System for setting target position in automatic revolution control of work machine

Abstract

A system includes a mode selecting unit, a screen generating unit, and a target-position setting unit. The mode selecting unit selects, as a control mode for an automatic revolution control, either a rightward loading-revolution mode or a leftward loading-revolution mode. The screen generating unit generates a rightward-revolution teaching screen used to teach the target position in the rightward loading-revolution mode, and a leftward-revolution teaching screen used to teach the target position in the leftward loading-revolution mode. The target-position setting unit sets an end point of returning revolution and an end point of loading revolution taught through the rightward-revolution teaching screen when the rightward loading-revolution mode is selected, and sets the end point of returning revolution and the end point of loading revolution taught through the leftward-revolution teaching screen when the leftward loading-revolution mode is selected.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a U.S. National stage application of International Application No. PCT / JP2024 / 006023, filed on Feb. 20, 2024. This U.S. National stage application claims priority under 35 U.S.C. § 119(a) to Japanese Patent Application No. 2023-103570, filed in Japan on Jun. 23, 2023. The entire contents of Japanese Patent Application No. 2023-103570 is hereby incorporated herein by reference.BACKGROUNDTechnical Field

[0002] The present disclosure relates to a system for setting a target position in automatic revolution control of a work machine.Background Art

[0003] Some work machines perform automatic revolution control to cause a revolving body to automatically revolve so as to move the work implement to a target position. For example, an excavator in PCT Publication No. WO 2019 / 181872 is configured such that an operator teaches, as a target position, an excavation position and an earth unloading position. Specifically, in a state where a bucket is positioned at the excavation position, the operator presses a recording switch, whereby the posture of the excavator at this time is stored in a memory. With this operation, teaching is performed for the excavation position. In a state where the bucket is at the earth unloading position, the operator presses the recording switch, whereby the posture of the excavator at this time is stored in the memory. With this operation, teaching is performed for the earth unloading position. A controller of the work machine calculates a target path of the bucket in the automatic revolution control on the basis of the stored postures. In a case where a starting condition for the automatic revolution control is satisfied, the controller causes the excavator to revolve so as to move the bucket along the target path, and also moves the bucket in an up-down direction.SUMMARY

[0004] As described above, in the automatic revolution control, the work machine is controlled on the basis of the target position taught by the operator. In order for the operator to easily teach the target position, a teaching screen indicating an appropriate teaching method is required.

[0005] For example, in a case where the operator is not familiar with teaching of the target position, a teaching screen indicating detailed teaching methods is required. However, in a case where the operator is familiar with teaching of the target position, the teaching screen indicating detailed teaching methods deteriorates the efficiency of teaching.

[0006] In addition, the automatic revolution control is performed to cause the revolving body to revolve rightward from the excavation position to the earth unloading position, or cause the revolving body to revolve leftward from the excavation position to the earth unloading position. Thus, a teaching screen indicating an appropriate teaching method is required for each of the rightward revolution and the leftward revolution.

[0007] A first aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position and an earth unloading position. The system includes a mode selecting unit, a screen generating unit, and a target-position setting unit. The mode selecting unit selects either a rightward loading-revolution mode or a leftward loading-revolution mode as a control mode for the automatic revolution control. The rightward loading-revolution mode causes the revolving body to revolve rightward from a current position of the work implement toward the earth unloading position. The leftward loading-revolution mode causes the revolving body to revolve leftward from the current position of the work implement toward the earth unloading position. When the rightward loading-revolution mode is selected, the screen generating unit generates a rightward-revolution teaching screen used to teach the target position in the rightward loading-revolution mode. When the leftward loading-revolution mode is selected, the screen generating unit generates a leftward-revolution teaching screen used to teach the target position in the leftward loading-revolution mode. When the rightward loading-revolution mode is selected, the target-position setting unit sets the excavation position and the earth unloading position taught through the rightward-revolution teaching screen. When the leftward loading-revolution mode is selected, the target-position setting unit sets the excavation position and the earth unloading position taught through the leftward-revolution teaching screen.

[0008] A second aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position, an earth unloading position, and a passing position between the excavation position and the earth unloading position. The system includes a target-position setting unit. The target-position setting unit acquires, as a control mode for the automatic revolution control, either a rightward loading-revolution mode that causes the revolving body to revolve rightward from a current position of the work implement toward the earth unloading position or a leftward loading-revolution mode that causes the revolving body to revolve leftward from the current position of the work implement toward the earth unloading position. The target-position setting unit determines whether or not it is possible to set at least one of the excavation position, the earth unloading position, or the passing position, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

[0009] A third aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position and an earth unloading position. The system includes a mode selecting unit, a screen generating unit, and a target-position setting unit. The mode selecting unit selects, from among a plurality of modes, a teaching mode used to teach the target position. The plurality of modes include a basic mode and an advanced mode. When the basic mode is selected, the screen generating unit generates a basic teaching screen. The basic teaching screen includes an excavation teaching button used to teach the excavation position, an earth-unloading teaching button used to teach the earth unloading position, and assisting information used to assist in teaching the target position. When the advanced mode is selected, the screen generating unit generates an advanced-mode teaching screen. The advanced-mode teaching screen includes the excavation teaching button and the earth-unloading teaching button, and does not include the assisting information. The target-position setting unit sets the excavation position on a basis of a position of the work implement when teaching is instructed with the excavation teaching button. The target-position setting unit sets the earth unloading position on a basis of a position of the work implement when teaching is instructed with the earth-unloading teaching button.

[0010] With the system according to the first aspect of the present disclosure, the rightward loading-revolution mode or the leftward loading-revolution mode is selected, thereby generating an appropriate teaching screen for each of the rightward revolution and the leftward revolution in the automatic revolution control. With the system according to the second aspect of the present disclosure, the target position is appropriately set in accordance with the rightward loading-revolution mode or the leftward loading-revolution mode. With the system according to the third aspect of the present disclosure, the basic mode or the advanced mode is selected in accordance with whether or not the operator is familiar with teaching, thereby generating an appropriate teaching screen.BRIEF DESCRIPTION OF DRAWINGS

[0011] Referring now to the attached drawings which form a part of this original disclosure, an illustrative embodiment is shown.

[0012] FIG. 1 is a side view illustrating a work machine.

[0013] FIG. 2 is a block diagram showing the configuration of the work machine and a control system thereof.

[0014] FIG. 3 is a diagram illustrating a work flow of the work machine.

[0015] FIG. 4 is a plan view illustrating operation of the work machine in automatic revolution control.

[0016] FIG. 5 is a side view illustrating operation of the work machine in automatic revolution control.

[0017] FIG. 6 is a flowchart showing a process of automatic revolution control.

[0018] FIG. 7 is a diagram illustrating the configuration of a display system for a guide screen and a teaching screen.

[0019] FIG. 8 is a diagram illustrating the guide screen.

[0020] FIG. 9 is a diagram illustrating the guide screen when loading revolution control is being performed.

[0021] FIG. 10 is a diagram illustrating the guide screen when the work implement has reached an earth unloading position.

[0022] FIG. 11 is a diagram illustrating the guide screen when the work implement is positioned within a first permitted area.

[0023] FIG. 12 is a diagram illustrating the guide screen when returning revolution control is being performed.

[0024] FIG. 13 is a diagram illustrating the guide screen when the work implement has reached an excavation position.

[0025] FIG. 14 is a diagram illustrating the guide screen when the work implement is positioned within a prohibited area.

[0026] FIG. 15 is a diagram illustrating a setting screen concerning a control mode used to select a revolving mode.

[0027] FIG. 16 is a diagram illustrating the guide screen in a case where a rightward loading-revolution mode is selected.

[0028] FIG. 17 is a diagram illustrating a setting screen used to select a teaching mode.

[0029] FIG. 18 is a diagram illustrating the guide screen in a case where a basic mode is selected.

[0030] FIG. 19 is a diagram illustrating a basic teaching screen.

[0031] FIG. 20 is a diagram illustrating the basic teaching screen when an earth unloading position is set.

[0032] FIG. 21 is a diagram illustrating the basic teaching screen when an interference avoiding position is set.

[0033] FIG. 22 is a diagram illustrating the basic teaching screen when all target positions are set.

[0034] FIG. 23 is a diagram illustrating the basic teaching screen in a case where an earth unloading position cannot be set.

[0035] FIG. 24 is a diagram illustrating an advanced teaching screen.

[0036] FIG. 25 is a diagram illustrating a dialog screen.

[0037] FIG. 26 is a diagram illustrating the advanced teaching screen when the earth unloading position is set.

[0038] FIG. 27 is a diagram illustrating the advanced teaching screen when all target positions are set.

[0039] FIG. 28 is a diagram illustrating a rightward-revolution teaching screen in the basic mode.

[0040] FIG. 29 is a diagram illustrating a rightward-revolution teaching screen in the advanced mode.

[0041] FIG. 30 is a diagram illustrating the guide screen according to a modification example.

[0042] FIG. 31 is a diagram illustrating another example of an input device.DETAILED DESCRIPTION OF EMBODIMENTS

[0043] A work machine according to the embodiment will be described below with reference to the drawings. FIG. 1 is a side view of a work machine 1. In the present embodiment, the work machine 1 is an excavation device such as a hydraulic excavator or an electric excavator.

[0044] As illustrated in FIG. 1, the work machine 1 includes a work implement 3, a revolving body 4, and a traveling body 5. The work implement 3 is attached to the revolving body 4. The revolving body 4 is coupled so as to be able to revolve relative to the traveling body 5. The revolving body 4 is able to revolve around a revolving center C1. A cab 6 is disposed in the revolving body 4. The traveling body 5 includes crawlers 7. Note that FIG. 1 illustrates only either one of the left and right crawlers 7. With the crawlers 7 being driven, the work machine 1 travels.

[0045] The work implement 3 is attached so as to move in an up-down direction relative to the revolving body 4. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is attached so as to be able to rotate relative to the revolving body 4. The arm 12 is attached so as to be able to rotate relative to the boom 11. The bucket 13 is attached so as to be able to rotate relative to the arm 12.

[0046] The work implement 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 causes the boom 11 to be operated. The arm cylinder 15 causes the arm 12 to be operated. The bucket cylinder 16 causes the bucket 13 to be operated.

[0047] FIG. 2 is a block diagram illustrating the work machine 1 and the configuration of the control system thereof. As illustrated in FIG. 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, a power transmission device 23, and a controller 24. The drive source 21 is controlled with an instruction signal from the controller 24. The drive source 21 is, for example, an internal-combustion engine. Alternatively, the drive source 21 may include an electrically driven motor, or a drive source such as a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21, and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0048] The work machine 1 includes a revolving motor 25. The revolving motor 25 is, for example, a hydraulic motor. The revolving motor 25 is driven with hydraulic oil from the hydraulic pump 22. Alternatively, the revolving motor 25 may be an electrically driven motor. The revolving motor 25 causes the revolving body 4 to revolve. Note that FIG. 2 illustrates one hydraulic pump. However, a plurality of hydraulic pumps may be provided.

[0049] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is coupled to the hydraulic pump 22. The pump control device 26 controls the tilting angle of the hydraulic pump 22. The pump control device 26 includes, for example, an electromagnetic valve, and is controlled with an instruction signal from the controller 24. The controller 24 controls the pump control device 26 to control the displacement of the hydraulic pump 22.

[0050] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14 to 16, and the revolving motor 25 are coupled to each other with a hydraulic circuit through the control valve 27. The control valve 27 is controlled with an instruction signal from the controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14 to 16 and the revolving motor 25. The controller 24 controls the control valve 27 to control operation of the work implement 3. The controller 24 controls the control valve 27 to control the revolution of the revolving body 4. Note that the cylinders 14 to 16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven with an electrically driven motor.

[0051] The power transmission device 23 transmits the drive force of the drive source 21 to the traveling body 5. The crawlers 7 are driven with the drive force from the power transmission device 23 to cause the work machine 1 to travel. The power transmission device 23 may be a transmission including, for example, a torque converter or a plurality of speed changing gears. Alternatively, the power transmission device 23 may be other types of transmission such as a hydro static transmission (HST), or a hydraulic mechanical transmission (HMT).

[0052] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processes for controlling the work machine 1. The storage device 32 includes a memory such as a RAM or a ROM, and an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The storage device 32 holds data or programs used to control the work machine 1.

[0053] The control system includes an operation device 33, an input device 34, and a display 35. The operation device 33, the input device 34, and the display 35 are disposed within the cab 6. The operation device 33 can be operated by an operator. The operation device 33 includes, for example, a lever, a pedal, or a switch. The operation device 33 outputs, to the controller 24, an operation signal corresponding to the operation performed by an operator. The controller 24 controls the control valve 27 such that the work implement 3 operates in accordance with the operation performed by an operator to the operation device 33. The controller 24 controls the control valve 27 so as to cause the revolving body 4 to revolve in accordance with the operation performed by an operator to the operation device 33. The controller 24 controls the drive source 21 and the power transmission device 23 so as to cause the work machine 1 to travel in accordance with the operation by an operator to the operation device 33.

[0054] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may include a hardware key. By operating the input device 34, the operator inputs various types of settings concerning the work machine 1. The input device 34 outputs an input signal corresponding to the operation of the operator. The display 35 is, for example, an LCD, an OELD, or other types of display. The display 35 displays a screen corresponding to a display signal from the controller 24.

