodiment includes a control unit 131, a storage unit 32, an IMU 33, stroke sensors 34, 35, and 36, a traveling speed sensor 37, a turning angle sensor 38, and a three-dimensional measurement unit 39. The control unit 131 further includes a calculation unit 54 in comparison with the control unit 31 according to the first embodiment.

[0095] The three-dimensional measuring unit 39 measures the position or shape of the work target. The three-dimensional measuring unit 39 has a laser radar 39a, which is a type of laser measuring device, and a stereo camera 39b. The laser radar 39a irradiates the work target with a laser, receives the laser light scattered by the work target, and transmits the received light data to the control unit 131. The calculation unit 54 of the control unit 131 measures the three-dimensional shape of the work target and its relative position to the work target based on the received light data.

[0096] The stereo camera 39b has two cameras. Image data captured by the two cameras is transmitted to the control unit 131. The calculation unit 54 of the control unit 131 performs stereo processing based on the image data captured by each camera, and measures the three-dimensional shape of the work target and its relative position to the work target. Note that either the laser radar 39a or the stereo camera 39b may be used.

[0097] The calculation unit 54 calculates the operation of the hydraulic excavator 1 from the detection values ​​of the IMU 33 and the various sensors 34 to 38, and the three-dimensional shape and relative position with respect to the work target obtained from the three-dimensional measurement unit 39. The calculated operation is stored in the memory unit 32. Then, the work implement 3, the revolving body 5 and the traveling device 4a are controlled so as to execute the predetermined operation stored in the memory unit 32, and the left work implement operation lever 150, the right work implement operation lever 160 and the traveling lever 140 are moved so as to execute the lever operation for performing the predetermined operation.

[0098] <Features> (1) A hydraulic excavator 1 (an example of a work machine) according to the embodiment includes a left work implement operation lever 150 (an example of an operation member), a right work implement operation lever 160 (an example of an operation member), a travel lever 140 (an example of an operation member), drive units 17, 44, and control units 31, 131 (an example of a controller). The drive units 17, 44 move the left work implement operation lever 150, the right work implement operation lever 160, and the travel lever 140. The control units 31, 131 output control signals s7, s8, and s9 to hydraulic cylinders 10-12 (an example of an actuator), a swing motor 5a (an example of an actuator) of the swing body 5, and travel motors 4ae, 4be (an example of an actuator) of the travel devices 4a, 4b. The control units 31, 131 output drive signals s1, s2, s3 to the drive units 17, 44 to give movements corresponding to the operation of the hydraulic cylinders 10-12, the swing motor 5a, and the traveling motors 4ae, 4be to the left work implement operation lever 150, the right work implement operation lever 160, and the traveling lever 140.

[0099] This allows the operator to visually confirm the movements of the left work equipment operation lever 150, the right work equipment operation lever 160, and the travel lever 140 when moving the hydraulic excavator 1, making it easier to check the movements of the left work equipment operation lever 150, the right work equipment operation lever 160, and the travel lever 140.

[0100] (2) In the hydraulic excavator 1 (an example of a work machine) of the embodiment, the left work machine operating lever 150 and the right work machine operating lever 160 are levers for operating the work machine 3, and the control units 31, 131 output a control signal s7 to the hydraulic cylinders 10-12 (an example of an actuator) of the work machine 3 based on a predetermined operation.

[0101] By outputting the control signal s7 to the work machine 3 in this manner, it is possible to operate the work machine 3 in a predetermined manner.

[0102] (3) In the hydraulic excavator 1 (an example of a work machine) of the embodiment, the travel lever 140 is a lever that operates the travel devices 4a, 4b of the hydraulic excavator 1. The control units 31, 131 output a control signal s9 to the travel motors 4ae, 4be (an example of an actuator) of the travel devices 4a, 4b based on the movement of the travel lever 140.

[0103] By outputting the control signal s9 to the traveling devices 4a, 4b in this manner, it is possible to operate the traveling devices 4a, 4b in accordance with the predetermined operations stored in the storage unit 32.

