Work machinery

Abstract

To provide a work machine allowing its motion to be automated according to work details.SOLUTION: A work machine is provided with a lower traveling body, an upper revolving structure, and a display device, wherein a setting screen displayed on the display device includes a control unit receiving settings of automatic control functions of the work machine.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to work machines. [Background technology]

[0002] BACKGROUND ART Conventionally, there has been known an excavator that automatically raises a boom through autonomous control during excavation by closing a bucket (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2015 / 194601 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been a desire to automate the operation of work machines such as shovels, but there are many different types of end attachments for work machines and they are used in a variety of ways, making it difficult to easily automate their operation.

[0005] The disclosed technology aims to automate operations in accordance with the work content. [Means for solving the problem]

[0006] A work machine according to an embodiment of the present invention is a work machine including a lower traveling body, an upper rotating body, an end attachment, and a display device, and a setting screen displayed on the display device. the setting screen that accepts selection of a plurality of types of operations to be subject to automatic control from among a plurality of types of operations of the work machine; a combination of operations of the work machine selected in The operation information for each of the plurality of types of operations selected from the operation information for each of the operations of the work machine that is stored in advance in a storage device that the work machine has. The control unit stores automatic control information associated with operation information in a storage device. [Effects of the Invention]

[0007] You can automate operations according to the work you are doing. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view of a shovel according to an embodiment of the present invention. [Figure 2] FIG. 2 is a top view of the excavator of FIG. 1. [Figure 3] FIG. 2 is a diagram showing an example of the configuration of a hydraulic system mounted on the excavator of FIG. 1. [Figure 4A] FIG. 1 is a diagram of a portion of the hydraulic system for operating the arm cylinder. [Figure 4B] FIG. 2 is a diagram of a portion of the hydraulic system for the boom cylinder. [Figure 4C] FIG. 2 is a diagram of a portion of the hydraulic system for the bucket cylinder. [Figure 4D] FIG. 1 is a diagram of a portion of a hydraulic system for a swing hydraulic motor. [Figure 5] FIG. 2 is a diagram illustrating the functions of a controller. [Figure 6] 10 is a first flowchart illustrating processing by a controller of the shovel. [Figure 7] FIG. 10 is a first diagram showing an example of a main screen. [Figure 8] FIG. 10 is a diagram illustrating an example of a setting screen for an automatic control function. [Figure 9] FIG. 10 is a diagram illustrating the setting of an automatic control function. [Figure 10] 10 is a second flowchart illustrating the processing of the controller of the shovel. [Figure 11] FIG. 10 is a second diagram showing an example of the main screen. [Figure 12] FIG. 10 is a first diagram illustrating the operation of the shovel by the automatic control function. [Figure 13] FIG. 10 is a second diagram illustrating the operation of the shovel by the automatic control function. DETAILED DESCRIPTION OF THE INVENTION

[0009] First, a shovel 100 as an excavator according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a side view of the shovel 100, and Figure 2 is a top view of the shovel 100.

[0010] In this embodiment, the lower traveling structure 1 of the excavator 100 includes a crawler 1C. The crawler 1C is driven by a traveling hydraulic motor 2M that serves as a traveling actuator mounted on the lower traveling structure 1. Specifically, the crawler 1C includes a left crawler 1CL and a right crawler 1CR. The left crawler 1CL is driven by a left traveling hydraulic motor 2ML, and the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.

[0011] An upper rotating body 3 is rotatably mounted on the lower traveling body 1 via a rotating mechanism 2. The rotating mechanism 2 is driven by a hydraulic swing motor 2A serving as a swing actuator mounted on the upper rotating body 3. However, the swing actuator may also be a swing motor-generator serving as an electric actuator.

[0012] A boom 4 is attached to the upper rotating body 3. An arm 5 is attached to the tip of the boom 4, and a bucket 6 is attached to the tip of the arm 5 as an end attachment. The boom 4, arm 5, and bucket 6 together form an attachment AT, which is an example of an attachment. The boom 4 is driven by a boom cylinder 7, the arm 5 is driven by an arm cylinder 8, and the bucket 6 is driven by a bucket cylinder 9. The boom cylinder 7, arm cylinder 8, and bucket cylinder 9 together form an attachment actuator. In the example shown in FIGS. 1 and 2, the bucket 6 is an excavation bucket, but it may also be a skeleton bucket (gravel removal bucket). The bucket 6 may also be equipped with a bucket tilt mechanism.

[0013] The upper rotating body 3 is provided with a cabin 10 as a driver's cab, and is equipped with a power source such as an engine 11. Inside the cabin 10, an operating device 26, a controller 30, an operation method switching device SD, etc. are provided. In addition, a space recognition device 70, etc. are attached to the upper rotating body 3. For convenience, in this document, the side of the upper rotating body 3 to which the attachment AT is attached will be referred to as the front, and the side to which the counterweight is attached will be referred to as the rear.

[0014] The spatial recognition device 70 is another example of a spatial recognition device, and is configured to capture an image of the periphery of the shovel 100. The shovel 100 may have an object detection device as an example of a spatial recognition device. The spatial recognition device of this embodiment may be configured in any way as long as it can grasp the positional relationship between the shovel 100 and surrounding objects.

[0015] The spatial recognition device 70 includes a camera 70B attached to the rear end of the upper surface of the upper rotating body 3, a camera 70L attached to the left end of the upper surface of the upper rotating body 3, and a camera 70R attached to the right end of the upper surface of the upper rotating body 3. The spatial recognition device 70 may also include a camera 70F.

[0016] The image captured by the spatial recognition device 70 is displayed on the display device 40 installed in the cabin 10. The spatial recognition device 70 may be configured to display a viewpoint converted image such as an overhead image on the display device 40. The overhead image is generated by, for example, combining images output by the camera 70B, the camera 70L, and the camera 70R.

[0017] With this configuration, the shovel 100 can display an image of an object detected by the spatial recognition device 70 on the display device 40. Therefore, when the operation of the driven body is restricted or prohibited, the operator of the shovel 100 can immediately identify the object that caused this by looking at the image displayed on the display device 40.

[0018] The spatial recognition device 70 (cameras 70F, 70B, 70L, and 70R) is, for example, a monocular wide-angle camera having a very wide angle of view. The spatial recognition device 70 may also be a stereo camera or a distance imaging camera. Images captured by the spatial recognition device 70 are input to the controller 30 via the display device 40.

[0019] The spatial recognition device 70 may also function as an object detection device. In this case, the spatial recognition device 70 may detect objects present around the shovel 100. The objects to be detected may include, for example, terrain shapes (slope, holes, etc.), people, animals, vehicles, construction machinery, buildings, walls, helmets, safety vests, work clothes, or predetermined marks on helmets.

[0020] Furthermore, the spatial recognition device 70 may calculate the distance from the spatial recognition device 70 or the shovel 100 to the recognized object. The spatial recognition device 70 as a spatial recognition device may include, for example, an ultrasonic sensor, a millimeter wave radar, a stereo camera, a LIDAR (Light Detection and Ranging), a distance image sensor, an infrared sensor, and the like.

[0021] The spatial recognition device may be, for example, a monocular camera having an imaging element such as a CCD (Charge-Coupled Device) image sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and may output the captured image to the display device 40. The spatial recognition device may also be configured to calculate the distance from the shovel 100 to the recognized object.

[0022] In addition to using the captured image information, when using a millimeter wave radar, ultrasonic sensor, laser radar, or the like as a spatial recognition device, the shovel 100 may transmit a number of signals (i.e., millimeter waves, ultrasonic waves, laser light, etc.) into the surrounding area and receive the reflected signals, thereby detecting the distance and direction of an object from the reflected signals.

[0023] In this way, the spatial recognition device may be configured to be able to identify at least one of the type, position, shape, etc. of an object. For example, the spatial recognition device may be configured to be able to distinguish between a person and a non-human object.

[0024] The spatial recognition device 70 may be directly connected to the controller 30 so as to be able to communicate with it.

[0025] Furthermore, the spatial recognition device 70 may be independent of the shovel 100. Furthermore, the controller 30 may acquire captured images of the work site around the shovel 100 output by the spatial recognition device 70 via a communication device. Specifically, the spatial recognition device 70 may be attached to a multicopter for aerial photography, a steel tower or a utility pole installed at the work site, or the like, and may acquire information about the work site based on captured images of the work site viewed from above.

[0026] The operating device 26 is a device used by an operator to operate the actuator. The operating device 26 includes, for example, an operating lever and an operating pedal. The actuator includes at least one of a hydraulic actuator and an electric actuator.