[0055] The control system includes an orientation sensor 36 and a height sensor 37. The orientation sensor 36 detects the orientation of the work machine 1. The orientation sensor 36 includes, for example, a sensor employing a global navigation satellite system (GNSS). Specifically, the orientation sensor 36 detects the orientation of the revolving body 4. The orientation sensor 36 outputs orientation data indicating the orientation of the revolving body 4. The orientation data is indicated in orientation coordinate in north, south, east, and west directions.

[0056] The height sensor 37 detects the height of the work implement 3. For example, the height sensor 37 detects the posture of the work implement 3. The posture of the work implement 3 is indicated as angles with the boom 11, the arm 12, and the bucket 13. The height sensor 37 includes, for example, an inertial measurement unit (IMU). Alternatively, the height sensor 37 may be a sensor configured to directly detect the height of the work implement 3. The height sensor 37 outputs height data indicating the height of the work implement 3.

[0057] The controller 24 receives an operation signal from the operation device 33. The controller 24 receives an input signal from the input device 34. The controller 24 outputs a display signal to the display 35. The controller 24 receives orientation data from the orientation sensor 36. The controller 24 receives height data from the height sensor 37.

[0058] The controller 24 calculates the orientation of the work implement 3 on the basis of the orientation data. The orientation of the work implement 3 is an orientation of a predetermined work point of the work implement 3 relative to the revolving center C1. Alternatively, the orientation of the work implement 3 may be an orientation of a work point relative to the traveling body 5. The work point may be a distal end of the arm 12, for example. Alternatively, the work point may be a predetermined portion of the bucket 13. The orientation of the work implement 3 is indicated in the orientation coordinate in north, south, east, and west directions. The controller 24 calculates the height of the work implement 3 on the basis of the height data. The height of the work implement 3 is a height of the work point of the work implement 3 from the ground. Alternatively, the height of the work implement 3 may be a height relative to a predetermined reference point of the work machine 1 such as the bottom surface of the crawler 7.

[0059] The controller 24 performs automatic revolution control in which revolution of the revolving body 4 is automatically controlled, on the basis of the position of the work implement 3 described above. Below, the automatic revolution control of the work machine 1 will be described.

[0060] FIG. 3 is a diagram illustrating a work flow of the work machine 1. As illustrated in FIG. 3, the work machine 1 sequentially performs excavation, loading revolution, earth unloading, and returning revolution. After performing the returning revolution, the work machine 1 sequentially performs excavation, loading revolution, earth unloading, and returning revolution again. By repeating these operations, the work machine 1 loads a target item such as earth and sand into a transport vehicle such as a dump truck. In the automatic revolution control, the loading revolution and the returning revolution are automatically performed by the controller 24. That is, the automatic revolution control includes the loading revolution control and the returning revolution control.

[0061] FIG. 4 is a plan view illustrating the operation of the work machine 1 in the automatic revolution control. FIG. 5 is a side view illustrating the operation of the work machine 1 in the automatic revolution control. FIG. 6 is a flowchart showing the process of the automatic revolution control.

[0062] As illustrated in FIG. 6, in step S101, the controller 24 acquires a target position. The controller 24 holds the target position set by an operator in advance. The set target position includes an orientation and a height, which indicate the target position. As illustrated in FIGS. 4 and 5, the target position includes an excavation position P1, an interference avoiding position P2, and an earth unloading position P3.

[0063] The excavation position P1 is an end point of the returning revolution. The earth unloading position P3 is an end point of the loading revolution. The earth unloading position P3 is set above a loading platform 101 of a transport vehicle 100. The interference avoiding position P2 is a passing position disposed between the excavation position P1 and the earth unloading position P3 in a path of revolution of the work implement 3.

[0064] The interference avoiding position P2 is set in order to avoid interference of the work implement 3 with a transport vehicle 100. The interference avoiding position P2 is set outside of the side surface of the loading platform 101 of the transport vehicle 100 and at a position higher than the side surface of the loading platform 101, for example. This avoids interference of the work implement 3 with the side surface of the loading platform 101.

[0065] In step S102, a revolving mode is acquired. The controller 24 holds the revolving mode selected by an operator in advance. The revolving mode includes a leftward loading-revolution mode and a rightward loading-revolution mode. In the leftward loading-revolution mode, the controller 24 causes the revolving body 4 to revolve leftward up to the earth unloading position P3 in the loading revolution control. In the rightward loading-revolution mode, the controller 24 causes the revolving body 4 to revolve rightward up to the earth unloading position P3 in the loading revolution control, which will be described later. The method of setting the revolving mode and the method of setting the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 will be described later.

[0066] In step S103, the controller 24 determines whether to start the loading revolution control. For example, after manipulating the work implement 3 to perform excavation, an operator gives an instruction to start the automatic revolution control through the input device 34. In a case where a permission condition for loading revolution, which will be described later, is satisfied, the controller 24 makes determination to start the loading revolution control. In a case where starting of the loading revolution control is determined, the controller 24 performs the loading revolution control in step S104.

[0067] As illustrated by the arrow L1 in FIGS. 4 and 5, in the loading revolution control, the controller 24 causes the revolving body 4 to revolve while causing the work implement 3 to ascend so as to cause the work implement 3 to pass through a passing position based on the interference avoiding position P2 to move to the earth unloading position P3. At this time, in a case where the leftward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve leftward as illustrated in FIG. 4. In a case where the rightward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve rightward. Note that the passing position based on the interference avoiding position P2 may be an offset position with a margin being given from the interference avoiding position P2, or may be the interference avoiding position P2 itself.

[0068] In step S105, the controller 24 determines whether or not the work implement 3 has reached the earth unloading position P3. In a case where the work implement 3 is determined to have reached the earth unloading position P3, the controller 24 ends the loading revolution control in step S106. That is, the controller 24 stops the revolving body 4 at the earth unloading position P3. After this, the operator manipulates the work implement 3 to discharge a target object from the work implement 3. With this operation the target object is loaded on the loading platform 101 of the transport vehicle 100.

[0069] In step S107, the controller 24 determines whether to start the returning revolution control. For example, after discharging the target object from the work implement 3, the operator gives an instruction to start the automatic revolution control through the input device 34. In a case where the permission condition for returning revolution, which will be described later, is satisfied, the controller 24 makes determination to start the returning revolution control. In a case where starting of the returning revolution control is determined, the controller 24 performs the returning revolution control in step S108.

[0070] As illustrated by the arrow L2 in FIGS. 4 and 5, in the returning revolution control, the controller 24 causes the revolving body 4 to revolve while causing the work implement 3 to descend so as to cause the work implement 3 to pass through a passing position based on the interference avoiding position P2 to move to the excavation position P1. At this time, the controller 24 causes the revolving body 4 to revolve in a direction opposite to the loading revolution control. That is, in a case where the leftward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve rightward to move the work implement 3 to the excavation position P1. In a case where the rightward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve leftward to move the work implement 3 to the excavation position P1.

[0071] In step S109, the controller 24 determines whether or not the work implement 3 has reached the excavation position P1. In a case where the work implement 3 is determined to have reached the excavation position P1, the controller 24 ends the returning revolution control in step S110. That is, the controller 24 stops the revolving body 4 at the excavation position P1. After this, the operator manipulates the work implement 3 to excavate the target object. With this operation, the target object is held by the work implement 3. Then, the process returns to step S103, and the operations described above are repeated.

[0072] Note that, in a case where an operator manually manipulates the work implement 3 or the revolving body 4 using the operation device 33, the controller 24 may operate the work implement 3 or the revolving body 4 in accordance with the manipulation of the operation device 33 by the operator. For example, after the work implement 3 has reached the earth unloading position P3 through the loading revolution control, the operator can manually move the work implement 3 to any given position to perform earth unloading. In addition, after the work implement 3 reaches the excavation position P1 through the returning revolution control, the operator can manually move the work implement 3 to any given position, and perform excavation. Furthermore, as described later, in a case where the revolving mode is changed, the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 are set again. In a case where the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 are set again, the process returns to step S101.

[0073] Next, description will be made of a guide screen used for the automatic revolution control and a teaching screen used to set the target position. The controller 24 causes the display 35 to display the guide screen and the teaching screen. FIG. 7 is a diagram illustrating the configuration of a display system for the guide screen and the teaching screen. As illustrated in FIG. 7, the controller 24 includes an orientation acquisition unit 41, a height acquisition unit 42, a screen generating unit 43, and a revolution-mode selecting unit 44. The orientation acquisition unit 41, the height acquisition unit 42, the screen generating unit 43, and the revolution-mode selecting unit 44 are achieved with the processor 31.

[0074] The orientation acquisition unit 41 acquires a current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1 relative to the work machine 1, an orientation of the earth unloading position P3 relative to the work machine 1, and an orientation of the interference avoiding position P2 relative to the work machine 1. The orientation acquisition unit 41 calculates the current orientation of the work implement 3 on the basis of the orientation data described above. The orientation acquisition unit 41 calculates the orientation of the excavation position P1 relative to the work machine 1, the orientation of the earth unloading position P3 relative to the work machine 1, and the orientation of the interference avoiding position P2 relative to the work machine 1, on the basis of the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 that are set.

[0075] The height acquisition unit 42 acquires the current height of the work implement 3, a height of the excavation position P1, a height of the earth unloading position P3, and a height of the interference avoiding position P2. The height acquisition unit 42 acquires the current height of the work implement 3 on the basis of the height data described above. The height acquisition unit 42 acquires the height of the excavation position P1 on the basis of the set excavation position P1. The height acquisition unit 42 acquires the height of the earth unloading position P3 on the basis of the set earth unloading position P3. The height acquisition unit 42 acquires the height of the interference avoiding position P2 on the basis of the set interference avoiding position P2. Note that acquisition of the height of the earth unloading position P3 may be omitted.

[0076] The screen generating unit 43 generates a guide screen used for the automatic revolution control on the basis of the current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1 relative to the work machine 1, and an orientation of the earth unloading position P3 relative to the work machine 1. In addition, the screen generating unit 43 generates a guide screen on the basis of the current height of the work implement 3, a height of the excavation position P1, and a height of the earth unloading position P3. The revolution-mode selecting unit 44 selects the revolving mode described above.

[0077] FIG. 8 is a diagram illustrating a guide screen G1. Note that, on the guide screen G1 illustrated in FIG. 8, it is assumed that the leftward loading-revolution mode is selected. In FIG. 8, the automatic revolution control is at rest in a state where the work implement 3 is positioned at the excavation position P1. As illustrated in FIG. 8, the guide screen G1 includes a main menu section 51, a payload display section 52, a status section 53, a message section 54, and an automatic-revolution guidance section 55. The main menu section 51 includes a menu button 510. The menu button 510 is a button used to call a setting screen used for various types of settings of the automatic revolution control.

[0078] The main menu section 51 includes a payload start button 511 and a payload finish button 512. The payload start button 511 is a button used to start addition of the amount of loading to the transport vehicle 100. The payload finish button 512 is a button used to complete the addition of the amount of loading to the transport vehicle 100. The main menu section 51 includes a teaching start button 513. The teaching start button 513 is a button through which teaching is performed to set the target position. Setting the target position will be described in detail later.

[0079] The payload display section 52 includes an identifier 520 of the transport vehicle 100, a current loading amount 521 of the transport vehicle 100, and a current loading amount 522 of the work implement 3. The status section 53 displays the selected control mode. The status section 53 includes a display of the selected revolving mode. In FIG. 8, a leftward mode display 531 indicating that the leftward loading-revolution mode is selected is indicated in the status section 53. An assist message concerning the automatic revolution control is displayed in the message section 54.

[0080] The automatic-revolution guidance section 55 includes an orientation guide display 56, a height guide display 57, and a legend display for target positions 58. The orientation guide display 56 indicates a current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1, an orientation of the earth unloading position P3, and an orientation of the interference avoiding position P2. Specifically, the orientation guide display 56 includes a machine display 59, an orientation circular display 60, a work-orientation display 61, an excavation orientation display 62, an earth-unloading orientation display 63, and an interference-avoiding orientation display 64.

[0081] The machine display 59 indicates the shape of the work machine 1 when viewed from above. The machine display 59 is displayed in a fixed manner on the guide screen G1. The machine display 59 is displayed such that the work implement 3 faces the upper side of the guide screen G1. The orientation circular display 60 is displayed so as to surround the machine display 59. The orientation circular display 60 has a circular shape, and is displayed with the center being the revolving center C1 of the work machine 1. The orientation circular display 60 includes an orientation coordinate display 601. The orientation coordinate display 601 indicates the orientation coordinate in north, south, east, and west directions, which is centered on the revolving center C1. The orientation coordinate display 601 includes a plurality of scale marks, and is disposed along the orientation circular display 60.

[0082] The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64 are each disposed along the orientation circular display 60. The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have modes differing from each other. For example, the work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have shapes differing from each other. The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have colors differing from each other.

[0083] The work-orientation display 61 indicates the current orientation of the work implement 3. The work-orientation display 61 is displayed in a fixed manner on the guide screen G1. The work-orientation display 61 is displayed in a fixed manner so as to point at the upper end of the orientation circular display 60 on the guide screen G1. The excavation orientation display 62 and the earth-unloading orientation display 63 are displayed with icons having designs differing from each other. The excavation orientation display 62 and the earth-unloading orientation display 63 each have colors differing from each other. The excavation orientation display 62 indicates the orientation of the excavation position P1 relative to the work machine 1. The earth-unloading orientation display 63 indicates the orientation of the earth unloading position P3 relative to the work machine 1. The interference-avoiding orientation display 64 indicates the orientation of the interference avoiding position P2 relative to the work machine 1.