[0104] (4) In the hydraulic excavator 1 (an example of a work machine) of the embodiment, when the left work implement operation lever 150, the right work implement operation lever 160 or the travel lever 140 is operated by the operator and the movement of the left work implement operation lever 150, the right work implement operation lever 160 or the travel lever 140 differs from the movement corresponding to the operation of the hydraulic cylinders 10-12, the rotation motor 5a of the rotating body 5, and the travel devices 4a, 4b, the control units 31, 131 output control signals s7', s8', s9' based on the different movement of the left work implement operation lever 150, the right work implement operation lever 160 or the travel lever 140.

[0105] As a result, during automatic operation in which the left work equipment operation lever 150, the right work equipment operation lever 160 and the travel lever 140 are automatically driven so that the hydraulic excavator 1 performs a specified operation, the operator can easily interrupt the automatic operation by operating the left work equipment operation lever 150, the right work equipment operation lever 160 or the travel lever 140.

[0106] (5) The hydraulic excavator 1 (an example of a work machine) of the embodiment includes a first potentiometer 18, a second potentiometer 19, and a potentiometer 43 (an example of a position detection unit). The first potentiometer 18 and the second potentiometer 19 detect the position of a left work implement operation lever 150. The first potentiometer 18 and the second potentiometer 19 detect the position of a right work implement operation lever 160. The potentiometer 43 detects the position of the travel lever 140. The control units 31, 131 each have a determination unit 53. The judgment unit 53 judges, based on the positions of the left work implement operating lever 150, the right work implement operating lever 160 or the travel lever 140 detected by the first potentiometer 18, the second potentiometer 19 and the potentiometer 43, whether the movement of the left work implement operating lever 150, the right work implement operating lever 160 or the travel lever 140 differs from the movement corresponding to the operation of the hydraulic cylinders 10-12 of the work implement 3, the swing motor 5a of the swing body 5, and the travel motors 4ae, 4be of the travel devices 4a, 4b.

[0107] This makes it possible to determine whether or not an operator has interrupted the automatic operation based on the position of the left work implement operation lever 150, the right work implement operation lever 160, or the travel lever 140.

[0108] (6) The hydraulic excavator 1 (an example of a work machine) of the embodiment includes a storage unit 32. The storage unit 32 stores operations of the hydraulic cylinders 10-12, the swing motor 5a, and the traveling motors 4ae and 4be. The operations of the hydraulic cylinders 10-12, the swing motor 5a, and the traveling motors 4ae and 4be stored in the storage unit 32 are created by teaching playback.

[0109] For example, by teaching the work of a skilled operator and storing it in the memory unit 32, it is possible to confirm the operation of the operating lever by the skilled operator.

[0110] (7) In the hydraulic excavator 1 (an example of a work machine) of the embodiment, the control unit 131 has a three-dimensional measuring unit 39 (an example of a terrain information acquiring unit) and a calculation unit 54. The three-dimensional measuring unit 39 acquires terrain information. The calculation unit 54 calculates the operations of the hydraulic cylinders 10 to 12 (an example of an actuator), the swing motor 5a (an example of an actuator) of the swing body 5, and the traveling motors 4ae, 4be (an example of an actuator) of the traveling devices 4a, 4b, based on the terrain information.

[0111] This makes it possible to automatically create actions at a construction site and drive the left work implement operating lever 150, the right work implement operating lever 160 or the travel lever 140 based on the actions.

[0112] (8) The disclosed manufacturing method for the hydraulic excavator 1 (an example of a work machine) includes step S10 (an example of a first output step) and step S11 (an example of a second output step). Step S10 outputs control signals s7, s8, and s9 for operating the hydraulic cylinders 10-12 (an example of an actuator) of the work machine 3, the swing motor 5a (an example of an actuator) of the swing body 5, and the travel motors 4ae and 4be (an example of an actuator) of the travel devices 4a and 4b. Step S11 outputs drive signals s1, s2, and s3 for providing the left work machine operation lever 150, the right work machine operation lever 160, and the travel lever 140 with movements corresponding to the operations of the hydraulic cylinders 10-12, the swing motor 5a, and the travel motors 4ae and 4be to the drive units 17 and 44 that drive the left work machine operation lever 150 (an example of an operation member), the right work machine operation lever 160 (an example of an operation member), and the travel lever 140 (an example of an operation member).