[0027] The operation mode switching device SD is configured to be able to switch the operation mode of the operation lever. For example, the operation mode switching device SD includes a push button switch provided on the right console inside the cabin 10, and is configured to be able to switch the operation mode of the operation lever between a first operation mode and a second operation mode each time the push button switch is pressed. For example, the first operation mode is configured so that when the left operation lever 26L (see FIG. 3) is tilted forward, the arm 5 is opened, when the left operation lever 26L is tilted rearward, the arm 5 is closed, when the left operation lever 26L is tilted left, a left turn is performed, and when the left operation lever 26L is tilted right, a right turn is performed. The first operation method is configured so that when the right operation lever 26R (see FIG. 3) is tilted forward, the boom 4 is lowered, when the right operation lever 26R is tilted rearward, the boom 4 is raised, when the right operation lever 26R is tilted left, the bucket 6 is closed, and when the right operation lever 26R is tilted right, the bucket 6 is opened. On the other hand, the second operation method is configured so that when the left operation lever 26L (see FIG. 3) is tilted forward, a right turn is performed, when the left operation lever 26L is tilted rearward, a left turn is performed, when the left operation lever 26L is tilted left, the arm 5 is opened, and when the left operation lever 26L is tilted right, the arm 5 is closed.

[0028] For example, the operator of the shovel 100 may select the first operation method when performing excavation work using an excavation bucket, and may select the second operation method when performing gravel removal work using a gravel removal bucket.

[0029] The controller 30 is a control device for controlling the shovel 100. In this embodiment, the controller 30 is configured as a computer including a CPU, a volatile storage device, a nonvolatile storage device, and the like. The controller 30 reads programs corresponding to each function from the nonvolatile storage device, loads them into the volatile storage device, and causes the CPU to execute the corresponding processing. Each function includes, for example, a machine guidance function that guides the operator in manually operating the shovel 100, and a machine control function that assists the operator in manually operating the shovel 100 or automatically or autonomously operates the shovel 100. The controller 30 may also include a contact avoidance function that automatically or autonomously operates or stops the shovel 100 to avoid contact between the shovel 100 and objects present within a monitoring range around the shovel 100. Monitoring of objects around the shovel 100 is performed not only within the monitoring range but also outside the monitoring range.

[0030] Next, a configuration example of a hydraulic system mounted on the shovel 100 will be described with reference to Fig. 3. Fig. 3 is a diagram showing a configuration example of a hydraulic system mounted on the shovel 100. In Fig. 3, a mechanical power transmission system, a hydraulic oil line, a pilot line, and an electrical control system are indicated by double lines, solid lines, dashed lines, and dotted lines, respectively.

[0031] The hydraulic system of the excavator 100 mainly includes an engine 11, a regulator 13, a main pump 14, a pilot pump 15, a control valve unit 17, an operating device 26, a discharge pressure sensor 28, an operating sensor 29, a controller 30, and the like.

[0032] In FIG. 3, the hydraulic system is configured to circulate hydraulic oil from a main pump 14 driven by an engine 11 through a center bypass line 60 or a parallel line 62 to a hydraulic oil tank.

[0033] The engine 11 is a drive source of the excavator 100. In this embodiment, the engine 11 is, for example, a diesel engine that operates to maintain a predetermined rotation speed. An output shaft of the engine 11 is connected to the input shafts of the main pump 14 and the pilot pump 15.

[0034] The main pump 14 is configured to supply hydraulic oil via a hydraulic oil line to the control valve unit 17. In this embodiment, the main pump 14 is a swash plate type variable displacement hydraulic pump.

[0035] The regulator 13 is configured to be able to control the discharge rate of the main pump 14. In this embodiment, the regulator 13 controls the discharge rate of the main pump 14 by adjusting the tilt angle of the swash plate of the main pump 14 in response to a control command from the controller 30.

[0036] The pilot pump 15 is an example of a pilot pressure generating device, and is configured to supply hydraulic oil to hydraulic control devices via a pilot line. In this embodiment, the pilot pump 15 is a fixed displacement hydraulic pump. However, the pilot pressure generating device may be realized by the main pump 14. That is, the main pump 14 may have a function of supplying hydraulic oil to various hydraulic control devices via a pilot line, in addition to a function of supplying hydraulic oil to the control valve unit 17 via a hydraulic oil line. In this case, the pilot pump 15 may be omitted.

[0037] The control valve unit 17 is a hydraulic control device that controls the hydraulic system in the excavator 100. In this embodiment, the control valve unit 17 includes control valves 171 to 176. The control valve 175 includes a control valve 175L and a control valve 175R, and the control valve 176 includes a control valve 176L and a control valve 176R. The control valve unit 17 is configured to selectively supply hydraulic oil discharged from the main pump 14 to one or more hydraulic actuators via the control valves 171 to 176. The control valves 171 to 176 control, for example, the flow rate of hydraulic oil flowing from the main pump 14 to the hydraulic actuators and the flow rate of hydraulic oil flowing from the hydraulic actuators to a hydraulic oil tank. The hydraulic actuators include a boom cylinder 7, an arm cylinder 8, a bucket cylinder 9, a left traveling hydraulic motor 2ML, a right traveling hydraulic motor 2MR, and a swing hydraulic motor 2A.

[0038] The operating device 26 is configured to allow an operator to operate the actuator. In this embodiment, the operating device 26 includes a hydraulic actuator operating device configured to allow an operator to operate the hydraulic actuator. Specifically, the hydraulic actuator operating device is configured to supply hydraulic oil discharged from the pilot pump 15 to the pilot ports of the corresponding control valves in the control valve unit 17 via pilot lines. The pressure of the hydraulic oil supplied to each pilot port (pilot pressure) is a pressure that corresponds to the operation direction and operation amount of the operating device 26 corresponding to each hydraulic actuator.

[0039] The discharge pressure sensor 28 is configured to be able to detect the discharge pressure of the main pump 14. In this embodiment, the discharge pressure sensor 28 outputs the detected value to the controller 30.

[0040] The operation sensor 29 is configured to detect the details of an operation of the operation device 26 by an operator. In this embodiment, the operation sensor 29 detects the operation direction and operation amount of the operation device 26 corresponding to each actuator, and outputs the detected values ​​to the controller 30.

[0041] In this embodiment, operation information including the operation direction and operation amount of the operation device 26 may be stored in a storage device or the like of the controller 30 in association with the work content indicated by the operation information.

[0042] The main pump 14 includes a left main pump 14L and a right main pump 14R. The left main pump 14L circulates hydraulic oil to the hydraulic oil tank via a left center bypass line 60L or a left parallel line 62L, and the right main pump 14R circulates hydraulic oil to the hydraulic oil tank via a right center bypass line 60R or a right parallel line 62R.

[0043] The left center bypass line 60L is a hydraulic oil line that passes through control valves 171, 173, 175L, and 176L arranged in the control valve unit 17. The right center bypass line 60R is a hydraulic oil line that passes through control valves 172, 174, 175R, and 176R arranged in the control valve unit 17.

[0044] The control valve 171 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the left traveling hydraulic motor 2ML and to discharge the hydraulic oil discharged by the left traveling hydraulic motor 2ML to the hydraulic oil tank.

[0045] The control valve 172 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the right traveling hydraulic motor 2MR and to discharge the hydraulic oil discharged by the right traveling hydraulic motor 2MR to the hydraulic oil tank.

[0046] The control valve 173 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the swing hydraulic motor 2A and to discharge the hydraulic oil discharged by the swing hydraulic motor 2A to the hydraulic oil tank.

[0047] The control valve 174 is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the bucket cylinder 9 and to discharge the hydraulic oil in the bucket cylinder 9 to the hydraulic oil tank.

[0048] The control valve 175L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the boom cylinder 7. The control valve 175R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the boom cylinder 7 and to discharge the hydraulic oil in the boom cylinder 7 to the hydraulic oil tank.

[0049] The control valve 176L is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the left main pump 14L to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0050] The control valve 176R is a spool valve that switches the flow of hydraulic oil to supply the hydraulic oil discharged by the right main pump 14R to the arm cylinder 8 and to discharge the hydraulic oil in the arm cylinder 8 to the hydraulic oil tank.

[0051] The left parallel conduit 62L is a hydraulic oil line that runs parallel to the left center bypass conduit 60L. The left parallel conduit 62L can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the left center bypass conduit 60L is restricted or blocked by any of the control valves 171, 173, and 175L. The right parallel conduit 62R is a hydraulic oil line that runs parallel to the right center bypass conduit 60R. The right parallel conduit 62R can supply hydraulic oil to a downstream control valve when the flow of hydraulic oil through the right center bypass conduit 60R is restricted or blocked by any of the control valves 172, 174, and 175R.