[0084] The height guide display 57 is disposed at the side of the orientation guide display 56 on the guide screen G1. The height guide display 57 indicates the current height of the work implement 3, the height of the excavation position P1, the height of the earth unloading position P3, and the height of the interference avoiding position P2. Specifically, the height guide display 57 includes a gauge display 65, a work-height display 66, an excavation-height display 67, and an earth-unloading-height display 68. The gauge display 65 extends in an up-down direction on the guide screen G1. The gauge display 65 includes a plurality of scale marks 651 indicating heights and disposed along the gauge display 65.

[0085] The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 are each disposed along the gauge display 65. The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have modes differing from each other. For example, the work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have shapes differing from each other. The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have colors differing from each other.

[0086] The work-height display 66 indicates the current height of the work implement 3. The work-height display 66 and the work-orientation display 61 have the same mode. For example, the work-height display 66 and the work-orientation display 61 have the same shape. The work-height display 66 and the work-orientation display 61 have the same color. The work-height display 66 is displayed in a fixed manner on the guide screen G1. The work-height display 66 is displayed in a fixed manner so as to point at the center of the gauge display 65 on the guide screen G1. The work-height display 66 is displayed in a fixed manner so as to be alongside the revolving center C1 of the orientation guide display 56 in a left-right direction.

[0087] The excavation-height display 67 and the earth-unloading-height display 68 are displayed with icons having designs differing from each other. The excavation-height display 67 and the earth-unloading-height display 68 each have colors differing from each other. The excavation-height display 67 indicates the height of the excavation position P1. The excavation-height display 67 has the same mode as the excavation orientation display 62. For example, the excavation-height display 67 is indicated with an icon having the same design as the excavation orientation display 62. The excavation-height display 67 has the same color as the excavation orientation display 62.

[0088] The earth-unloading-height display 68 indicates the height of the earth unloading position P3 or the height of the interference avoiding position P2. The earth-unloading-height display 68 has the same mode as the earth-unloading orientation display 63. For example, the earth-unloading-height display 68 is indicated with an icon having the same design as the earth-unloading orientation display 63. The earth-unloading-height display 68 has the same color as the earth-unloading orientation display 63.

[0089] During setting of the target positions that will be described later, in a case where the earth unloading position P3 is set prior to the interference avoiding position P2, the earth-unloading-height display 68 is temporarily displayed at the height of the earth unloading position P3 in the height guide display 57. After this, in a case where the interference avoiding position P2 is set, the temporarily displayed earth-unloading-height display 68 is deleted, and the earth-unloading-height display 68 is displayed at the height of the interference avoiding position P2. In a case where the earth unloading position P3 and the interference avoiding position P2 are at heights differing from each other, the earth-unloading-height display 68 is displayed at the height of the interference avoiding position P2.

[0090] The guide screen G1 includes a first permitted area A1, a second permitted area A2, and a prohibited area A3. The first permitted area A1 and the second permitted area A2 are areas in which performing the automatic revolution control is permitted. Specifically, the first permitted area A1 is an area in which performing the returning revolution control is permitted. The second permitted area A2 is an area in which performing the loading revolution control is permitted. The prohibited area A3 is an area in which performing the automatic revolution control is prohibited.

[0091] The screen generating unit 43 determines the first permitted area A1, the second permitted area A2, and the prohibited area A3 on the basis of the orientation of the earth unloading position P3 relative to the work machine 1 and the orientation of the interference avoiding position P2 relative to the work machine 1, and generates the guide screen G1 indicating the first permitted area A1, the second permitted area A2, and the prohibited area A3. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are each indicated in a fan shape centered on the revolving center C1. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed within the orientation circular display 60. On the guide screen G1, the first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed in different colors.

[0092] The screen generating unit 43 determines, as the first permitted area A1, the range between the orientation of the interference avoiding position P2 and the orientation of the reverse interference avoiding position. The reverse interference avoiding position is disposed at a position opposite from the interference avoiding position P2 relative to the earth unloading position P3 in a direction opposite from the direction of the returning revolution direction. The returning revolution direction is a revolution direction of the revolving body 4 in the returning revolution control, and is a direction passing through the interference avoiding position P2 from the earth unloading position P3 and directed toward the excavation position P1.

[0093] The prohibited area A3 is disposed in a direction opposite from the returning revolution direction relative to the first permitted area A1. The screen generating unit 43 determines, as the prohibited area A3, a range from the reverse interference avoiding position up to a predetermined angle in a direction opposite from the returning revolution direction. The predetermined angle may be a fixed value. The predetermined angle may be able to be manually set by an operator. The screen generating unit 43 determines, as the second permitted area A2, a range obtained by excluding the first permitted area A1 and the prohibited area A3 from a range of revolution of the revolving body 4.

[0094] In a case where the work implement 3 is positioned in the second permitted area A2 as illustrated in FIG. 8, the controller 24 permits the loading revolution control. In a case where the work implement 3 is positioned in the second permitted area A2, a message indicating that the loading revolution control is possible is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the second permitted area A2, a loading-revolution range display 69 and a loading-revolution direction display 70 are displayed on the guide screen G1.

[0095] The loading-revolution range display 69 indicates a range between the current orientation of the work implement 3 and the orientation of the earth unloading position P3. The loading-revolution direction display 70 indicates the revolution direction (hereinafter, referred to as a loading revolution direction) of the revolving body 4 in the loading revolution control. The loading-revolution range display 69 and the loading-revolution direction display 70 are displayed along the orientation circular display 60. For example, the loading-revolution range display 69 is displayed such that a range of the orientation circular display 60 between the current orientation of the work implement 3 and the orientation of the earth unloading position P3 is colored differently from the other range of the orientation circular display 60. The loading-revolution direction display 70 is indicated with arrows pointing toward the loading revolution direction.

[0096] In a state where the work implement 3 is positioned in the second permitted area A2, the controller 24 determines the loading revolution control described above to start when an operator gives an instruction to start the automatic revolution control and the current height of the work implement 3 is equal to or higher than a threshold value. That is, the permission condition for the loading revolution described above is a condition in which the work implement 3 is positioned in the second permitted area A2 and the current height of the work implement 3 is equal to or higher than a threshold value. Note that, in a case where the current height of the work implement 3 is lower than the threshold value, the controller 24 causes the work implement 3 to automatically ascend to a position equal to or higher than the threshold value. For example, the threshold value is a height of the excavation position P1, or a height set on the basis of the height of the excavation position P1.

[0097] FIG. 9 is a diagram illustrating the guide screen G1 when the loading revolution control is being performed. During the loading revolution control being performed, the machine display 59 and the work-orientation display 61 are displayed in a fixed manner in the orientation guide display 56 as illustrated in FIG. 9. In addition, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64, and the orientation coordinate display 601 are displayed so as to rotate around the revolving center C1 in accordance with the revolution of the revolving body 4. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are also displayed so as to rotate around the revolving center C1 in accordance with the revolution of the revolving body 4. The loading-revolution range display 69 is displayed so as to be reduced in accordance with the revolution of the revolving body 4.

[0098] In addition, during the loading revolution control being performed, the work-height display 66 is displayed in a fixed manner in the height guide display 57. Furthermore, the scale mark 651 of the gauge display 65, the excavation-height display 67, and the earth-unloading-height display 68 slide and are displayed in the up-down direction in accordance with the operation of the work implement 3 in the up-down direction. During the loading revolution control being performed, a message indicating the loading revolution control being performed is displayed in the message section 54. During the loading revolution control being performed, a display indicating that the automatic revolution control is being performed is turned on in the status section 53.

[0099] When the work implement 3 reaches the earth unloading position P3 as illustrated in FIG. 10, the controller 24 ends the loading revolution control. A message indicating stopping the automatic revolution control is displayed in the message section 54. The operator manipulates the work implement 3 to perform earth unloading.

[0100] In a case where the work implement 3 is positioned in the first permitted area A1 as illustrated in FIG. 11, the controller 24 permits the returning revolution control. In a case where the work implement 3 is positioned in the first permitted area A1, a message indicating that the returning revolution control is possible is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the first permitted area A1, a returning-revolution range display 71 and a returning-revolution direction display 72 are displayed on the guide screen G1.

[0101] The returning-revolution range display 71 indicates a range between the orientation of the excavation position P1 in the returning revolution control and the current orientation of the work implement 3. The returning-revolution direction display 72 indicates the returning revolution direction. The returning-revolution range display 71 and the returning-revolution direction display 72 are displayed along the orientation circular display 60. The returning-revolution range display 71 is displayed in a color differing from the loading-revolution range display 69. The returning-revolution direction display 72 is displayed with arrows pointing toward the returning revolution direction.

[0102] In a state where the work implement 3 is positioned in the first permitted area A1, the controller 24 determines the returning revolution control described above to start when the operator gives an instruction to start the automatic revolution control. That is, the permission condition for the returning revolution described above is a condition where the work implement 3 is positioned in the first permitted area A1. FIG. 12 is a diagram illustrating the guide screen G1 during the returning revolution control being performed. As illustrated in FIG. 12, during the returning revolution control being performed, the machine display 59 and the work-orientation display 61 are displayed in a fixed manner in the orientation guide display 56. In addition, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64, and the orientation coordinate display 601 are displayed so as to rotate around the revolving center C1 in association with revolution of the revolving body 4. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are also displayed so as to rotate around the revolving center C1 in association with the revolution of the revolving body 4. The returning-revolution range display 71 is displayed so as to be reduced in association with revolution of the revolving body 4.

[0103] In addition, during the returning revolution control being performed, the work-height display 66 is displayed in a fixed manner in the height guide display 57. Furthermore, the scale mark 651 of the gauge display 65, the excavation-height display 67, and the earth-unloading-height display 68 slide and are displayed in the up-down direction in accordance with the operation of the work implement 3 in the up-down direction. During the returning revolution control being performed, a message indicating the returning revolution control being performed is displayed in the message section 54. During the returning revolution control being performed, a display indicating that the automatic revolution control is being performed is turned on in the status section 53.

[0104] When the work implement 3 reaches the excavation position P1 as illustrated in FIG. 13, the controller 24 ends the returning revolution control. A message indicating stopping the automatic revolution control is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the second permitted area A2 as illustrated in FIG. 8, the guide screen G1 in which the loading revolution control is permitted is displayed.

[0105] Note that, in a case where the work implement 3 is positioned in the prohibited area A3 as illustrated in FIG. 14, the controller 24 does not permit starting the automatic revolution control. In a case where the work implement 3 is positioned in the prohibited area A3, a message indicating that the automatic revolution control is not permitted is displayed in the message section 54. In this case, the revolution range displays 69 and 71 or the revolution direction displays 70 and 72 described above are not displayed.

[0106] FIGS. 8 to 14 illustrate the guide screen G1 in a case where the leftward loading-revolution mode described above is selected. FIG. 15 is a diagram illustrating a setting screen S1 concerning a control mode for selecting the revolving mode. The operator is able to select the revolving mode through the setting scree S1 concerning the control mode illustrated in FIG. 15.

[0107] FIG. 16 is a diagram illustrating a guide screen G2 in a case where a rightward loading-revolution mode is selected. In a case where the rightward loading-revolution mode is selected as illustrated in FIG. 16, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 are displayed in an opposite left-right rotational direction from a direction in a case where the leftward loading-revolution mode is selected. In a case where the rightward loading-revolution mode is selected, the first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed in an opposite left-right rotational direction from a direction in a case where the leftward loading-revolution mode is selected. Similarly, in a case where the rightward loading-revolution mode is selected, the revolution range displays 69 and 71 and the revolution direction displays 70 and 72 are displayed toward an opposite rotation in the left-right direction from a direction in a case where the leftward loading-revolution mode is selected. In addition, in a case where the rightward loading-revolution mode is selected, a rightward mode display 532 indicating that the rightward loading-revolution mode is selected is displayed in the status section 53.

[0108] Next, description will be made of a teaching screen used to set the target position. In the work machine 1 according to the present embodiment, an operator manipulates the work implement 3 to teach the target positions, whereby the controller 24 sets the target positions. As illustrated in FIG. 7, the controller 24 includes a teaching-mode selecting unit 45 and a target-position setting unit 46. The teaching-mode selecting unit 45 and the target-position setting unit 46 are achieved by the processor 31.

[0109] The teaching-mode selecting unit 45 selects a teaching mode used to teach the target positions. FIG. 17 is a diagram illustrating a setting screen S2 used to select the teaching mode. As illustrated in FIG. 17, the teaching mode includes a basic mode and an advanced mode. The operator selects a teaching mode from the basic mode and the advanced mode through the setting screen S2 for selecting the teaching mode illustrated in FIG. 17.

[0110] FIG. 18 is a diagram illustrating the guide screen G1 in a case where the basic mode is selected. However, no target position is yet set on the guide screen G1 illustrated in FIG. 18. In a case where no target position is set as illustrated in FIG. 18, a prompting message for performing teaching is displayed in the message section 54 of the guide screen G1.