[0113] This allows the operator to visually confirm the movements of the left work equipment operation lever 150, the right work equipment operation lever 160, and the travel lever 140 when moving the hydraulic excavator 1, making it easier to check the movements of the left work equipment operation lever 150, the right work equipment operation lever 160, and the travel lever 140.

[0114] <Other embodiments> Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

[0115] (A) In the above embodiment, the left working implement operation lever 150, the right working implement operation lever 160 and the travel lever 140 are driven, but any one of them may be driven, or only the left working implement operation lever 150 and the right working implement operation lever 160 may be driven.

[0116] (B) In the above embodiment, the determination unit 53 detects the operation of the left work implement control lever 150, the right work implement control lever 160, and the travel lever 140 by the operator using only the potentiometer, but this is not limited to the above. For example, the levers may be further equipped with a pressure sensor or the like to detect the operator's grip and, if the position detected by the potentiometer is different, it may be detected that a different operation has been performed by the operator.

[0117] (C) In the above embodiment, the predetermined movements are obtained by teaching or calculation from topographical information, but this is not limiting, and movements created in advance may be stored in the storage unit 32 via the Internet.

[0118] (D) In the above embodiment, a hydraulic excavator has been used as an example of a work machine, but the work machine is not limited to a hydraulic excavator and may be a wheel loader or the like. [Industrial Applicability]

[0119] INDUSTRIAL APPLICABILITY The working machine and the control method for the working machine of the present invention have the effect of allowing the operator to easily confirm the operation of the control lever, and are useful as a hydraulic excavator or the like. [Explanation of symbols]

[0120] 1: Hydraulic excavator 17: Drive unit 31: Control section 32: Storage section 140: Travel lever 150: Left work equipment operation lever 160: Right work equipment operation lever

Claims

1. An operating member; A drive unit that moves the operating member; a controller that outputs a control signal for operating a travel device of the work machine or an actuator of the work machine; a position detection unit that detects a position of the operation member, The controller outputs a drive signal to the drive unit to impart a movement corresponding to the operation of the actuator to the operating member, and moves the operating member based on the drive signal. the controller has a determination unit that determines whether or not a movement of the operation member differs from a movement corresponding to an operation of the actuator, based on a position of the operation member detected by the position detection unit; the controller outputs the control signal based on the movement of the operating member operated by the operator when the movement of the operating member operated by the operator is different from the movement corresponding to the operation of the actuator. Working machinery.

2. Further comprising a memory unit that stores the operation of the actuator, The operation of the actuator stored in the memory unit is created by teaching playback.

2. The work machine of claim 1.

3. The controller: A topographical information acquisition unit that acquires topographical information of a work target; a calculation unit that calculates an operation of the actuator based on the topographical information; having 2. The work machine of claim 1.

4. The controller outputs a control signal to cause the traveling device of the work machine or the actuator of the work machine to perform a predetermined operation; When the movement of the operating member is restored to the movement corresponding to the predetermined operation of the actuator, the control signal is output so that the actuator performs the predetermined operation.

2. The work machine of claim 1.

5. a first output step of outputting a control signal for operating an actuator; a second output step of outputting a drive signal to a drive unit that drives an operating member, the drive signal providing the operating member with a movement corresponding to the operation of the actuator; a position detection step of detecting a position of the operation member; a determination step of determining whether or not a movement of the operating member operated by an operator is different from a movement corresponding to an operation of the actuator, based on the position of the operating member detected in the position detection step; a third output step of outputting the control signal based on a movement of the operating member operated by an operator when it is determined that the control signal is different from the operation signal; A method for controlling a work machine comprising the steps of:

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