[0052] The regulator 13 includes a left regulator 13L and a right regulator 13R. The left regulator 13L controls the discharge rate of the left main pump 14L by adjusting the tilt angle of the swash plate of the left main pump 14L in accordance with the discharge pressure of the left main pump 14L. Specifically, the left regulator 13L adjusts the tilt angle of the swash plate of the left main pump 14L in accordance with an increase in the discharge pressure of the left main pump 14L to reduce the discharge rate. The same applies to the right regulator 13R. This is to prevent the absorption power (absorption horsepower) of the main pump 14, which is expressed as the product of the discharge pressure and the discharge rate, from exceeding the output power (output horsepower) of the engine 11.

[0053] The operating device 26 includes a left operating lever 26L, a right operating lever 26R, and a travel lever 26D. The travel lever 26D includes a left traveling lever 26DL and a right traveling lever 26DR.

[0054] The left operating lever 26L is used for swing operation and operation of the arm 5. When the left operating lever 26L is operated in the forward / backward direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 176. When it is operated in the left / right direction, it uses the hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 173.

[0055] Specifically, when the left operating lever 26L is operated in the arm closing direction, it introduces hydraulic oil into the right pilot port of the control valve 176L and introduces hydraulic oil into the left pilot port of the control valve 176R. When the left operating lever 26L is operated in the arm opening direction, it introduces hydraulic oil into the left pilot port of the control valve 176L and introduces hydraulic oil into the right pilot port of the control valve 176R. When the left operating lever 26L is operated in the left turning direction, it introduces hydraulic oil into the left pilot port of the control valve 173, and when operated in the right turning direction, it introduces hydraulic oil into the right pilot port of the control valve 173.

[0056] In the example shown in FIG. 3, the left operating lever 26L functions as an arm operating lever when operated in the forward / backward direction, and functions as a turning operating lever when operated in the left / right direction.

[0057] The right operating lever 26R is used to operate the boom 4 and the bucket 6. When the right operating lever 26R is operated in the forward / backward direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 175. When it is operated in the left / right direction, it uses the hydraulic oil discharged by the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 174.

[0058] Specifically, when the right operating lever 26R is operated in the boom-lowering direction, it introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-raising direction, it introduces hydraulic oil to the right pilot port of the control valve 175R and also introduces hydraulic oil to the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the bucket-closing direction, it introduces hydraulic oil to the right pilot port of the control valve 174, and when operated in the bucket-opening direction, it introduces hydraulic oil to the left pilot port of the control valve 174.

[0059] In the example shown in FIG. 3, the right operating lever 26R functions as a boom operating lever when operated in the forward / backward direction, and functions as a bucket operating lever when operated in the left / right direction.

[0060] The travel lever 26D is used to operate the crawler 1C. Specifically, the left travel lever 26DL is used to operate the left crawler 1CL. It may be configured to operate in conjunction with the left travel pedal. When the left travel lever 26DL is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 171. The right travel lever 26DR is used to operate the right crawler 1CR. It may be configured to operate in conjunction with the right travel pedal. When the right travel lever 26DR is operated in the forward / backward direction, it uses hydraulic oil discharged from the pilot pump 15 to introduce a control pressure corresponding to the amount of lever operation into the pilot port of the control valve 172.

[0061] The discharge pressure sensor 28 includes a discharge pressure sensor 28L and a discharge pressure sensor 28R. The discharge pressure sensor 28L detects the discharge pressure of the left main pump 14L and outputs the detected value to the controller 30. The same applies to the discharge pressure sensor 28R.

[0062] The operation sensor 29 includes operation sensors 29LA, 29LB, 29RA, 29RB, 29DL, and 29DR. The operation sensor 29LA detects the details of the forward / backward operation of the left operation lever 26L by the operator, and outputs the detected value to the controller 30. The details of the operation include, for example, the lever operation direction, the lever operation amount (lever operation angle), etc.

[0063] In other words, the operation information of this embodiment may include the lever operation direction, the lever operation amount (lever operation angle), etc., and may be associated with the work content performed by the operation.

[0064] Similarly, operation sensor 29LB detects the operation of left operation lever 26L in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29RA detects the operation of right operation lever 26R in the forward / backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29RB detects the operation of right operation lever 26R in the left-right direction by the operator and outputs the detected value to controller 30. Operation sensor 29DL detects the operation of left travel lever 26DL in the forward / backward direction by the operator and outputs the detected value to controller 30. Operation sensor 29DR detects the operation of right travel lever 26DR in the forward / backward direction by the operator and outputs the detected value to controller 30.

[0065] The controller 30 receives the output of the operation sensor 29 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The controller 30 also receives the output of the control pressure sensor 19 provided upstream of the orifice 18 and outputs a control command to the regulator 13 as necessary to change the discharge rate of the main pump 14. The orifice 18 includes a left orifice 18L and a right orifice 18R, and the control pressure sensor 19 includes a left control pressure sensor 19L and a right control pressure sensor 19R.

[0066] A left throttle 18L is disposed in the left center bypass pipe 60L between the control valve 176L, which is located most downstream, and the hydraulic oil tank. Therefore, the flow of hydraulic oil discharged from the left main pump 14L is restricted by the left throttle 18L. The left throttle 18L generates a control pressure for controlling the left regulator 13L. The left control pressure sensor 19L detects this control pressure and outputs the detected value to the controller 30. The controller 30 controls the discharge rate of the left main pump 14L by adjusting the swash plate tilt angle of the left main pump 14L in accordance with this control pressure. The controller 30 decreases the discharge rate of the left main pump 14L as this control pressure increases, and increases the discharge rate of the left main pump 14L as this control pressure decreases. The discharge rate of the right main pump 14R is controlled in a similar manner.

[0067] Specifically, as shown in FIG. 3 , when the excavator 100 is in a standby state in which none of the hydraulic actuators are operated, the hydraulic oil discharged from the left main pump 14L passes through the left center bypass pipe 60L and reaches the left throttle 18L. The flow of hydraulic oil discharged from the left main pump 14L increases the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 reduces the discharge rate of the left main pump 14L to the minimum allowable discharge rate, thereby suppressing pressure loss (pumping loss) when the discharged hydraulic oil passes through the left center bypass pipe 60L. On the other hand, when any hydraulic actuator is operated, the hydraulic oil discharged from the left main pump 14L flows into the hydraulic actuator to be operated via the control valve corresponding to the hydraulic actuator to be operated. The flow of hydraulic oil discharged from the left main pump 14L reduces or eliminates the amount of hydraulic oil reaching the left throttle 18L, thereby lowering the control pressure generated upstream of the left throttle 18L. As a result, the controller 30 increases the discharge rate of the left main pump 14L, circulating sufficient hydraulic oil to the hydraulic actuator to be operated and ensuring the drive of the hydraulic actuator to be operated. The controller 30 also controls the discharge rate of the right main pump 14R in a similar manner.

[0068] With the above-described configuration, the hydraulic system of Fig. 3 can suppress unnecessary energy consumption in the main pump 14 in a standby state. The unnecessary energy consumption includes pumping loss caused by the hydraulic oil discharged from the main pump 14 in the center bypass pipe 60. Furthermore, when operating a hydraulic actuator, the hydraulic system of Fig. 3 can reliably supply necessary and sufficient hydraulic oil from the main pump 14 to the hydraulic actuator to be operated.

[0069] Next, with reference to Fig. 4A to Fig. 4D, a configuration for the controller 30 to operate the actuators using the machine control function will be described. Fig. 4A to Fig. 4D are diagrams illustrating portions of the hydraulic system. Specifically, Fig. 4A is a diagram illustrating the hydraulic system portion related to the operation of the arm cylinder 8, and Fig. 4B is a diagram illustrating the hydraulic system portion related to the operation of the boom cylinder 7. Fig. 4C is a diagram illustrating the hydraulic system portion related to the operation of the bucket cylinder 9, and Fig. 4D is a diagram illustrating the hydraulic system portion related to the operation of the swing hydraulic motor 2A.

[0070] 4A to 4D, the hydraulic system includes a proportional valve 31. The proportional valve 31 includes proportional valves 31AL to 31DL and 31AR to 31DR.

[0071] The proportional valve 31 functions as a control valve for machine control. The proportional valve 31 is disposed in a pipe connecting the pilot pump 15 and the pilot port of the corresponding control valve in the control valve unit 17, and is configured to be able to change the flow path area of ​​the pipe. In this embodiment, the proportional valve 31 operates in response to a control command output by the controller 30. Therefore, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the pilot port of the corresponding control valve in the control valve unit 17 via the proportional valve 31, regardless of the operation of the operating device 26 by an operator. Then, the controller 30 can apply the pilot pressure generated by the proportional valve 31 to the pilot port of the corresponding control valve.

[0072] With this configuration, the controller 30 can operate the hydraulic actuator corresponding to a specific operating device 26 even when no operation is being performed on that specific operating device 26. Furthermore, the controller 30 can forcibly stop the operation of the hydraulic actuator corresponding to that specific operating device 26 even when an operation is being performed on that specific operating device 26.