[0111] As illustrated in FIG. 18, the guide screen G1 in the basic mode includes the teaching start button 513. Note that the guide screen G1 illustrated in FIG. 8 is also the guide screen G1 in the basic mode, and includes the teaching start button 513. When the teaching start button 513 is operated, the screen generating unit 43 generates a basic teaching screen used to set the target position. The basic teaching screen is a teaching screen when the basic mode is selected.

[0112] FIG. 19 is a diagram illustrating a basic teaching screen T1. As illustrated in FIG. 19, the basic teaching screen T1 is popped up on the guide screen G1. The basic teaching screen T1 includes an excavation teaching button 73, an interference-avoiding teaching button 74, an earth-unloading teaching button 75, an assisting information 76, a registration button 77, and a detailed information button 78.

[0113] The excavation teaching button 73 is a button used to teach the excavation position P1. The earth-unloading teaching button 75 is a button used to teach the earth unloading position P3. The interference-avoiding teaching button 74 is a button used to teach the interference avoiding position P2. The target-position setting unit 46 sets the excavation position P1 on the basis of the position of the work implement 3 when teaching is instructed with the excavation teaching button 73. The target-position setting unit 46 sets the interference avoiding position P2 on the basis of the position of the work implement 3 when teaching is instructed with the interference-avoiding teaching button 74. The target-position setting unit 46 sets the earth unloading position P3 on the basis of the position of the work implement 3 when teaching is instructed with the earth-unloading teaching button 75.

[0114] The assisting information 76 is information used to assist teaching of the target position. The assisting information 76 includes an image indicating a positional relationship between the work machine 1, the excavation position P1, the earth unloading position P3, the interference avoiding position P2, and the transport vehicle 100. Specifically, the assisting information 76 includes an image 761 indicating the work machine 1 and the transport vehicle 100. The work machine 1 and the transport vehicle 100 are drawn in a three-dimensional manner in the image 761 indicating the work machine 1 and the transport vehicle 100, for example. Alternatively, the work machine 1 and the transport vehicle 100 may be drawn in a two-dimensional manner in the image 761 indicating the work machine 1 and the transport vehicle 100.

[0115] In addition, the assisting information 76 includes point displays 762 to 764 indicating the excavation position P1, the interference avoiding position P2, and the earth unloading position P3, respectively. The point display 762 indicating the excavation position P1 is displayed so as to correspond to the excavation teaching button 73. The point display 763 indicating the interference avoiding position P2 is displayed so as to correspond to the interference-avoiding teaching button 74. The point display 764 indicating the earth unloading position P3 is displayed so as to correspond to the earth-unloading teaching button 75.

[0116] The registration button 77 is a button used to give an instruction for the teaching using any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. Specifically, in the basic teaching screen T1, an operator selects any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. Furthermore, the operator operates the registration button 77 in a state where any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 is selected, thereby giving an instruction to teach the target position.

[0117] For example, the operator moves the work implement 3 to a position set as the earth unloading position P3. As illustrated in FIG. 19, the operator selects the earth-unloading teaching button 75 and operates the registration button 77 to give an instruction to teach the earth unloading position P3. The target-position setting unit 46 sets, as the earth unloading position P3, the position of the work implement 3 when the registration button 77 is operated. When the earth unloading position P3 is set, the earth-unloading orientation display 63 and the earth-unloading-height display 68 are displayed on the guide screen G1 as illustrated in FIG. 20. In addition, an indication M1 indicating that setting the earth unloading position P3 completes is displayed in the earth-unloading teaching button 75.

[0118] The operator moves the work implement 3 to a position set as the interference avoiding position P2. The operator selects the interference-avoiding teaching button 74 and operates the registration button 77, thereby giving an instruction to teach the interference avoiding position P2. The target-position setting unit 46 sets, as the interference avoiding position P2, the position of the work implement 3 when the registration button 77 is operated. When the interference avoiding position P2 is set, the interference-avoiding orientation display 64 is displayed on the guide screen G1 as illustrated in FIG. 21. In addition, an indication M2 indicating that setting the interference avoiding position P2 completes is displayed in the interference-avoiding teaching button 74.

[0119] The operator moves the work implement 3 to a position set as the excavation position P1. The operator selects the excavation teaching button 73 and operates the registration button 77, thereby giving an instruction to teach the excavation position P1. The target-position setting unit 46 sets, as the excavation position P1, the position of the work implement 3 when the registration button 77 is operated. When the excavation position P1 is set, the excavation orientation display 62 and the excavation-height display 67 are displayed on the guide screen G1 as illustrated in FIG. 22. In addition, an indication M3 indicating that setting the excavation position P1 completes is displayed in the excavation teaching button 73.

[0120] In a case where setting the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 all completes, a message indicating that teaching of all the target positions completes is displayed in the message section 54 as illustrated in FIG. 22. In addition, an indication M4 indicating that teaching of all the target positions completes is displayed on the teaching start button 513 of the guide screen G1 as illustrated in FIG. 8.

[0121] Note that the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 can be set in any given order. However, the range in which the target position can be set may be restricted depending on the target position and the revolving mode that have been already set. The target-position setting unit 46 determines whether or not it is possible to teach at least one of the excavation position P1, the earth unloading position P3, or the interference avoiding position P2, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

[0122] For example, in a case where the leftward loading-revolution mode is selected, the earth unloading position P3 can be set so as to fall in a range (hereinafter, a setting available range) equal to or less than a predetermined angle, in the leftward revolution, from the interference avoiding position P2 that has been registered in advance. Thus, positions that fall outside the setting available range are not set as the earth unloading position P3. In this case, for example, after the interference avoiding position P2 is registered, when the earth-unloading teaching button 75 is selected in a state where the work implement 3 is positioned outside the setting available range for the earth unloading position P3, a message indicating that the earth unloading position P3 cannot be taught is displayed in the message section 54 as illustrated in FIG. 23. In addition, when the operator operates the detailed information button 78 in this state, detailed information 765 is displayed in the basic teaching screen T1. The detailed information 765 indicates a condition necessary to set the target position. For example, as the detailed information 765, it is displayed that the earth unloading position P3 is set so as to fall in a range extending from the interference avoiding position P2 to a predetermined angle or greater in the loading revolution direction.

[0123] In a case where the advanced mode is selected, the screen generating unit 43 generates an advanced teaching screen used to set the target positions. FIG. 24 is a diagram illustrating an advanced teaching screen T2. As illustrated in FIG. 24, the advanced teaching screen T2 displays the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 in place of the teaching start button 513 on the guide screen G1 described above.

[0124] The excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 are disposed in the main menu section 51 of the guide screen G1. The assisting information 76, the registration button 77, and the detailed information button 78 described above are not illustrated in the advanced teaching screen T2.

[0125] When the operator operates the earth-unloading teaching button 75, a dialog screen D1 illustrated in FIG. 25 is displayed. The dialog screen D1 is popped up on the guide screen G1. The dialog screen D1 includes an image indicating an example of the posture of the work implement 3 in a case where the earth unloading position P3 is set. The dialog screen D1 includes the registration button 77. As the operator operates the registration button 77, the position of the work implement 3 at this time is set as the earth unloading position P3.

[0126] As the earth unloading position P3 is set, the dialog screen D1 disappears as illustrated in FIG. 26, and the earth-unloading orientation display 63 and the earth-unloading-height display 68 are displayed on the guide screen G1. In addition, the indication M1 indicating that setting the earth unloading position P3 completes is displayed in the earth-unloading teaching button 75. Similarly, as the interference-avoiding teaching button 74 is used to set the interference avoiding position P2, the interference-avoiding orientation display 64 is displayed on the guide screen G1 as illustrated in FIG. 27. At this time, the display of the earth-unloading-height display 68 may be updated with the height of the interference avoiding position P2. In addition, the indication M2 indicating that setting the interference avoiding position P2 completes is displayed in the interference-avoiding teaching button 74.

[0127] As the excavation teaching button 73 is used to set the excavation position P1, the excavation orientation display 62 and the excavation-height display 67 are displayed on the guide screen G1. In addition, the indication M3 indicating that setting the excavation position P1 completes is displayed in the excavation teaching button 73. In a case where setting the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 all completes, a message that teaching of all the target positions completes is displayed in the message section 54 as in the basic teaching screen T1.

[0128] Both the basic teaching screen T1 and the advanced teaching screen T2 are teaching screens (hereinafter, referred to as a leftward-revolution teaching screen) when the leftward loading-revolution mode is selected. The leftward-revolution teaching screens T1 and T2 are screens used to teach the target positions in the leftward loading-revolution mode.

[0129] In a case where the rightward loading-revolution mode is selected, the screen generating unit 43 generates rightward-revolution teaching screens T3 and T4 illustrated in FIGS. 28 and 29. The rightward-revolution teaching screens T3 and T4 are screens used to teach the target positions in the rightward loading-revolution mode. FIG. 28 is a diagram illustrating the rightward-revolution teaching screen T3 in the basic mode. FIG. 29 is a diagram illustrating the rightward-revolution teaching screen T4 in the advanced mode.

[0130] The excavation teaching button 73 and the earth-unloading teaching button 75 are disposed differently between the rightward-revolution teaching screen T3, T4 and the leftward-revolution teaching screen T1, T2. For example, in the leftward-revolution teaching screens T1 and T2, the excavation teaching button 73 is disposed on the right side, and the earth-unloading teaching button 75 is disposed on the left side, as illustrated in FIGS. 19 and 24. In the rightward-revolution teaching screens T3 and T4, the excavation teaching button 73 is disposed on the left side, and the earth-unloading teaching button 75 is disposed on the right side, as illustrated in FIGS. 28 and 29.

[0131] In addition, in the leftward-revolution teaching screens T1 and T2, the leftward mode display 531 indicating that the leftward loading-revolution mode is selected is indicated in the status section 53, as illustrated in FIGS. 19 and 24. In the rightward-revolution teaching screens T3 and T4, the rightward mode display 532 indicating that the rightward loading-revolution mode is selected is indicated in the status section 53, as illustrated in FIGS. 28 and 29.

[0132] As illustrated in FIGS. 19 and 28, the image 761 of the assisting information 76 indicating the work machine 1 and the transport vehicle 100 is displayed so as to be reversed left to right between the leftward-revolution teaching screen T1 and the rightward-revolution teaching screen T3 in the basic mode. For example, as illustrated in FIG. 19, the leftward-revolution teaching screen T1 is illustrated such that the transport vehicle 100 is disposed on the left side of the work machine 1 in the image 761. As illustrated in FIG. 28, the rightward-revolution teaching screen T3 is illustrated such that the transport vehicle 100 is disposed on the right side of the work machine 1 in the image 761. In addition, the point displays 762 to 764 indicating the excavation position P1, the earth unloading position P3, and the interference avoiding position P2, respectively, are illustrated in the assisting information 76 so as to be reversed left to right between the leftward-revolution teaching screen T1 and the rightward-revolution teaching screen T3.

[0133] In the display system of the work machine 1 according to the present embodiment described above, by selecting the rightward loading-revolution mode and the leftward loading-revolution mode, appropriate teaching screens T1 to T4 are generated for each of the rightward revolution and the leftward revolution in the automatic revolution control.

[0134] Determination is made whether or not at least one of the excavation position, the earth unloading position, or the passing position can be set, in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode. With this configuration, the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 are appropriately set in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode.

[0135] The basic mode and the advanced mode are selected in accordance with whether or not the operator is familiar with teaching, thereby generating appropriate teaching screens T1 to T4.

[0136] Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the gist of the invention.

[0137] The work machine 1 may be remotely operable. The operation device 33, the input device 34, and the display 35 may be disposed outside of the work machine 1. The target positions may be acquired through manual operation by the operator, in place of the orientation sensor 36 and the height sensor 37. Alternatively, the target positions may be acquired through a sensor provided outside of the work machine 1. In place of the transport vehicle 100, it may be possible to use other units including a loading platform. For example, in place of the transport vehicle 100, a hopper configured to receive earth and sand to be removed may be provided. A portion of the processes of the automatic revolution control described above may be performed by a controller provided outside of the work machine 1. The processes of displaying the guide screens G1 and G2 and the teaching screens T1 to T4 may be performed by a controller provided outside of the work machine 1.

[0138] The process of the automatic revolution control may be performed so as to be distributed to a plurality of controllers. The process for displaying the guide screens G1 and G2 and the teaching screens T1 to T4 may be performed so as to be distributed to a plurality of controllers.

[0139] The process of the automatic revolution control is not limited to that of the embodiment described above, and may be modified. The process of the automatic revolution control may be omitted. In this case, the guide screens G1 and G2 may be displayed at the time of manual manipulation by an operator. The process of generating the guide screens G1 and G2 is not limited to that of the embodiment described above, and may be modified. The process for setting the target positions and the process for generating the teaching screens T1 to T4 are not limited to those of the embodiment described above, and may be modified. The configurations of the guide screens G1 and G2 are not limited to those of the embodiment described above, and may be modified. For example, as illustrated in FIG. 30, the orientation circular display may have an arc shape. The configurations of the teaching screens T1 to T4 are not limited to those of the embodiment described above, and may be modified.

[0140] The target positions are not limited to the positions in the embodiment described above, and may be modified. For example, the target positions may include a passing position differing from the interference avoiding position. In the automatic revolution control, the controller 24 may control the work machine 1 such that the work implement 3 reaches a position offset from the excavation position P1 or the earth unloading position P3 described above.

[0141] In the embodiment described above, the input device 34 is a touch screen, and an operator touches the guide screens G1 and G2 and the teaching screens T1 to T4 to operate them. However, the input device 34 is not limited to a touch screen, and may be other devices. FIG. 31 is a diagram illustrating another example of the input device 34. As illustrated in FIG. 31, the input device 34 is provided in the operation device 33. The operation device 33 is an operation lever used to manipulate the work implement 3.

[0142] The input device 34 includes a selection switch 91 and a plurality of determination buttons 92 to 94. The selection switch 91 is a slide switch. An operator slides the selection switch 91, thereby being able to change buttons to be selected on the guide screens G1 and G2 or the teaching screens T1 to T4. For example, the operator slides the selection switch 91 on the teaching screens T1 and T2 illustrated in FIG. 19 or FIG. 24, thereby changing selection between the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. The operator presses any one of the determination buttons 92 to 94 to confirm the selection.

[0143] For the operation on the guide screens G1 and G2, it may be possible to use the input device 34 described above. For example, as any one of the determination buttons 92 to 94 is pressed, the automatic revolution control may be started. A slide switch and the determination buttons 92 to 94 may be used to select the payload start button 511 and the payload finish button 512. It may be possible to use the input device 34 described above when an operation is performed to select the revolving mode on the setting screen S1 for the control mode. It may be possible to use the input device 34 described above when an operation is performed to select the teaching mode on the setting screen S2 for the teaching mode.

[0144] It may be possible that an operation is performed to the guide screens G1 and G2 or the teaching screens T1 to T4 through a combination of a plurality of determination buttons 92 to 94. For example, it may be possible to employ a configuration in which, as a certain button from among the determination buttons 92 to 94 is pressed, lock is released, and then, as another button is pressed, the automatic revolution control is started.

[0145] It may be possible to employ a configuration in which, during the loading revolution control being performed, when the work implement 3 moves into the first permitted area A1, the controller 24 outputs a notification through sounds or vibration. It may be possible to employ a configuration in which, in a case where the work implement 3 is positioned in the first permitted area A1, the controller 24 permits the involvement of manual manipulation of the work implement 3 by an operator. With this configuration, the operator can recognize, through notification, that manual manipulation is possible, without viewing the display.

[0146] With the present disclosure, by selecting the rightward loading-revolution mode and the leftward loading-revolution mode, an appropriate teaching screen is generated for each of the rightward revolution and the leftward revolution in the automatic revolution control. The target position is appropriately set in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode. The basic mode and the advanced mode are selected in accordance with whether or not an operator is familiar with teaching, thereby generating an appropriate teaching screen.

Examples

Embodiment Construction

[0043]A work machine according to the embodiment will be described below with reference to the drawings. FIG. 1 is a side view of a work machine 1. In the present embodiment, the work machine 1 is an excavation device such as a hydraulic excavator or an electric excavator.

[0044]As illustrated in FIG. 1, the work machine 1 includes a work implement 3, a revolving body 4, and a traveling body 5. The work implement 3 is attached to the revolving body 4. The revolving body 4 is coupled so as to be able to revolve relative to the traveling body 5. The revolving body 4 is able to revolve around a revolving center C1. A cab 6 is disposed in the revolving body 4. The traveling body 5 includes crawlers 7. Note that FIG. 1 illustrates only either one of the left and right crawlers 7. With the crawlers 7 being driven, the work machine 1 travels.

[0045]The work implement 3 is attached so as to move in an up-down direction relative to the revolving body 4. The work implement 3 includes a boom 11,...

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is a U.S. National stage application of International Application No. PCT / JP2024 / 006023, filed on Feb. 20, 2024. This U.S. National stage application claims priority under 35 U.S.C. § 119(a) to Japanese Patent Application No. 2023-103570, filed in Japan on Jun. 23, 2023. The entire contents of Japanese Patent Application No. 2023-103570 is hereby incorporated herein by reference.BACKGROUNDTechnical Field

[0002] The present disclosure relates to a system for setting a target position in automatic revolution control of a work machine.Background Art

[0003] Some work machines perform automatic revolution control to cause a revolving body to automatically revolve so as to move the work implement to a target position. For example, an excavator in PCT Publication No. WO 2019 / 181872 is configured such that an operator teaches, as a target position, an excavation position and an earth unloading position. Specifically, in a state where a bucket is positioned at the excavation position, the operator presses a recording switch, whereby the posture of the excavator at this time is stored in a memory. With this operation, teaching is performed for the excavation position. In a state where the bucket is at the earth unloading position, the operator presses the recording switch, whereby the posture of the excavator at this time is stored in the memory. With this operation, teaching is performed for the earth unloading position. A controller of the work machine calculates a target path of the bucket in the automatic revolution control on the basis of the stored postures. In a case where a starting condition for the automatic revolution control is satisfied, the controller causes the excavator to revolve so as to move the bucket along the target path, and also moves the bucket in an up-down direction.SUMMARY

[0004] As described above, in the automatic revolution control, the work machine is controlled on the basis of the target position taught by the operator. In order for the operator to easily teach the target position, a teaching screen indicating an appropriate teaching method is required.

[0005] For example, in a case where the operator is not familiar with teaching of the target position, a teaching screen indicating detailed teaching methods is required. However, in a case where the operator is familiar with teaching of the target position, the teaching screen indicating detailed teaching methods deteriorates the efficiency of teaching.

[0006] In addition, the automatic revolution control is performed to cause the revolving body to revolve rightward from the excavation position to the earth unloading position, or cause the revolving body to revolve leftward from the excavation position to the earth unloading position. Thus, a teaching screen indicating an appropriate teaching method is required for each of the rightward revolution and the leftward revolution.

[0007] A first aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position and an earth unloading position. The system includes a mode selecting unit, a screen generating unit, and a target-position setting unit. The mode selecting unit selects either a rightward loading-revolution mode or a leftward loading-revolution mode as a control mode for the automatic revolution control. The rightward loading-revolution mode causes the revolving body to revolve rightward from a current position of the work implement toward the earth unloading position. The leftward loading-revolution mode causes the revolving body to revolve leftward from the current position of the work implement toward the earth unloading position. When the rightward loading-revolution mode is selected, the screen generating unit generates a rightward-revolution teaching screen used to teach the target position in the rightward loading-revolution mode. When the leftward loading-revolution mode is selected, the screen generating unit generates a leftward-revolution teaching screen used to teach the target position in the leftward loading-revolution mode. When the rightward loading-revolution mode is selected, the target-position setting unit sets the excavation position and the earth unloading position taught through the rightward-revolution teaching screen. When the leftward loading-revolution mode is selected, the target-position setting unit sets the excavation position and the earth unloading position taught through the leftward-revolution teaching screen.

[0008] A second aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position, an earth unloading position, and a passing position between the excavation position and the earth unloading position. The system includes a target-position setting unit. The target-position setting unit acquires, as a control mode for the automatic revolution control, either a rightward loading-revolution mode that causes the revolving body to revolve rightward from a current position of the work implement toward the earth unloading position or a leftward loading-revolution mode that causes the revolving body to revolve leftward from the current position of the work implement toward the earth unloading position. The target-position setting unit determines whether or not it is possible to set at least one of the excavation position, the earth unloading position, or the passing position, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

[0009] A third aspect of the present disclosure provides a system for setting a target position in automatic revolution control of a work machine. The work machine includes a revolving body and a work implement. The revolving body is able to revolve around a revolving center. The work implement is attached to the revolving body. The target position includes an excavation position and an earth unloading position. The system includes a mode selecting unit, a screen generating unit, and a target-position setting unit. The mode selecting unit selects, from among a plurality of modes, a teaching mode used to teach the target position. The plurality of modes include a basic mode and an advanced mode. When the basic mode is selected, the screen generating unit generates a basic teaching screen. The basic teaching screen includes an excavation teaching button used to teach the excavation position, an earth-unloading teaching button used to teach the earth unloading position, and assisting information used to assist in teaching the target position. When the advanced mode is selected, the screen generating unit generates an advanced-mode teaching screen. The advanced-mode teaching screen includes the excavation teaching button and the earth-unloading teaching button, and does not include the assisting information. The target-position setting unit sets the excavation position on a basis of a position of the work implement when teaching is instructed with the excavation teaching button. The target-position setting unit sets the earth unloading position on a basis of a position of the work implement when teaching is instructed with the earth-unloading teaching button.

[0010] With the system according to the first aspect of the present disclosure, the rightward loading-revolution mode or the leftward loading-revolution mode is selected, thereby generating an appropriate teaching screen for each of the rightward revolution and the leftward revolution in the automatic revolution control. With the system according to the second aspect of the present disclosure, the target position is appropriately set in accordance with the rightward loading-revolution mode or the leftward loading-revolution mode. With the system according to the third aspect of the present disclosure, the basic mode or the advanced mode is selected in accordance with whether or not the operator is familiar with teaching, thereby generating an appropriate teaching screen.BRIEF DESCRIPTION OF DRAWINGS

[0011] Referring now to the attached drawings which form a part of this original disclosure, an illustrative embodiment is shown.

[0012] FIG. 1 is a side view illustrating a work machine.

[0013] FIG. 2 is a block diagram showing the configuration of the work machine and a control system thereof.

[0014] FIG. 3 is a diagram illustrating a work flow of the work machine.

[0015] FIG. 4 is a plan view illustrating operation of the work machine in automatic revolution control.

[0016] FIG. 5 is a side view illustrating operation of the work machine in automatic revolution control.

[0017] FIG. 6 is a flowchart showing a process of automatic revolution control.

[0018] FIG. 7 is a diagram illustrating the configuration of a display system for a guide screen and a teaching screen.

[0019] FIG. 8 is a diagram illustrating the guide screen.

[0020] FIG. 9 is a diagram illustrating the guide screen when loading revolution control is being performed.

[0021] FIG. 10 is a diagram illustrating the guide screen when the work implement has reached an earth unloading position.

[0022] FIG. 11 is a diagram illustrating the guide screen when the work implement is positioned within a first permitted area.

[0023] FIG. 12 is a diagram illustrating the guide screen when returning revolution control is being performed.

[0024] FIG. 13 is a diagram illustrating the guide screen when the work implement has reached an excavation position.

[0025] FIG. 14 is a diagram illustrating the guide screen when the work implement is positioned within a prohibited area.

[0026] FIG. 15 is a diagram illustrating a setting screen concerning a control mode used to select a revolving mode.

[0027] FIG. 16 is a diagram illustrating the guide screen in a case where a rightward loading-revolution mode is selected.

[0028] FIG. 17 is a diagram illustrating a setting screen used to select a teaching mode.

[0029] FIG. 18 is a diagram illustrating the guide screen in a case where a basic mode is selected.

[0030] FIG. 19 is a diagram illustrating a basic teaching screen.

[0031] FIG. 20 is a diagram illustrating the basic teaching screen when an earth unloading position is set.

[0032] FIG. 21 is a diagram illustrating the basic teaching screen when an interference avoiding position is set.

[0033] FIG. 22 is a diagram illustrating the basic teaching screen when all target positions are set.

[0034] FIG. 23 is a diagram illustrating the basic teaching screen in a case where an earth unloading position cannot be set.

[0035] FIG. 24 is a diagram illustrating an advanced teaching screen.

[0036] FIG. 25 is a diagram illustrating a dialog screen.

[0037] FIG. 26 is a diagram illustrating the advanced teaching screen when the earth unloading position is set.

[0038] FIG. 27 is a diagram illustrating the advanced teaching screen when all target positions are set.

[0039] FIG. 28 is a diagram illustrating a rightward-revolution teaching screen in the basic mode.

[0040] FIG. 29 is a diagram illustrating a rightward-revolution teaching screen in the advanced mode.

[0041] FIG. 30 is a diagram illustrating the guide screen according to a modification example.

[0042] FIG. 31 is a diagram illustrating another example of an input device.DETAILED DESCRIPTION OF EMBODIMENTS

[0043] A work machine according to the embodiment will be described below with reference to the drawings. FIG. 1 is a side view of a work machine 1. In the present embodiment, the work machine 1 is an excavation device such as a hydraulic excavator or an electric excavator.

[0044] As illustrated in FIG. 1, the work machine 1 includes a work implement 3, a revolving body 4, and a traveling body 5. The work implement 3 is attached to the revolving body 4. The revolving body 4 is coupled so as to be able to revolve relative to the traveling body 5. The revolving body 4 is able to revolve around a revolving center C1. A cab 6 is disposed in the revolving body 4. The traveling body 5 includes crawlers 7. Note that FIG. 1 illustrates only either one of the left and right crawlers 7. With the crawlers 7 being driven, the work machine 1 travels.

[0045] The work implement 3 is attached so as to move in an up-down direction relative to the revolving body 4. The work implement 3 includes a boom 11, an arm 12, and a bucket 13. The boom 11 is attached so as to be able to rotate relative to the revolving body 4. The arm 12 is attached so as to be able to rotate relative to the boom 11. The bucket 13 is attached so as to be able to rotate relative to the arm 12.

[0046] The work implement 3 includes a boom cylinder 14, an arm cylinder 15, and a bucket cylinder 16. The boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16 are, for example, hydraulic cylinders. The boom cylinder 14 causes the boom 11 to be operated. The arm cylinder 15 causes the arm 12 to be operated. The bucket cylinder 16 causes the bucket 13 to be operated.