[0073] For example, as shown in FIG. 4A, the left operating lever 26L is used to operate the arm 5. Specifically, the left operating lever 26L uses hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to its operation in the forward / backward direction to the pilot port of the control valve 176. More specifically, when the left operating lever 26L is operated in the arm closing direction (rearward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R. Furthermore, when the left operating lever 26L is operated in the arm opening direction (forward), it applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R.

[0074] The left operating lever 26L is provided with a switch NS. In this embodiment, the switch NS is a push button switch provided at the tip of the left operating lever 26L. The operator can operate the left operating lever 26L while pressing the switch NS. The switch NS may be provided on the right operating lever 26R or at another position within the cabin 10.

[0075] The operation sensor 29LA detects the operation of the left operation lever 26L in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0076] The proportional valve 31AL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL. The proportional valve 31AR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. The proportional valve 31AL can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position. Similarly, the proportional valve 31AR can adjust the pilot pressure so that the control valves 176L and 176R can be stopped at any valve position.

[0077] With this configuration, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. Furthermore, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. In other words, the controller 30 can close the arm 5 in response to the arm closing operation by the operator or regardless of the arm closing operation by the operator.

[0078] Furthermore, in response to an arm-opening operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. Furthermore, regardless of an arm-opening operation by the operator, the controller 30 can supply the hydraulic oil discharged from the pilot pump 15 to the left pilot port of the control valve 176L and the right pilot port of the control valve 176R via the proportional valve 31AR. In other words, the controller 30 can open the arm 5 in response to an arm-opening operation by the operator or regardless of an arm-opening operation by the operator.

[0079] Furthermore, with this configuration, even when the operator is performing an arm closing operation, the controller 30 can, as necessary, reduce the pilot pressure acting on the closing-side pilot ports of the control valve 176 (the left pilot port of the control valve 176L and the right pilot port of the control valve 176R) to forcibly stop the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm-opening operation.

[0080] Alternatively, even when the operator is performing an arm closing operation, the controller 30 may control the proportional valve 31AR as necessary to increase the pilot pressure acting on the opening-side pilot ports of the control valve 176 (the right pilot port of the control valve 176L and the left pilot port of the control valve 176R) that are located opposite the closing-side pilot port of the control valve 176, and forcibly return the control valve 176 to the neutral position, thereby forcibly stopping the closing operation of the arm 5. The same applies to the case where the opening operation of the arm 5 is forcibly stopped when the operator is performing an arm-opening operation.

[0081] 4B to 4D, the same applies to a case where the operation of the boom 4 is forcibly stopped when the operator is performing a boom-raising or boom-lowering operation, a case where the operation of the bucket 6 is forcibly stopped when the operator is performing a bucket-closing or bucket-opening operation, and a case where the swing operation of the upper swing structure 3 is forcibly stopped when the operator is performing a swing operation.The same also applies to a case where the traveling operation of the lower traveling structure 1 is forcibly stopped when the operator is performing a traveling operation.

[0082] 4B, the right operating lever 26R is used to operate the boom 4. Specifically, the right operating lever 26R uses hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to its operation in the forward / backward direction to the pilot port of the control valve 175. More specifically, when the right operating lever 26R is operated in the boom-up direction (rearward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R. When the right operating lever 26R is operated in the boom-down direction (forward), it applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 175R.

[0083] The operation sensor 29RA detects the operation of the right operation lever 26R in the forward and backward directions by the operator, and outputs the detected value to the controller 30.

[0084] The proportional valve 31BL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175L and the left pilot port of the control valve 175R via the proportional valve 31BL. The proportional valve 31BR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. The proportional valve 31BL can adjust the pilot pressure so that the control valves 175L and 175R can be stopped at any valve position. The proportional valve 31BR can also adjust the pilot pressure so that the control valve 175R can be stopped at any valve position.

[0085] With this configuration, in response to a boom-raising operation by the operator, controller 30 can supply hydraulic oil discharged from pilot pump 15 to the right pilot port of control valve 175L and the left pilot port of control valve 175R via proportional valve 31BL. Furthermore, regardless of a boom-raising operation by the operator, controller 30 can supply hydraulic oil discharged from pilot pump 15 to the right pilot port of control valve 175L and the left pilot port of control valve 175R via proportional valve 31BL. In other words, controller 30 can raise boom 4 in response to a boom-raising operation by the operator or regardless of a boom-raising operation by the operator.

[0086] Furthermore, in response to a boom lowering operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. Furthermore, regardless of a boom lowering operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 175R via the proportional valve 31BR. In other words, the controller 30 can lower the boom 4 in response to a boom lowering operation by the operator or regardless of a boom lowering operation by the operator.

[0087] 4C, the right operating lever 26R is also used to operate the bucket 6. Specifically, the right operating lever 26R uses hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to operation in the left or right direction to the pilot port of the control valve 174. More specifically, when the right operating lever 26R is operated in the bucket closing direction (leftward), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 174. When the right operating lever 26R is operated in the bucket opening direction (rightward), the right operating lever 26R applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 174.

[0088] The operation sensor 29RB detects the operation of the right operating lever 26R in the left and right direction by the operator, and outputs the detected value to the controller 30.

[0089] The proportional valve 31CL operates in response to a control command (current command) output by the controller 30. The proportional valve 31CL adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 174 via the proportional valve 31CL. The proportional valve 31CR operates in response to a control command (current command) output by the controller 30. The proportional valve 31CR adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 174 via the proportional valve 31CR. The proportional valve 31CL can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position. Similarly, the proportional valve 31CR can adjust the pilot pressure so that the control valve 174 can be stopped at any valve position.

[0090] With this configuration, in response to the bucket closing operation by the operator, controller 30 can supply the hydraulic oil discharged by pilot pump 15 to the left pilot port of control valve 174 via proportional valve 31CL. Furthermore, regardless of the bucket closing operation by the operator, controller 30 can supply the hydraulic oil discharged by pilot pump 15 to the left pilot port of control valve 174 via proportional valve 31CL. In other words, controller 30 can close bucket 6 in response to the bucket closing operation by the operator or regardless of the bucket closing operation by the operator.

[0091] Furthermore, in response to the bucket opening operation by the operator, controller 30 can supply the hydraulic oil discharged by pilot pump 15 to the right pilot port of control valve 174 via proportional valve 31CR. Furthermore, regardless of the bucket opening operation by the operator, controller 30 can supply the hydraulic oil discharged by pilot pump 15 to the right pilot port of control valve 174 via proportional valve 31CR. In other words, controller 30 can open bucket 6 in response to the bucket opening operation by the operator or regardless of the bucket opening operation by the operator.

[0092] 4D, the left operating lever 26L is also used to operate the swing mechanism 2. Specifically, the left operating lever 26L uses hydraulic oil discharged from the pilot pump 15 to apply a pilot pressure corresponding to operation in the left or right direction to the pilot port of the control valve 173. More specifically, when the left operating lever 26L is operated in the left swing direction (leftward), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the left pilot port of the control valve 173. When the left operating lever 26L is operated in the right swing direction (rightward), the left operating lever 26L applies a pilot pressure corresponding to the operation amount to the right pilot port of the control valve 173.

[0093] The operation sensor 29LB detects the operation of the left operation lever 26L in the left and right directions by the operator, and outputs the detected value to the controller 30.

[0094] The proportional valve 31DL operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. The proportional valve 31DR operates in response to a control command (current command) output by the controller 30. It adjusts the pilot pressure of the hydraulic oil introduced from the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. The proportional valve 31DL can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position. Similarly, the proportional valve 31DR can adjust the pilot pressure so that the control valve 173 can be stopped at any valve position.

[0095] With this configuration, in response to a left turning operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. Furthermore, regardless of a left turning operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the left pilot port of the control valve 173 via the proportional valve 31DL. In other words, the controller 30 can rotate the swing mechanism 2 left in response to a left turning operation by the operator or regardless of a left turning operation by the operator.

[0096] Furthermore, in response to a right turn operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. Furthermore, regardless of a right turn operation by the operator, the controller 30 can supply the hydraulic oil discharged by the pilot pump 15 to the right pilot port of the control valve 173 via the proportional valve 31DR. In other words, the controller 30 can rotate the swing mechanism 2 to the right in response to a right turn operation by the operator or regardless of a right turn operation by the operator.

[0097] The excavator 100 may be configured to automatically move the lower traveling structure 1 forward and backward. In this case, the hydraulic system portion related to the operation of the left traveling hydraulic motor 2ML and the hydraulic system portion related to the operation of the right traveling hydraulic motor 2MR may be configured in the same manner as the hydraulic system portion related to the operation of the boom cylinder 7, etc.

[0098] Although the description has been given of an electric control lever as the form of the control device 26, a hydraulic control lever may be used instead. In this case, the lever operation amount of the hydraulic control lever may be detected in the form of pressure by a pressure sensor and input to the controller 30. Also, a solenoid valve may be disposed between the control device 26 as a hydraulic control lever and the pilot port of each control valve. The solenoid valve is configured to operate in response to an electrical signal from the controller 30. With this configuration, when manual operation is performed using the control device 26 as a hydraulic control lever, the control device 26 can move each control valve by increasing or decreasing the pilot pressure in response to the lever operation amount. Also, each control valve may be configured as an electromagnetic spool valve. In this case, the electromagnetic spool valve operates in response to an electrical signal from the controller 30 that corresponds to the lever operation amount of the electric control lever.

[0099] Next, the functional configuration of the controller 30 will be described with reference to Fig. 5. Fig. 5 is a diagram illustrating the functions of the controller.

[0100] 5, the controller 30 is configured to receive signals output from at least one of the operation device 26, the space recognition device 70, the operation method switching device SD, and the switch NS, execute various calculations, and output control commands to the proportional valve 31, etc. The controller 30 of this embodiment also displays various types of information on the display device 40.

[0101] The display device 40 is connected to the controller 30, and is provided at a position that is easily visible to an operator seated in the cabin 10 under the control of the controller 30, and displays various information images. The display device 40 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display. The display device 40 has an input device 42, which will be described later.

[0102] The display unit of a support device such as a mobile terminal may be used as the display device 40. The support device is typically a mobile terminal device, such as a notebook PC, tablet PC, or smartphone carried by a worker or the like at a construction site. The support device may also be the terminal device 400 in this embodiment. The support device may also be a computer carried by the operator of the shovel 100. The support device may also be a fixed terminal device.

[0103] The controller 30 of this embodiment has, as functional elements, an input reception unit 310, a display control unit 311, a registration unit 312, a prohibition determination unit 313, a bucket operation control unit 314, and an arm operation control unit 315. Each functional element may be configured as hardware or software. Furthermore, while the bucket operation control unit 314 and the arm operation control unit 315 are shown as being distinct for the sake of convenience, they do not need to be physically distinct and may be configured, in whole or in part, as common software or hardware components.

[0104] The input receiving unit 310 receives various operational inputs from the input device 42 of the display device 40, the switch NS (NSL) provided on the left operating lever 26L, and the like.

[0105] The display control unit 311 controls the display on the display device 40. Specifically, the display control unit 311 causes the display device 40 to display a screen for setting the automatic control functions of the shovel 100, etc.

[0106] The registration unit 312 associates the work content of the shovel 100 with operation information of the shovel 100 in accordance with the operation accepted by the input acceptance unit 310, and stores the associated information in a storage device or the like of the controller 30. In other words, the registration unit 312 stores automatic control information in which the work content to be automated is associated with the operation information corresponding to the work content in the storage device.

[0107] The work content of this embodiment may be a combination of operations of the shovel 100. Furthermore, the work content of this embodiment may include a plurality of operation groups each including a plurality of operations. In this embodiment, the operation groups may be separated by a fixed interval or an interval that can be set to any time.

[0108] In the following description, storing automatic control information in a storage device that associates work content with operation information may be expressed as setting an automatic control function. Work content in this embodiment refers to a combination of actions that are subject to automatic control.

[0109] The storage device may be a nonvolatile storage device included in the controller 30, or may be a storage device provided outside the controller 30. The process of the registration unit 312 will be described in detail later.

[0110] The prohibition determination unit 313 determines whether or not a combination of operations that has been prohibited in advance is included in the work content registered by the registration unit 312. An example of a combination of operations that has been prohibited in advance is a combination of a boom-raising operation and a boom-lowering operation.

[0111] The bucket operation control unit 314 performs automatic opening and closing operations of the bucket 6 based on the automatic control information stored in the storage device.

[0112] The arm operation control unit 315 performs automatic opening and closing operations of the arm 5 based on the automatic control information stored in the storage device.

[0113] In this way, the controller 30 of the present embodiment is an example of a control unit that accepts settings of the automatic control function on the screen displayed on the display device 40 of the shovel 100.

[0114] Next, the processing of the controller 30 of the shovel 100 of this embodiment will be described with reference to Fig. 6. Fig. 6 is a first flowchart illustrating the processing of the shovel controller. Fig. 6 shows the processing for setting the automatic control function.

[0115] When the controller 30 of this embodiment receives an operation to instruct setting of the automatic control function via the input receiving unit 310, the display control unit 311 causes the display device 40 to display a setting screen including icon images indicating the operation of the shovel 100 (step S601). The icon images displayed here can be switched using the switch NS. Note that the icon images of this embodiment can also be said to be images indicating the types of movement of the shovel 100. Details of the setting screen will be described later.

[0116] Next, when an icon image is determined (step S602), the controller 30 causes the registration unit 312 to associate and store the action associated with the determined icon image and the operation information corresponding to the action (step S603).

[0117] That is, when the registration unit 312 receives the selection of an icon image, it sets the operation associated with this icon image as the operation to be controlled by the automatic control function.

[0118] The operation information for each action may be prepared in advance and stored in a storage device.

[0119] Next, the controller 30 determines whether or not an instruction to operate registration has been received by the input receiving unit 310 (step S604). If an operation to end registration has not been received in step S604, the controller 30 returns to step S601 and displays an icon image for selecting the next operation on the setting screen.

[0120] When an operation to end the registration is accepted in step S604, the prohibition determination unit 313 of the controller 30 determines whether or not the actions registered as one group include a combination that has been prohibited in advance (step S605).

[0121] In step S605, if the combination of actions that corresponds to the above is included, the controller 30 causes the display control unit 311 to display an error on the display device 40 (step S606), and ends the process.

[0122] If the combination of actions that corresponds to the action is not included in step S605, the controller 30 registers the information that associates the action with the operation information stored in the registration unit 312 as automatic control information for the work content (step S607), and ends the processing.

[0123] At this time, the registration unit 312 may associate the work content with the switch NS, and when the switch NS is operated, the registration unit 312 may control the bucket operation control unit 314 and the arm operation control unit 315 based on the automatic control information of the work content corresponding to the switch NS.

[0124] Below, examples of display on the display device 40 will be described with reference to Figures 7 and 8. Figure 7 is a first diagram showing an example of the main screen.

[0125] The display device 40 shown in Fig. 7 has an image display unit 41 and an input device 42. The image display unit 41 is a screen on which various images are displayed, and in Fig. 7, a main screen is displayed on the image display unit 41. This main screen is displayed on the display device 40 before the setting screen displayed in step S601 in Fig. 6, for example, is displayed, and the setting screen is displayed by operating the main screen. The input device 42 includes various menu switches.

[0126] First, a description will be given of the image display unit 41. As shown in Fig. 7, the image display unit 41 includes a date and time display area 41a, a driving mode display area 41b, an attachment display area 41c, a fuel efficiency display area 41d, an engine control status display area 41e, an engine operating time display area 41f, a coolant temperature display area 41g, a remaining fuel amount display area 41h, a rotation speed mode display area 41i, a urea water remaining amount display area 41j, a hydraulic oil temperature display area 41k, an air conditioner operating status display area 41m, an image display area 41n, and a menu display area 41p.

[0127] The travel mode display area 41b, the attachment display area 41c, the engine control state display area 41e, the rotation speed mode display area 41i, and the air conditioner operation state display area 41m are areas that display setting state information, which is information about the setting state of the excavator 100. The fuel consumption display area 41d, the engine operating time display area 41f, the coolant temperature display area 41g, the remaining fuel amount display area 41h, the remaining urea water amount display area 41j, and the hydraulic oil temperature display area 41k are areas that display operating state information, which is information about the operating state of the excavator 100.

[0128] Specifically, the date and time display area 41a is an area that displays the current date and time. The driving mode display area 41b is an area that displays the current driving mode. The attachment display area 41c is an area that displays an image representing the currently attached attachment. The fuel efficiency display area 41d is an area that displays fuel efficiency information calculated by the controller 30. The fuel efficiency display area 41d includes an average fuel efficiency display area 41d1 that displays lifetime average fuel efficiency or section average fuel efficiency, and an instantaneous fuel efficiency display area 41d2 that displays instantaneous fuel efficiency.

[0129] The engine control status display area 41e is an area that displays the control status of the engine 11. The engine operating time display area 41f is an area that displays the accumulated operating time of the engine 11. The coolant temperature display area 41g is an area that displays the current temperature state of the engine coolant. The remaining fuel amount display area 41h is an area that displays the remaining amount of fuel stored in the fuel tank.

[0130] The rotation speed mode display area 41i is an area that displays, as an image, the current rotation speed mode set by the engine rotation speed adjustment dial 75. The urea water remaining amount display area 41j is an area that displays, as an image, the remaining amount of urea water stored in the urea water tank. The hydraulic oil temperature display area 41k is an area that displays the temperature state of the hydraulic oil in the hydraulic oil tank.