[0047] FIG. 2 is a block diagram illustrating the work machine 1 and the configuration of the control system thereof. As illustrated in FIG. 2, the work machine 1 includes a drive source 21, a hydraulic pump 22, a power transmission device 23, and a controller 24. The drive source 21 is controlled with an instruction signal from the controller 24. The drive source 21 is, for example, an internal-combustion engine. Alternatively, the drive source 21 may include an electrically driven motor, or a drive source such as a hydrogen engine. The hydraulic pump 22 is driven by the drive source 21, and discharges hydraulic oil. The hydraulic oil discharged from the hydraulic pump 22 is supplied to the boom cylinder 14, the arm cylinder 15, and the bucket cylinder 16.

[0048] The work machine 1 includes a revolving motor 25. The revolving motor 25 is, for example, a hydraulic motor. The revolving motor 25 is driven with hydraulic oil from the hydraulic pump 22. Alternatively, the revolving motor 25 may be an electrically driven motor. The revolving motor 25 causes the revolving body 4 to revolve. Note that FIG. 2 illustrates one hydraulic pump. However, a plurality of hydraulic pumps may be provided.

[0049] The hydraulic pump 22 is a variable displacement pump. A pump control device 26 is coupled to the hydraulic pump 22. The pump control device 26 controls the tilting angle of the hydraulic pump 22. The pump control device 26 includes, for example, an electromagnetic valve, and is controlled with an instruction signal from the controller 24. The controller 24 controls the pump control device 26 to control the displacement of the hydraulic pump 22.

[0050] The work machine 1 includes a control valve 27. The hydraulic pump 22, the cylinders 14 to 16, and the revolving motor 25 are coupled to each other with a hydraulic circuit through the control valve 27. The control valve 27 is controlled with an instruction signal from the controller 24. The control valve 27 controls the flow rate of hydraulic oil supplied from the hydraulic pump 22 to the cylinders 14 to 16 and the revolving motor 25. The controller 24 controls the control valve 27 to control operation of the work implement 3. The controller 24 controls the control valve 27 to control the revolution of the revolving body 4. Note that the cylinders 14 to 16 are not limited to hydraulic cylinders, and may be mechanical cylinders driven with an electrically driven motor.

[0051] The power transmission device 23 transmits the drive force of the drive source 21 to the traveling body 5. The crawlers 7 are driven with the drive force from the power transmission device 23 to cause the work machine 1 to travel. The power transmission device 23 may be a transmission including, for example, a torque converter or a plurality of speed changing gears. Alternatively, the power transmission device 23 may be other types of transmission such as a hydro static transmission (HST), or a hydraulic mechanical transmission (HMT).

[0052] The controller 24 includes a processor 31 such as a CPU, and a storage device 32. The processor 31 performs processes for controlling the work machine 1. The storage device 32 includes a memory such as a RAM or a ROM, and an auxiliary storage device such as a hard disk drive (HDD) or a solid state drive (SSD). The storage device 32 holds data or programs used to control the work machine 1.

[0053] The control system includes an operation device 33, an input device 34, and a display 35. The operation device 33, the input device 34, and the display 35 are disposed within the cab 6. The operation device 33 can be operated by an operator. The operation device 33 includes, for example, a lever, a pedal, or a switch. The operation device 33 outputs, to the controller 24, an operation signal corresponding to the operation performed by an operator. The controller 24 controls the control valve 27 such that the work implement 3 operates in accordance with the operation performed by an operator to the operation device 33. The controller 24 controls the control valve 27 so as to cause the revolving body 4 to revolve in accordance with the operation performed by an operator to the operation device 33. The controller 24 controls the drive source 21 and the power transmission device 23 so as to cause the work machine 1 to travel in accordance with the operation by an operator to the operation device 33.

[0054] The input device 34 can be operated by an operator. The input device 34 is a touch screen. However, the input device 34 may include a hardware key. By operating the input device 34, the operator inputs various types of settings concerning the work machine 1. The input device 34 outputs an input signal corresponding to the operation of the operator. The display 35 is, for example, an LCD, an OELD, or other types of display. The display 35 displays a screen corresponding to a display signal from the controller 24.

[0055] The control system includes an orientation sensor 36 and a height sensor 37. The orientation sensor 36 detects the orientation of the work machine 1. The orientation sensor 36 includes, for example, a sensor employing a global navigation satellite system (GNSS). Specifically, the orientation sensor 36 detects the orientation of the revolving body 4. The orientation sensor 36 outputs orientation data indicating the orientation of the revolving body 4. The orientation data is indicated in orientation coordinate in north, south, east, and west directions.

[0056] The height sensor 37 detects the height of the work implement 3. For example, the height sensor 37 detects the posture of the work implement 3. The posture of the work implement 3 is indicated as angles with the boom 11, the arm 12, and the bucket 13. The height sensor 37 includes, for example, an inertial measurement unit (IMU). Alternatively, the height sensor 37 may be a sensor configured to directly detect the height of the work implement 3. The height sensor 37 outputs height data indicating the height of the work implement 3.

[0057] The controller 24 receives an operation signal from the operation device 33. The controller 24 receives an input signal from the input device 34. The controller 24 outputs a display signal to the display 35. The controller 24 receives orientation data from the orientation sensor 36. The controller 24 receives height data from the height sensor 37.

[0058] The controller 24 calculates the orientation of the work implement 3 on the basis of the orientation data. The orientation of the work implement 3 is an orientation of a predetermined work point of the work implement 3 relative to the revolving center C1. Alternatively, the orientation of the work implement 3 may be an orientation of a work point relative to the traveling body 5. The work point may be a distal end of the arm 12, for example. Alternatively, the work point may be a predetermined portion of the bucket 13. The orientation of the work implement 3 is indicated in the orientation coordinate in north, south, east, and west directions. The controller 24 calculates the height of the work implement 3 on the basis of the height data. The height of the work implement 3 is a height of the work point of the work implement 3 from the ground. Alternatively, the height of the work implement 3 may be a height relative to a predetermined reference point of the work machine 1 such as the bottom surface of the crawler 7.

[0059] The controller 24 performs automatic revolution control in which revolution of the revolving body 4 is automatically controlled, on the basis of the position of the work implement 3 described above. Below, the automatic revolution control of the work machine 1 will be described.

[0060] FIG. 3 is a diagram illustrating a work flow of the work machine 1. As illustrated in FIG. 3, the work machine 1 sequentially performs excavation, loading revolution, earth unloading, and returning revolution. After performing the returning revolution, the work machine 1 sequentially performs excavation, loading revolution, earth unloading, and returning revolution again. By repeating these operations, the work machine 1 loads a target item such as earth and sand into a transport vehicle such as a dump truck. In the automatic revolution control, the loading revolution and the returning revolution are automatically performed by the controller 24. That is, the automatic revolution control includes the loading revolution control and the returning revolution control.

[0061] FIG. 4 is a plan view illustrating the operation of the work machine 1 in the automatic revolution control. FIG. 5 is a side view illustrating the operation of the work machine 1 in the automatic revolution control. FIG. 6 is a flowchart showing the process of the automatic revolution control.

[0062] As illustrated in FIG. 6, in step S101, the controller 24 acquires a target position. The controller 24 holds the target position set by an operator in advance. The set target position includes an orientation and a height, which indicate the target position. As illustrated in FIGS. 4 and 5, the target position includes an excavation position P1, an interference avoiding position P2, and an earth unloading position P3.

[0063] The excavation position P1 is an end point of the returning revolution. The earth unloading position P3 is an end point of the loading revolution. The earth unloading position P3 is set above a loading platform 101 of a transport vehicle 100. The interference avoiding position P2 is a passing position disposed between the excavation position P1 and the earth unloading position P3 in a path of revolution of the work implement 3.

[0064] The interference avoiding position P2 is set in order to avoid interference of the work implement 3 with a transport vehicle 100. The interference avoiding position P2 is set outside of the side surface of the loading platform 101 of the transport vehicle 100 and at a position higher than the side surface of the loading platform 101, for example. This avoids interference of the work implement 3 with the side surface of the loading platform 101.

[0065] In step S102, a revolving mode is acquired. The controller 24 holds the revolving mode selected by an operator in advance. The revolving mode includes a leftward loading-revolution mode and a rightward loading-revolution mode. In the leftward loading-revolution mode, the controller 24 causes the revolving body 4 to revolve leftward up to the earth unloading position P3 in the loading revolution control. In the rightward loading-revolution mode, the controller 24 causes the revolving body 4 to revolve rightward up to the earth unloading position P3 in the loading revolution control, which will be described later. The method of setting the revolving mode and the method of setting the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 will be described later.

[0066] In step S103, the controller 24 determines whether to start the loading revolution control. For example, after manipulating the work implement 3 to perform excavation, an operator gives an instruction to start the automatic revolution control through the input device 34. In a case where a permission condition for loading revolution, which will be described later, is satisfied, the controller 24 makes determination to start the loading revolution control. In a case where starting of the loading revolution control is determined, the controller 24 performs the loading revolution control in step S104.

[0067] As illustrated by the arrow L1 in FIGS. 4 and 5, in the loading revolution control, the controller 24 causes the revolving body 4 to revolve while causing the work implement 3 to ascend so as to cause the work implement 3 to pass through a passing position based on the interference avoiding position P2 to move to the earth unloading position P3. At this time, in a case where the leftward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve leftward as illustrated in FIG. 4. In a case where the rightward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve rightward. Note that the passing position based on the interference avoiding position P2 may be an offset position with a margin being given from the interference avoiding position P2, or may be the interference avoiding position P2 itself.

[0068] In step S105, the controller 24 determines whether or not the work implement 3 has reached the earth unloading position P3. In a case where the work implement 3 is determined to have reached the earth unloading position P3, the controller 24 ends the loading revolution control in step S106. That is, the controller 24 stops the revolving body 4 at the earth unloading position P3. After this, the operator manipulates the work implement 3 to discharge a target object from the work implement 3. With this operation the target object is loaded on the loading platform 101 of the transport vehicle 100.

[0069] In step S107, the controller 24 determines whether to start the returning revolution control. For example, after discharging the target object from the work implement 3, the operator gives an instruction to start the automatic revolution control through the input device 34. In a case where the permission condition for returning revolution, which will be described later, is satisfied, the controller 24 makes determination to start the returning revolution control. In a case where starting of the returning revolution control is determined, the controller 24 performs the returning revolution control in step S108.

[0070] As illustrated by the arrow L2 in FIGS. 4 and 5, in the returning revolution control, the controller 24 causes the revolving body 4 to revolve while causing the work implement 3 to descend so as to cause the work implement 3 to pass through a passing position based on the interference avoiding position P2 to move to the excavation position P1. At this time, the controller 24 causes the revolving body 4 to revolve in a direction opposite to the loading revolution control. That is, in a case where the leftward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve rightward to move the work implement 3 to the excavation position P1. In a case where the rightward loading-revolution mode is selected, the controller 24 causes the revolving body 4 to revolve leftward to move the work implement 3 to the excavation position P1.

[0071] In step S109, the controller 24 determines whether or not the work implement 3 has reached the excavation position P1. In a case where the work implement 3 is determined to have reached the excavation position P1, the controller 24 ends the returning revolution control in step S110. That is, the controller 24 stops the revolving body 4 at the excavation position P1. After this, the operator manipulates the work implement 3 to excavate the target object. With this operation, the target object is held by the work implement 3. Then, the process returns to step S103, and the operations described above are repeated.

[0072] Note that, in a case where an operator manually manipulates the work implement 3 or the revolving body 4 using the operation device 33, the controller 24 may operate the work implement 3 or the revolving body 4 in accordance with the manipulation of the operation device 33 by the operator. For example, after the work implement 3 has reached the earth unloading position P3 through the loading revolution control, the operator can manually move the work implement 3 to any given position to perform earth unloading. In addition, after the work implement 3 reaches the excavation position P1 through the returning revolution control, the operator can manually move the work implement 3 to any given position, and perform excavation. Furthermore, as described later, in a case where the revolving mode is changed, the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 are set again. In a case where the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 are set again, the process returns to step S101.

[0073] Next, description will be made of a guide screen used for the automatic revolution control and a teaching screen used to set the target position. The controller 24 causes the display 35 to display the guide screen and the teaching screen. FIG. 7 is a diagram illustrating the configuration of a display system for the guide screen and the teaching screen. As illustrated in FIG. 7, the controller 24 includes an orientation acquisition unit 41, a height acquisition unit 42, a screen generating unit 43, and a revolution-mode selecting unit 44. The orientation acquisition unit 41, the height acquisition unit 42, the screen generating unit 43, and the revolution-mode selecting unit 44 are achieved with the processor 31.

[0074] The orientation acquisition unit 41 acquires a current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1 relative to the work machine 1, an orientation of the earth unloading position P3 relative to the work machine 1, and an orientation of the interference avoiding position P2 relative to the work machine 1. The orientation acquisition unit 41 calculates the current orientation of the work implement 3 on the basis of the orientation data described above. The orientation acquisition unit 41 calculates the orientation of the excavation position P1 relative to the work machine 1, the orientation of the earth unloading position P3 relative to the work machine 1, and the orientation of the interference avoiding position P2 relative to the work machine 1, on the basis of the excavation position P1, the earth unloading position P3, and the interference avoiding position P2 that are set.