[0131] The air conditioner operation status display area 41m includes an air outlet display area 41m1 that displays the current air outlet position, an operation mode display area 41m2 that displays the current operation mode, a temperature display area 41m3 that displays the current set temperature, and an air volume display area 41m4 that displays the current set air volume.

[0132] The image display area 41n is an area that displays images captured by an imaging device serving as the spatial recognition device 70. In the example of Fig. 7, the image display area 41n displays an overhead image FV and a rearward image CBT. The overhead image FV is, for example, a virtual viewpoint image generated by the display control unit 311, and is generated based on images captured by the rearward camera 70B, the left camera 70L, and the right camera 70R.

[0133] Furthermore, a shovel figure GE corresponding to the shovel 100 is placed in the center of the overhead image FV. This is to allow the operator to intuitively understand the positional relationship between the shovel 100 and objects present around the shovel 100. The rear image CBT is an image that shows the space behind the shovel 100, and includes an image GC of the counterweight. The rear image CBT is a real viewpoint image generated by the display control unit 311, etc., and is generated based on an image acquired by the rear camera 70B.

[0134] 7, the overhead image FV is arranged in the first image display area 41n1, and the rearward image CBT is arranged in the second image display area 41n2. However, the image display area 41n may alternatively have the overhead image FV arranged in the second image display area 41n2, and the rearward image CBT arranged in the first image display area 41n1.

[0135] 7, the overhead image FV and the rear image CBT are arranged adjacent to each other vertically, but they may be arranged with a gap between them. Also, in the example of Fig. 7, the image display area 41n is a vertically elongated area, but the image display area 41n may be a horizontally elongated area.

[0136] When the image display area 41n is a horizontally long area, the image display area 41n may have an overhead image FV arranged on the left side as a first image display area 41n1 and a rearward image CBT arranged on the right side as a second image display area 41n2. In this case, they may be arranged with a gap between them on the left and right, or the positions of the overhead image FV and the rearward image CBT may be interchanged.

[0137] Furthermore, in this embodiment, an icon image 41x is displayed in each of the first image display area 41n1 and the second image display area 41n2. The icon image 41x is an image that represents the relative relationship between the position of the imaging device (space recognition device 70) and the orientation of the attachment of the upper rotating body 3.

[0138] The icon image 41x of this embodiment includes an image 41xM of the shovel 100, an image 41xF showing the front of the shovel 100, and an image 41xB showing the rear of the shovel 100. The icon image 41x also includes an image 41xL showing the left side of the shovel 100, an image 41xR showing the right side of the shovel 100, and an image 41xI showing the inside of the cabin 10.

[0139] Images 41xF, 41xB, 41xL, 41xR, and 41xI correspond to camera 70F that images the area in front of the shovel 100, camera 70B that images the area behind the shovel 100, camera 70L that images the area to the left of the shovel 100, and camera 70R that images the area to the right of the shovel 100, respectively. Image 41xI corresponds to a camera inside the cabin 10.

[0140] In this embodiment, when an image associated with a camera is selected from the icon image 41x, image data captured by the camera corresponding to the selected image is displayed in the image display area 41n.

[0141] 7, in first image display region 41n1, the display manner of images 41xB, 41xL, and 41xR is different from the display manner of images 41xF and 41xI. Therefore, it can be seen that first image display region 41n1 displays an overhead image represented by image data synthesized from image data captured by cameras 70B, 70L, and 70R corresponding to images 41xB, 41xL, and 41xR, respectively.

[0142] Furthermore, in second image display region 41n2, the display mode of image 41xB is different from the display modes of images 41xF, 41xL, 41xR, and 41xI. Therefore, it can be seen that the image displayed in second image display region 41n2 is an image represented by image data captured by camera 70B corresponding to image 41xB.

[0143] The menu display area 41p has tabs 41p1 to 41p7. In the example of Fig. 7, the tabs 41p1 to 41p7 are arranged at intervals from each other on the left and right at the bottom of the image display section 41. Icon images for displaying various types of information are displayed on the tabs 41p1 to 41p7.

[0144] The tab 41p1 displays a menu detail item icon image for displaying the menu detail item. When the operator selects the tab 41p1, the icon images displayed on the tabs 41p2 to 41p7 are switched to icon images associated with the menu detail item.

[0145] An icon image for displaying information about the digital level is displayed on the tab 41p4. When the operator selects the tab 41p4, the rear image CBT is switched to a screen showing information about the digital level. However, the screen showing information about the digital level may be displayed by superimposing the information on the rear image CBT or by reducing the size of the rear image CBT.

[0146] In addition, the overhead image FV may be switched to a screen showing information about the digital level, or the screen showing information about the digital level may be superimposed on the overhead image FV or the overhead image FV may be reduced to display the screen.

[0147] The tab 41p5 displays an icon image for transitioning the main screen displayed on the image display unit 41 to a setting screen for the automatic control function. When the operator selects the input device 42 corresponding to the tab 41p5 (described later), the main screen displayed on the image display unit 41 transitions to a setting screen for the automatic control function. At this time, the image display area 41n continues to be displayed, the first image display area 41n continues to be displayed, and an icon image or the like for setting the automatic control function is displayed in the second image display area 41n2. The setting of the automatic control function is performed when the excavator 100 is not being operated.

[0148] Tab 41p6 displays an icon image for displaying information related to information-based construction. When tab 41p6 is selected by the operator, the rear image CBT is switched to a screen showing information related to information-based construction. However, a screen showing information related to information-based construction may be displayed by superimposing it on the rear image CBT or by reducing the rear image CBT. Furthermore, the overhead image FV may be switched to a screen showing information related to information-based construction, or a screen showing information related to a digital level may be displayed by superimposing it on the overhead image FV or by reducing the overhead image FV.

[0149] Tab 41p7 displays an icon image for displaying information about the crane mode. When tab 41p7 is selected by the operator, the rearward image CBT is switched to a screen showing information about the crane mode. However, the screen showing information about the crane mode may be displayed by superimposing it on the rearward image CBT or by reducing the rearward image CBT. Furthermore, the overhead-view image FV may be switched to a screen showing information about the crane mode, or the screen showing information about the crane mode may be displayed by superimposing it on the overhead-view image FV or by reducing the overhead-view image FV.

[0150] No icon image is displayed on the tabs 41p2 and 41p3, so even if the operator operates the tabs 41p2 and 41p3, the image displayed on the image display unit 41 does not change.

[0151] The icon images displayed on the tabs 41p1 to 41p7 are not limited to the above examples, and icon images for displaying other information may be displayed.

[0152] Next, a description will be given of the input device 42. As shown in Fig. 7, the input device 42 is made up of one or more button-type switches that allow the operator to select tabs 41p1 to 41p7, input settings, and the like.

[0153] 7, the input device 42 includes seven switches 42a1 to 42a7 arranged in an upper row and seven switches 42b1 to 42b7 arranged in a lower row. The switches 42b1 to 42b7 are arranged below the switches 42a1 to 42a7, respectively.

[0154] However, the number, form, and arrangement of the switches of the input device 42 are not limited to the above example, and for example, the functions of multiple button-type switches may be combined into one using a jog wheel, jog switch, or the like, or the input device 42 may be separate from the display device 40. Also, a system in which the tabs 41p1 to 41p7 are directly operated on a touch panel in which the image display unit 41 and the input device 42 are integrated may be used.

[0155] The switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7 in correspondence with the tabs 41p1 to 41p7, respectively, and function as switches for selecting the tabs 41p1 to 41p7, respectively.

[0156] The switches 42a1 to 42a7 are arranged below the tabs 41p1 to 41p7, respectively, in correspondence with the tabs 41p1 to 41p7, so that the operator can intuitively select the tabs 41p1 to 41p7.

[0157] 7, for example, when switch 42a1 is operated, tab 41p1 is selected, menu display area 41p is changed from a single-level display to a double-level display, and icon images corresponding to the first menu are displayed in tabs 41p2 to 41p7. Furthermore, in response to the change in menu display area 41p from a single-level display to a double-level display, the size of rearward image CBT is reduced. At this time, the size of overhead image FV is maintained without change, so visibility when the operator checks the surroundings of excavator 100 is not impaired.

[0158] Furthermore, when the switch 42a5 is operated, the display control unit 311 determines that the tab 41p5 is selected, and transitions the main screen to a setting screen for the automatic control function shown in FIG.

[0159] Specifically, when switch 42a5 is operated, display control unit 311 keeps image display area 41n and changes second image display area 41n2 to a display area for displaying an image for setting the automatic control function.

[0160] In this way, in this embodiment, even on the setting screen for the automatic control function, the captured image continues to be displayed in the image display area 41n, so visibility when the operator checks the surroundings of the excavator 100 is not impaired.

[0161] The switch 42b1 is a switch that switches the captured image displayed in the image display area 41n. Each time the switch 42b1 is operated, the captured image displayed in the first image display area 41n1 of the image display area 41n is switched between, for example, a rear image, a left image, a right image, and an overhead image.

[0162] In addition, the captured image displayed in the second image display area 41n2 of the image display area 41n may be configured to switch between, for example, a rear image, a left image, a right image, and an overhead image each time the switch 42b1 is operated.

[0163] Furthermore, the display control unit 311 may change the display mode of the images 41xF, 41xB, 41xL, 41xR, and 41xI in the icon image 41x in response to an operation of the switch 42b1.

[0164] Furthermore, the image display area 41n may be configured such that the captured image displayed in the first image display area 41n1 and the captured image displayed in the second image display area 41n2 are swapped every time the switch 42b1 is operated.

[0165] In this way, the switch 42b1 serving as the input device 42 may switch between the screens displayed in the first image display area 41n1 and the second image display area 41n2, or may switch between the screens displayed in the first image display area 41n1 and the second image display area 41n2. Alternatively, a separate switch may be provided for switching between the screens displayed in the second image display area 41n2.

[0166] Switches 42b2 and 42b3 are switches that adjust the air volume of the air conditioner. In the example of Fig. 7, when switch 42b2 is operated, the air volume of the air conditioner decreases, and when switch 42b3 is operated, the air volume of the air conditioner increases.

[0167] The switch 42b4 is a switch that switches the cooling and heating functions ON and OFF. In the example of Fig. 7, the switch 42b4 is configured so that the cooling and heating functions are switched ON and OFF each time the switch 42b4 is operated.

[0168] Switches 42b5 and 42b6 are switches for adjusting the set temperature of the air conditioner. In the example of Fig. 7, when switch 42b5 is operated, the set temperature decreases, and when switch 42b6 is operated, the set temperature increases.

[0169] The switch 42b7 is a switch that can switch the display of the engine operating time display area 41f.

[0170] Switches 42a2 to 42a6 and 42b2 to 42b6 are configured to allow input of numbers displayed on or near the respective switches. Switches 42a3, 42a4, 42a5, and 42b4 are configured to allow movement of the cursor left, up, right, and down, respectively, when the cursor is displayed on the menu screen.

[0171] The functions given to the switches 42a1 to 42a7 and 42b1 to 42b7 are merely examples, and the switches may be configured to be able to perform other functions.

[0172] As described above, when tab 41p1 is selected while the overhead image FV and rearward image CBT are displayed in image display area 41n, the first menu detailed items are displayed in tabs 41p2 to 41p7 while the overhead image FV and rearward image CBT are displayed. This allows the operator to check the first menu detailed items while checking the overhead image FV and rearward image CBT.

[0173] Furthermore, the image display area 41n displays the overhead image FV without changing its size before and after the tab 41p1 is selected. This prevents a decrease in visibility when the operator checks the surroundings of the excavator 100.

[0174] Fig. 8 is a diagram showing an example of a setting screen for the automatic control function. A first image display area 41n1 and a second display area 41n2A are displayed on the image display section 41 shown in Fig. 8.

[0175] Icon images 45a, 45b, an icon image 46a, arrow images 47a, 47b, and an icon image 48a are displayed in the second display area 41n2A. Also, tabs 49a to 49d are displayed in the second display area 41n2A.

[0176] The icon image 45a indicates that the second display area 41n2A is a display for registering an automatic control function. The icon image 45b is an icon image for completing the registration of the automatic control function.

[0177] The icon image 46a is associated with the boom lowering operation. The arrow images 47a and 47b indicate that the icon image 46a can be switched to an icon image associated with another operation.

[0178] The icon image 48a is an icon image for combining the action associated with the icon image 46a with another action.

[0179] Tab 49a is a tab for returning the display of second display area 41n2A to the original state. Tab 49b is a tab for switching icon image 45a. Tab 49c is a tab for selecting the next operation after the operation indicated by icon image 46a. Tab 49d is a tab for transitioning from the setting screen for the automatic control function to the main screen.

[0180] In this embodiment, when an input device 42 located at a position corresponding to each of the tabs 49a to 49d is operated, the screen of the display device 40 displays a screen corresponding to the tab corresponding to the operated input device 42.

[0181] The second display area 41n2A shown in FIG. 8 may be the initial state of the setting screen for the automatic control function.

[0182] Next, the setting of the automatic control function will be specifically described with reference to Fig. 9. Fig. 9 is a diagram for explaining the setting of the automatic control function.

[0183] FIG. 9(A) shows the initial state of the setting screen for the automatic control function, which is the same as the second display area 41n2A in FIG.

[0184] 9(A), an icon image 46a associated with the boom lowering operation is displayed. In this state, for example, when the input device 42 corresponding to the tab 49b is operated, the icon image 46a is switched to an icon image associated with an operation other than the boom lowering operation.

[0185] Furthermore, when the input device 42 corresponding to the tab 49c is operated in the state of FIG. 9(A), a new icon image associated with the action is displayed next to the icon image 48a.

[0186] Fig. 9(B) shows the state of the second display area 41n2A while the automatic control function is being set. In the second display area 41n2A in Fig. 9(B), the icon images 46a, 46b, and 46c are associated with the icon image 48a and the icon image 48b. Therefore, in the example of Fig. 9(B), it can be seen that the boom lowering operation associated with the icon image 46a, the arm opening operation associated with the icon image 46b, and the bucket opening operation associated with the icon image 46c are combined.

[0187] That is, it can be seen that the excavator 100 has selected an earth-discharging operation in which the boom lowering operation, the arm opening operation, and the bucket opening operation are performed simultaneously.

[0188] 9(B) shows an icon image 43a displayed in the second display area 41n2A. This icon image 43a is associated with the interval provided between the selected types of actions.

[0189] 9(B), icon image 43a is displayed below the area where icon images 46a to 46c are displayed, and icon images 46d and 46e are displayed below the area where icon image 43a is displayed.

[0190] Icon image 46d is associated with the arm closing operation, and icon image 46e is associated with the left swing operation. Furthermore, icon image 46d and icon image 46e are associated with each other by icon image 48c, and it can be seen that the arm closing operation and the left swing operation are combined. In other words, it can be seen that the left swing operation, which simultaneously performs the boom lowering operation, the arm closing operation, and the swing operation, has been selected for the excavator 100.

[0191] In this way, in FIG. 9(B), the earth removal operation, interval, and left turning operation are selected as a series of work contents.

[0192] In this embodiment, parameters such as angle and time can be set for the actions indicated by each icon image in the second display area 41n2A. In this embodiment, the work content may also include work conditions such as the location to be excavated. For example, when the work content is set and an action indicated by each icon image is selected to perform the set work content, parameters indicating the operation time of each action, etc. are automatically set based on the work conditions included in the work content. In addition, by accumulating the operation time of each action, the work time required to complete the set work content can be estimated. In addition, the parameters indicating the operation time of each action, etc. may also be set manually.

[0193] 9(B), parameters 50a, 50b, 50c, and 50e indicating operation times are set for icon images 46a to 46d, respectively, and a parameter 50d indicating an interval time is set for icon image 43a. Also, a parameter 50f indicating a turning angle is set for icon image 46e.

[0194] In this embodiment, when an operation to select the icon image 45b is performed in FIG. 9(B), the registration unit 312 registers the automatic control information according to the setting of the second display area 41n2A.

[0195] Specifically, the registration unit 312 generates automatic control information that associates operation information for the earth unloading operation including parameters set for each of the icon images 46a to 46c, the interval indicated by the parameters set for the icon image 43a, operation information for the left turning operation including parameters set for each of the icon images 46d and 46e, and the work content of earth unloading and left turning, and stores the information in the storage device.

[0196] In this embodiment, the combination of actions before the interval may be referred to as a first action group, and the combination of actions after the interval may be referred to as a second action group. In this case, the work content to be automated in the example of FIG. 9(B) is a work content that includes the first action group and the second action group. Also, the number of action groups included in the work content is not limited to the example shown in FIG. 9(B). The number of action groups included in the work content may be any number.

[0197] In FIG. 9(B), when the registration of the automatic control information is completed, the second display area 41n2A becomes the state shown in FIG. 9(C).

[0198] In the state shown in FIG. 9(C), for example, when an operation to select tab 49d is performed, the second display area 41n2A on the display device 40 may be switched to the second image display area 41n2, and the setting screen for the automatic control function may be transitioned to the main screen.

[0199] In this embodiment, by selecting a combination of icon images associated with the operation of the shovel 100 in this way, the operator can automate the work content he or she desires.

[0200] Therefore, according to this embodiment, the work content desired by the operator can be easily automated regardless of the type of end attachment of the shovel 100, etc.