[0075] The height acquisition unit 42 acquires the current height of the work implement 3, a height of the excavation position P1, a height of the earth unloading position P3, and a height of the interference avoiding position P2. The height acquisition unit 42 acquires the current height of the work implement 3 on the basis of the height data described above. The height acquisition unit 42 acquires the height of the excavation position P1 on the basis of the set excavation position P1. The height acquisition unit 42 acquires the height of the earth unloading position P3 on the basis of the set earth unloading position P3. The height acquisition unit 42 acquires the height of the interference avoiding position P2 on the basis of the set interference avoiding position P2. Note that acquisition of the height of the earth unloading position P3 may be omitted.

[0076] The screen generating unit 43 generates a guide screen used for the automatic revolution control on the basis of the current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1 relative to the work machine 1, and an orientation of the earth unloading position P3 relative to the work machine 1. In addition, the screen generating unit 43 generates a guide screen on the basis of the current height of the work implement 3, a height of the excavation position P1, and a height of the earth unloading position P3. The revolution-mode selecting unit 44 selects the revolving mode described above.

[0077] FIG. 8 is a diagram illustrating a guide screen G1. Note that, on the guide screen G1 illustrated in FIG. 8, it is assumed that the leftward loading-revolution mode is selected. In FIG. 8, the automatic revolution control is at rest in a state where the work implement 3 is positioned at the excavation position P1. As illustrated in FIG. 8, the guide screen G1 includes a main menu section 51, a payload display section 52, a status section 53, a message section 54, and an automatic-revolution guidance section 55. The main menu section 51 includes a menu button 510. The menu button 510 is a button used to call a setting screen used for various types of settings of the automatic revolution control.

[0078] The main menu section 51 includes a payload start button 511 and a payload finish button 512. The payload start button 511 is a button used to start addition of the amount of loading to the transport vehicle 100. The payload finish button 512 is a button used to complete the addition of the amount of loading to the transport vehicle 100. The main menu section 51 includes a teaching start button 513. The teaching start button 513 is a button through which teaching is performed to set the target position. Setting the target position will be described in detail later.

[0079] The payload display section 52 includes an identifier 520 of the transport vehicle 100, a current loading amount 521 of the transport vehicle 100, and a current loading amount 522 of the work implement 3. The status section 53 displays the selected control mode. The status section 53 includes a display of the selected revolving mode. In FIG. 8, a leftward mode display 531 indicating that the leftward loading-revolution mode is selected is indicated in the status section 53. An assist message concerning the automatic revolution control is displayed in the message section 54.

[0080] The automatic-revolution guidance section 55 includes an orientation guide display 56, a height guide display 57, and a legend display for target positions 58. The orientation guide display 56 indicates a current orientation of the work implement 3 of the work machine 1, an orientation of the excavation position P1, an orientation of the earth unloading position P3, and an orientation of the interference avoiding position P2. Specifically, the orientation guide display 56 includes a machine display 59, an orientation circular display 60, a work-orientation display 61, an excavation orientation display 62, an earth-unloading orientation display 63, and an interference-avoiding orientation display 64.

[0081] The machine display 59 indicates the shape of the work machine 1 when viewed from above. The machine display 59 is displayed in a fixed manner on the guide screen G1. The machine display 59 is displayed such that the work implement 3 faces the upper side of the guide screen G1. The orientation circular display 60 is displayed so as to surround the machine display 59. The orientation circular display 60 has a circular shape, and is displayed with the center being the revolving center C1 of the work machine 1. The orientation circular display 60 includes an orientation coordinate display 601. The orientation coordinate display 601 indicates the orientation coordinate in north, south, east, and west directions, which is centered on the revolving center C1. The orientation coordinate display 601 includes a plurality of scale marks, and is disposed along the orientation circular display 60.

[0082] The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64 are each disposed along the orientation circular display 60. The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have modes differing from each other. For example, the work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have shapes differing from each other. The work-orientation display 61, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 each have colors differing from each other.

[0083] The work-orientation display 61 indicates the current orientation of the work implement 3. The work-orientation display 61 is displayed in a fixed manner on the guide screen G1. The work-orientation display 61 is displayed in a fixed manner so as to point at the upper end of the orientation circular display 60 on the guide screen G1. The excavation orientation display 62 and the earth-unloading orientation display 63 are displayed with icons having designs differing from each other. The excavation orientation display 62 and the earth-unloading orientation display 63 each have colors differing from each other. The excavation orientation display 62 indicates the orientation of the excavation position P1 relative to the work machine 1. The earth-unloading orientation display 63 indicates the orientation of the earth unloading position P3 relative to the work machine 1. The interference-avoiding orientation display 64 indicates the orientation of the interference avoiding position P2 relative to the work machine 1.

[0084] The height guide display 57 is disposed at the side of the orientation guide display 56 on the guide screen G1. The height guide display 57 indicates the current height of the work implement 3, the height of the excavation position P1, the height of the earth unloading position P3, and the height of the interference avoiding position P2. Specifically, the height guide display 57 includes a gauge display 65, a work-height display 66, an excavation-height display 67, and an earth-unloading-height display 68. The gauge display 65 extends in an up-down direction on the guide screen G1. The gauge display 65 includes a plurality of scale marks 651 indicating heights and disposed along the gauge display 65.

[0085] The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 are each disposed along the gauge display 65. The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have modes differing from each other. For example, the work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have shapes differing from each other. The work-height display 66, the excavation-height display 67, and the earth-unloading-height display 68 each have colors differing from each other.

[0086] The work-height display 66 indicates the current height of the work implement 3. The work-height display 66 and the work-orientation display 61 have the same mode. For example, the work-height display 66 and the work-orientation display 61 have the same shape. The work-height display 66 and the work-orientation display 61 have the same color. The work-height display 66 is displayed in a fixed manner on the guide screen G1. The work-height display 66 is displayed in a fixed manner so as to point at the center of the gauge display 65 on the guide screen G1. The work-height display 66 is displayed in a fixed manner so as to be alongside the revolving center C1 of the orientation guide display 56 in a left-right direction.

[0087] The excavation-height display 67 and the earth-unloading-height display 68 are displayed with icons having designs differing from each other. The excavation-height display 67 and the earth-unloading-height display 68 each have colors differing from each other. The excavation-height display 67 indicates the height of the excavation position P1. The excavation-height display 67 has the same mode as the excavation orientation display 62. For example, the excavation-height display 67 is indicated with an icon having the same design as the excavation orientation display 62. The excavation-height display 67 has the same color as the excavation orientation display 62.

[0088] The earth-unloading-height display 68 indicates the height of the earth unloading position P3 or the height of the interference avoiding position P2. The earth-unloading-height display 68 has the same mode as the earth-unloading orientation display 63. For example, the earth-unloading-height display 68 is indicated with an icon having the same design as the earth-unloading orientation display 63. The earth-unloading-height display 68 has the same color as the earth-unloading orientation display 63.

[0089] During setting of the target positions that will be described later, in a case where the earth unloading position P3 is set prior to the interference avoiding position P2, the earth-unloading-height display 68 is temporarily displayed at the height of the earth unloading position P3 in the height guide display 57. After this, in a case where the interference avoiding position P2 is set, the temporarily displayed earth-unloading-height display 68 is deleted, and the earth-unloading-height display 68 is displayed at the height of the interference avoiding position P2. In a case where the earth unloading position P3 and the interference avoiding position P2 are at heights differing from each other, the earth-unloading-height display 68 is displayed at the height of the interference avoiding position P2.

[0090] The guide screen G1 includes a first permitted area A1, a second permitted area A2, and a prohibited area A3. The first permitted area A1 and the second permitted area A2 are areas in which performing the automatic revolution control is permitted. Specifically, the first permitted area A1 is an area in which performing the returning revolution control is permitted. The second permitted area A2 is an area in which performing the loading revolution control is permitted. The prohibited area A3 is an area in which performing the automatic revolution control is prohibited.

[0091] The screen generating unit 43 determines the first permitted area A1, the second permitted area A2, and the prohibited area A3 on the basis of the orientation of the earth unloading position P3 relative to the work machine 1 and the orientation of the interference avoiding position P2 relative to the work machine 1, and generates the guide screen G1 indicating the first permitted area A1, the second permitted area A2, and the prohibited area A3. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are each indicated in a fan shape centered on the revolving center C1. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed within the orientation circular display 60. On the guide screen G1, the first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed in different colors.

[0092] The screen generating unit 43 determines, as the first permitted area A1, the range between the orientation of the interference avoiding position P2 and the orientation of the reverse interference avoiding position. The reverse interference avoiding position is disposed at a position opposite from the interference avoiding position P2 relative to the earth unloading position P3 in a direction opposite from the direction of the returning revolution direction. The returning revolution direction is a revolution direction of the revolving body 4 in the returning revolution control, and is a direction passing through the interference avoiding position P2 from the earth unloading position P3 and directed toward the excavation position P1.

[0093] The prohibited area A3 is disposed in a direction opposite from the returning revolution direction relative to the first permitted area A1. The screen generating unit 43 determines, as the prohibited area A3, a range from the reverse interference avoiding position up to a predetermined angle in a direction opposite from the returning revolution direction. The predetermined angle may be a fixed value. The predetermined angle may be able to be manually set by an operator. The screen generating unit 43 determines, as the second permitted area A2, a range obtained by excluding the first permitted area A1 and the prohibited area A3 from a range of revolution of the revolving body 4.

[0094] In a case where the work implement 3 is positioned in the second permitted area A2 as illustrated in FIG. 8, the controller 24 permits the loading revolution control. In a case where the work implement 3 is positioned in the second permitted area A2, a message indicating that the loading revolution control is possible is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the second permitted area A2, a loading-revolution range display 69 and a loading-revolution direction display 70 are displayed on the guide screen G1.

[0095] The loading-revolution range display 69 indicates a range between the current orientation of the work implement 3 and the orientation of the earth unloading position P3. The loading-revolution direction display 70 indicates the revolution direction (hereinafter, referred to as a loading revolution direction) of the revolving body 4 in the loading revolution control. The loading-revolution range display 69 and the loading-revolution direction display 70 are displayed along the orientation circular display 60. For example, the loading-revolution range display 69 is displayed such that a range of the orientation circular display 60 between the current orientation of the work implement 3 and the orientation of the earth unloading position P3 is colored differently from the other range of the orientation circular display 60. The loading-revolution direction display 70 is indicated with arrows pointing toward the loading revolution direction.

[0096] In a state where the work implement 3 is positioned in the second permitted area A2, the controller 24 determines the loading revolution control described above to start when an operator gives an instruction to start the automatic revolution control and the current height of the work implement 3 is equal to or higher than a threshold value. That is, the permission condition for the loading revolution described above is a condition in which the work implement 3 is positioned in the second permitted area A2 and the current height of the work implement 3 is equal to or higher than a threshold value. Note that, in a case where the current height of the work implement 3 is lower than the threshold value, the controller 24 causes the work implement 3 to automatically ascend to a position equal to or higher than the threshold value. For example, the threshold value is a height of the excavation position P1, or a height set on the basis of the height of the excavation position P1.

[0097] FIG. 9 is a diagram illustrating the guide screen G1 when the loading revolution control is being performed. During the loading revolution control being performed, the machine display 59 and the work-orientation display 61 are displayed in a fixed manner in the orientation guide display 56 as illustrated in FIG. 9. In addition, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64, and the orientation coordinate display 601 are displayed so as to rotate around the revolving center C1 in accordance with the revolution of the revolving body 4. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are also displayed so as to rotate around the revolving center C1 in accordance with the revolution of the revolving body 4. The loading-revolution range display 69 is displayed so as to be reduced in accordance with the revolution of the revolving body 4.

[0098] In addition, during the loading revolution control being performed, the work-height display 66 is displayed in a fixed manner in the height guide display 57. Furthermore, the scale mark 651 of the gauge display 65, the excavation-height display 67, and the earth-unloading-height display 68 slide and are displayed in the up-down direction in accordance with the operation of the work implement 3 in the up-down direction. During the loading revolution control being performed, a message indicating the loading revolution control being performed is displayed in the message section 54. During the loading revolution control being performed, a display indicating that the automatic revolution control is being performed is turned on in the status section 53.

[0099] When the work implement 3 reaches the earth unloading position P3 as illustrated in FIG. 10, the controller 24 ends the loading revolution control. A message indicating stopping the automatic revolution control is displayed in the message section 54. The operator manipulates the work implement 3 to perform earth unloading.

[0100] In a case where the work implement 3 is positioned in the first permitted area A1 as illustrated in FIG. 11, the controller 24 permits the returning revolution control. In a case where the work implement 3 is positioned in the first permitted area A1, a message indicating that the returning revolution control is possible is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the first permitted area A1, a returning-revolution range display 71 and a returning-revolution direction display 72 are displayed on the guide screen G1.

[0101] The returning-revolution range display 71 indicates a range between the orientation of the excavation position P1 in the returning revolution control and the current orientation of the work implement 3. The returning-revolution direction display 72 indicates the returning revolution direction. The returning-revolution range display 71 and the returning-revolution direction display 72 are displayed along the orientation circular display 60. The returning-revolution range display 71 is displayed in a color differing from the loading-revolution range display 69. The returning-revolution direction display 72 is displayed with arrows pointing toward the returning revolution direction.