[0201] Furthermore, in this embodiment, work content can be automated by selecting icon images and combining actions, so that, for example, knowledge of programming to perform automation is not required, and operators can easily automate work content.

[0202] Furthermore, in this embodiment, if multiple switches NS are provided on the left operating lever 26L, different operations can be set for each switch. In other words, in this embodiment, multiple types of automatic control information can be registered in association with each of the multiple NS switches.

[0203] Furthermore, in this embodiment, by operating the switch NS in which the work content is registered, the shovel 100 can be made to automatically perform the registered work content, thereby reducing the burden on the operator.

[0204] Next, processing by the controller 30 of the shovel 10 using the automatic control function will be described. In this embodiment, if the shovel 100 satisfies a predetermined condition while operating using the automatic control function, the operation using the automatic control function is stopped. In other words, the shovel 100 is currently operating using the automatic control function under control based on the automatic control information.

[0205] The predetermined condition is, for example, when the operator operates the lever of the operation device 26, or when the spatial recognition device 70 detects a person or an object around the shovel 100, or the like.

[0206] Fig. 10 is a second flowchart illustrating the processing of the controller of the shovel. Fig. 10 shows a case where the shovel 100 is operated by the automatic control function.

[0207] In this embodiment, the controller 30 determines whether or not an instruction for an operation by the automatic control function has been received (step S1001). Specifically, the controller 30 determines whether or not the switch NS corresponding to the operation content set in FIG. 9 has been operated by the input receiving unit 310.

[0208] In step S1001, if an instruction to operate by the automatic control function is not received, the controller 30 waits. In step S1001, if an instruction to operate by the automatic control function is received, the controller 30 reads out automatic control information associated with the operated switch NS and the corresponding work content, and starts automatic control (step S1002). At this time, the controller 30 may cause the display control unit 311 to display on the display device 40 a message indicating that the automatic control function is in operation.

[0209] Next, the controller 30 determines whether or not the shovel 100 satisfies a predetermined condition (step S1003). If the predetermined condition is satisfied in step S1003, the controller 30 stops the operation by the automatic control function (step S1004) and ends the processing.

[0210] Specifically, when the controller 30 detects an operation of the operation device 26 by the operator, it may stop the operation by the automatic control function and switch to an operation by the operator.

[0211] Furthermore, the controller 30 may perform control so that, when a person or object is detected around the shovel 100, operation by the automatic control function is stopped and operation by the operating device 26 is disabled. In this way, safety during work can be ensured even during operation by the automatic control function.

[0212] If the predetermined condition is not met in step S1003, the controller 30 determines whether or not the operation by the automatic control function has ended (step S1005). If the operation is not ended in step S1005, the controller 30 returns to step S1003.

[0213] In step S1005, if the operation by the automatic control function is completed, the controller 30 ends the process.

[0214] Next, a display example during operation of the automatic control function will be described with reference to Fig. 11. Fig. 11 is a second diagram showing an example of the main screen.

[0215] 11, the display area 110 is displayed in the first image display area 41n1, and a message "AUTOMATIC CONTROL IN PROGRESS" indicating that operation by the automatic control function is in progress is displayed in the display area 110. Note that this message may be displayed, for example, on a support device for the shovel 100 held by a worker working at a work site or the like of the shovel 100.

[0216] In this embodiment, by displaying a message in this manner, it is possible to notify the operator of the excavator 100, workers at the work site, and the like.

[0217] Furthermore, in this embodiment, the display area 110 is displayed in the first image display area 41n1, so the visibility of the rear image CBT of the excavator 100 displayed in the second image display area 41n2 is not impaired.

[0218] Next, the operation of the shovel 100 with the automatic control function will be described with reference to Figures 12 and 13. Figure 12 is a first diagram illustrating the operation of the shovel with the automatic control function.

[0219] Fig. 12 shows the relationship between time and command values ​​to the proportional valves 31 corresponding to each actuator by the automatic control function. Fig. 12 also shows a case where the excavator 100 does not satisfy a predetermined condition during operation by the automatic control function.

[0220] In the example of FIG. 12, when automatic control of the work content “earth removal and left turn” is selected at timing T1, the controller 30 performs the bucket opening operation, boom lowering operation, and arm opening operation in accordance with the automatic control information associated with the first operation group among the work content.

[0221] When the shovel 100 completes the operations combined as the first operation group between timing T1 and timing T2, the period from timing T2 to timing T3 becomes an interval. During this interval, the controller 30 in the shovel 100 outputs to the proportional valve 31 a command value for neutralizing the spool positions of the control valves 171 to 176 corresponding to each actuator. Then, from timing T3, the shovel 100 performs an arm closing operation and a left swing operation in accordance with the automatic control information associated with the second operation group, and at timing T4, the operations combined as the second operation group are completed.

[0222] In this way, in this embodiment, multiple action groups can be registered as a series of work contents via intervals. Also, in this embodiment, because intervals are provided between action groups, the prohibition determination unit 313 only needs to determine an error when a combination of prohibited actions is included in the same action group.

[0223] Fig. 13 is a second diagram illustrating the operation of the shovel using the automatic control function. Fig. 13 shows the relationship between time and command values ​​for proportional valves 31 corresponding to each actuator during operation using the automatic control function, and the relationship between time and the amount of operation of control device 26 performed by the operator. Fig. 12 also shows a case where the shovel 100 satisfies a predetermined condition during operation using the automatic control function.

[0224] The example of FIG. 13 shows a case where the operator operates the operating device 26 at timing T5 during operation of the automatic control function according to the automatic control information associated with the second operation group.

[0225] In this case, the shovel 100 stops operation by the automatic control function at timing T5 and operates based on the operation of the operator. Specifically, the shovel 100 stops operation by the automatic control function at timing T5 and performs a boom raising operation based on the boom raising operation by the operator.

[0226] In the above-described embodiment, the shovel 100 is an example of a work machine, and the bucket 6 is an example of an end attachment, but the present invention is not limited to this. For example, the present embodiment can also be applied to a material handling machine or the like to which a grapple, lifting magnet, or the like is attached as an end attachment.

[0227] The present embodiment has been described above with reference to specific examples. However, the present invention is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art as appropriate are also encompassed within the scope of the present invention as long as they incorporate the features of the present invention. The elements of the above-described specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and may be modified as appropriate. The elements of the above-described specific examples may be combined as appropriate as long as no technical contradictions arise. For example, in the above-described embodiment, the operation time may be estimated based on the set automatic control information. Specifically, the operation time and interval time set for each operation may be integrated to estimate the operation time required for automatic control. [Explanation of symbols]

[0228] 26 Operating device 30 Controllers 40 Display device 100 Shovel 310 Input reception unit 311 Display control unit 312 Registration Department 313 Prohibition Judgment Department 314 Bucket operation control unit 315 Arm movement control unit

Claims

1. a lower running body; An upper rotating body; An end attachment; A work machine equipped with a display device, a control unit that stores in a storage device automatic control information that associates a combination of operations of the work machine selected on the setting screen, which is displayed on the display device and accepts selection of multiple types of operations to be automatically controlled from among multiple types of operations of the work machine, with operation information for the selected multiple types of operations from operation information for each of the operations of the work machine that is pre-stored in a storage device that the work machine has.

2. An operating device is provided, The control unit The work machine according to claim 1 , wherein the work machine is caused to perform an operation based on the automatic control information stored in the storage device in response to an operation on the operation device.

3. the setting screen includes an icon image indicating a type of operation of the work machine, The control unit 3. The work machine according to claim 1, wherein a combination of the icon images selected on the setting screen and the corresponding actions is set as the combination of actions.

4. The control unit The work machine according to claim 1 , wherein a parameter setting is accepted for each of the operations.

5. The work machine according to claim 1 , wherein the combination of actions includes a plurality of action groups each including a plurality of types of action.

6. The control unit Accepting an operation on a switch that instructs an operation based on the automatic control information, 6. The work machine according to claim 5, wherein the work machine is caused to perform an operation of a type included in a first operation group among the plurality of operation groups, and after the operation of the type included in the first operation group is completed, the work machine is caused to perform an operation of a type included in a second operation group.

7. The control unit The work machine according to claim 1 , wherein when the state of the work machine satisfies a predetermined condition, operation based on the automatic control information is stopped.

8. The predetermined condition is: The work machine according to claim 7, wherein a person is detected around the work machine, or an operation of an operating device by an operator is detected.

9. A lower running body; An upper rotating body; An end attachment; A work machine equipped with a display device, a control unit that stores in a storage device automatic control information that associates a combination of operations of the work machine selected on the setting screen displayed on the display device with operation information prepared for each of the operations, The control unit The work machine causes the display device to display an error if a combination of operations of the work machine selected on the setting screen includes a combination of operations that has been prohibited in advance.

Images