[0102] In a state where the work implement 3 is positioned in the first permitted area A1, the controller 24 determines the returning revolution control described above to start when the operator gives an instruction to start the automatic revolution control. That is, the permission condition for the returning revolution described above is a condition where the work implement 3 is positioned in the first permitted area A1. FIG. 12 is a diagram illustrating the guide screen G1 during the returning revolution control being performed. As illustrated in FIG. 12, during the returning revolution control being performed, the machine display 59 and the work-orientation display 61 are displayed in a fixed manner in the orientation guide display 56. In addition, the excavation orientation display 62, the earth-unloading orientation display 63, the interference-avoiding orientation display 64, and the orientation coordinate display 601 are displayed so as to rotate around the revolving center C1 in association with revolution of the revolving body 4. The first permitted area A1, the second permitted area A2, and the prohibited area A3 are also displayed so as to rotate around the revolving center C1 in association with the revolution of the revolving body 4. The returning-revolution range display 71 is displayed so as to be reduced in association with revolution of the revolving body 4.

[0103] In addition, during the returning revolution control being performed, the work-height display 66 is displayed in a fixed manner in the height guide display 57. Furthermore, the scale mark 651 of the gauge display 65, the excavation-height display 67, and the earth-unloading-height display 68 slide and are displayed in the up-down direction in accordance with the operation of the work implement 3 in the up-down direction. During the returning revolution control being performed, a message indicating the returning revolution control being performed is displayed in the message section 54. During the returning revolution control being performed, a display indicating that the automatic revolution control is being performed is turned on in the status section 53.

[0104] When the work implement 3 reaches the excavation position P1 as illustrated in FIG. 13, the controller 24 ends the returning revolution control. A message indicating stopping the automatic revolution control is displayed in the message section 54. In addition, in a case where the work implement 3 is positioned in the second permitted area A2 as illustrated in FIG. 8, the guide screen G1 in which the loading revolution control is permitted is displayed.

[0105] Note that, in a case where the work implement 3 is positioned in the prohibited area A3 as illustrated in FIG. 14, the controller 24 does not permit starting the automatic revolution control. In a case where the work implement 3 is positioned in the prohibited area A3, a message indicating that the automatic revolution control is not permitted is displayed in the message section 54. In this case, the revolution range displays 69 and 71 or the revolution direction displays 70 and 72 described above are not displayed.

[0106] FIGS. 8 to 14 illustrate the guide screen G1 in a case where the leftward loading-revolution mode described above is selected. FIG. 15 is a diagram illustrating a setting screen S1 concerning a control mode for selecting the revolving mode. The operator is able to select the revolving mode through the setting scree S1 concerning the control mode illustrated in FIG. 15.

[0107] FIG. 16 is a diagram illustrating a guide screen G2 in a case where a rightward loading-revolution mode is selected. In a case where the rightward loading-revolution mode is selected as illustrated in FIG. 16, the excavation orientation display 62, the earth-unloading orientation display 63, and the interference-avoiding orientation display 64 are displayed in an opposite left-right rotational direction from a direction in a case where the leftward loading-revolution mode is selected. In a case where the rightward loading-revolution mode is selected, the first permitted area A1, the second permitted area A2, and the prohibited area A3 are displayed in an opposite left-right rotational direction from a direction in a case where the leftward loading-revolution mode is selected. Similarly, in a case where the rightward loading-revolution mode is selected, the revolution range displays 69 and 71 and the revolution direction displays 70 and 72 are displayed toward an opposite rotation in the left-right direction from a direction in a case where the leftward loading-revolution mode is selected. In addition, in a case where the rightward loading-revolution mode is selected, a rightward mode display 532 indicating that the rightward loading-revolution mode is selected is displayed in the status section 53.

[0108] Next, description will be made of a teaching screen used to set the target position. In the work machine 1 according to the present embodiment, an operator manipulates the work implement 3 to teach the target positions, whereby the controller 24 sets the target positions. As illustrated in FIG. 7, the controller 24 includes a teaching-mode selecting unit 45 and a target-position setting unit 46. The teaching-mode selecting unit 45 and the target-position setting unit 46 are achieved by the processor 31.

[0109] The teaching-mode selecting unit 45 selects a teaching mode used to teach the target positions. FIG. 17 is a diagram illustrating a setting screen S2 used to select the teaching mode. As illustrated in FIG. 17, the teaching mode includes a basic mode and an advanced mode. The operator selects a teaching mode from the basic mode and the advanced mode through the setting screen S2 for selecting the teaching mode illustrated in FIG. 17.

[0110] FIG. 18 is a diagram illustrating the guide screen G1 in a case where the basic mode is selected. However, no target position is yet set on the guide screen G1 illustrated in FIG. 18. In a case where no target position is set as illustrated in FIG. 18, a prompting message for performing teaching is displayed in the message section 54 of the guide screen G1.

[0111] As illustrated in FIG. 18, the guide screen G1 in the basic mode includes the teaching start button 513. Note that the guide screen G1 illustrated in FIG. 8 is also the guide screen G1 in the basic mode, and includes the teaching start button 513. When the teaching start button 513 is operated, the screen generating unit 43 generates a basic teaching screen used to set the target position. The basic teaching screen is a teaching screen when the basic mode is selected.

[0112] FIG. 19 is a diagram illustrating a basic teaching screen T1. As illustrated in FIG. 19, the basic teaching screen T1 is popped up on the guide screen G1. The basic teaching screen T1 includes an excavation teaching button 73, an interference-avoiding teaching button 74, an earth-unloading teaching button 75, an assisting information 76, a registration button 77, and a detailed information button 78.

[0113] The excavation teaching button 73 is a button used to teach the excavation position P1. The earth-unloading teaching button 75 is a button used to teach the earth unloading position P3. The interference-avoiding teaching button 74 is a button used to teach the interference avoiding position P2. The target-position setting unit 46 sets the excavation position P1 on the basis of the position of the work implement 3 when teaching is instructed with the excavation teaching button 73. The target-position setting unit 46 sets the interference avoiding position P2 on the basis of the position of the work implement 3 when teaching is instructed with the interference-avoiding teaching button 74. The target-position setting unit 46 sets the earth unloading position P3 on the basis of the position of the work implement 3 when teaching is instructed with the earth-unloading teaching button 75.

[0114] The assisting information 76 is information used to assist teaching of the target position. The assisting information 76 includes an image indicating a positional relationship between the work machine 1, the excavation position P1, the earth unloading position P3, the interference avoiding position P2, and the transport vehicle 100. Specifically, the assisting information 76 includes an image 761 indicating the work machine 1 and the transport vehicle 100. The work machine 1 and the transport vehicle 100 are drawn in a three-dimensional manner in the image 761 indicating the work machine 1 and the transport vehicle 100, for example. Alternatively, the work machine 1 and the transport vehicle 100 may be drawn in a two-dimensional manner in the image 761 indicating the work machine 1 and the transport vehicle 100.

[0115] In addition, the assisting information 76 includes point displays 762 to 764 indicating the excavation position P1, the interference avoiding position P2, and the earth unloading position P3, respectively. The point display 762 indicating the excavation position P1 is displayed so as to correspond to the excavation teaching button 73. The point display 763 indicating the interference avoiding position P2 is displayed so as to correspond to the interference-avoiding teaching button 74. The point display 764 indicating the earth unloading position P3 is displayed so as to correspond to the earth-unloading teaching button 75.

[0116] The registration button 77 is a button used to give an instruction for the teaching using any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. Specifically, in the basic teaching screen T1, an operator selects any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. Furthermore, the operator operates the registration button 77 in a state where any one of the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 is selected, thereby giving an instruction to teach the target position.

[0117] For example, the operator moves the work implement 3 to a position set as the earth unloading position P3. As illustrated in FIG. 19, the operator selects the earth-unloading teaching button 75 and operates the registration button 77 to give an instruction to teach the earth unloading position P3. The target-position setting unit 46 sets, as the earth unloading position P3, the position of the work implement 3 when the registration button 77 is operated. When the earth unloading position P3 is set, the earth-unloading orientation display 63 and the earth-unloading-height display 68 are displayed on the guide screen G1 as illustrated in FIG. 20. In addition, an indication M1 indicating that setting the earth unloading position P3 completes is displayed in the earth-unloading teaching button 75.

[0118] The operator moves the work implement 3 to a position set as the interference avoiding position P2. The operator selects the interference-avoiding teaching button 74 and operates the registration button 77, thereby giving an instruction to teach the interference avoiding position P2. The target-position setting unit 46 sets, as the interference avoiding position P2, the position of the work implement 3 when the registration button 77 is operated. When the interference avoiding position P2 is set, the interference-avoiding orientation display 64 is displayed on the guide screen G1 as illustrated in FIG. 21. In addition, an indication M2 indicating that setting the interference avoiding position P2 completes is displayed in the interference-avoiding teaching button 74.

[0119] The operator moves the work implement 3 to a position set as the excavation position P1. The operator selects the excavation teaching button 73 and operates the registration button 77, thereby giving an instruction to teach the excavation position P1. The target-position setting unit 46 sets, as the excavation position P1, the position of the work implement 3 when the registration button 77 is operated. When the excavation position P1 is set, the excavation orientation display 62 and the excavation-height display 67 are displayed on the guide screen G1 as illustrated in FIG. 22. In addition, an indication M3 indicating that setting the excavation position P1 completes is displayed in the excavation teaching button 73.

[0120] In a case where setting the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 all completes, a message indicating that teaching of all the target positions completes is displayed in the message section 54 as illustrated in FIG. 22. In addition, an indication M4 indicating that teaching of all the target positions completes is displayed on the teaching start button 513 of the guide screen G1 as illustrated in FIG. 8.

[0121] Note that the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 can be set in any given order. However, the range in which the target position can be set may be restricted depending on the target position and the revolving mode that have been already set. The target-position setting unit 46 determines whether or not it is possible to teach at least one of the excavation position P1, the earth unloading position P3, or the interference avoiding position P2, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

[0122] For example, in a case where the leftward loading-revolution mode is selected, the earth unloading position P3 can be set so as to fall in a range (hereinafter, a setting available range) equal to or less than a predetermined angle, in the leftward revolution, from the interference avoiding position P2 that has been registered in advance. Thus, positions that fall outside the setting available range are not set as the earth unloading position P3. In this case, for example, after the interference avoiding position P2 is registered, when the earth-unloading teaching button 75 is selected in a state where the work implement 3 is positioned outside the setting available range for the earth unloading position P3, a message indicating that the earth unloading position P3 cannot be taught is displayed in the message section 54 as illustrated in FIG. 23. In addition, when the operator operates the detailed information button 78 in this state, detailed information 765 is displayed in the basic teaching screen T1. The detailed information 765 indicates a condition necessary to set the target position. For example, as the detailed information 765, it is displayed that the earth unloading position P3 is set so as to fall in a range extending from the interference avoiding position P2 to a predetermined angle or greater in the loading revolution direction.

[0123] In a case where the advanced mode is selected, the screen generating unit 43 generates an advanced teaching screen used to set the target positions. FIG. 24 is a diagram illustrating an advanced teaching screen T2. As illustrated in FIG. 24, the advanced teaching screen T2 displays the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 in place of the teaching start button 513 on the guide screen G1 described above.

[0124] The excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75 are disposed in the main menu section 51 of the guide screen G1. The assisting information 76, the registration button 77, and the detailed information button 78 described above are not illustrated in the advanced teaching screen T2.

[0125] When the operator operates the earth-unloading teaching button 75, a dialog screen D1 illustrated in FIG. 25 is displayed. The dialog screen D1 is popped up on the guide screen G1. The dialog screen D1 includes an image indicating an example of the posture of the work implement 3 in a case where the earth unloading position P3 is set. The dialog screen D1 includes the registration button 77. As the operator operates the registration button 77, the position of the work implement 3 at this time is set as the earth unloading position P3.

[0126] As the earth unloading position P3 is set, the dialog screen D1 disappears as illustrated in FIG. 26, and the earth-unloading orientation display 63 and the earth-unloading-height display 68 are displayed on the guide screen G1. In addition, the indication M1 indicating that setting the earth unloading position P3 completes is displayed in the earth-unloading teaching button 75. Similarly, as the interference-avoiding teaching button 74 is used to set the interference avoiding position P2, the interference-avoiding orientation display 64 is displayed on the guide screen G1 as illustrated in FIG. 27. At this time, the display of the earth-unloading-height display 68 may be updated with the height of the interference avoiding position P2. In addition, the indication M2 indicating that setting the interference avoiding position P2 completes is displayed in the interference-avoiding teaching button 74.

[0127] As the excavation teaching button 73 is used to set the excavation position P1, the excavation orientation display 62 and the excavation-height display 67 are displayed on the guide screen G1. In addition, the indication M3 indicating that setting the excavation position P1 completes is displayed in the excavation teaching button 73. In a case where setting the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 all completes, a message that teaching of all the target positions completes is displayed in the message section 54 as in the basic teaching screen T1.

[0128] Both the basic teaching screen T1 and the advanced teaching screen T2 are teaching screens (hereinafter, referred to as a leftward-revolution teaching screen) when the leftward loading-revolution mode is selected. The leftward-revolution teaching screens T1 and T2 are screens used to teach the target positions in the leftward loading-revolution mode.

[0129] In a case where the rightward loading-revolution mode is selected, the screen generating unit 43 generates rightward-revolution teaching screens T3 and T4 illustrated in FIGS. 28 and 29. The rightward-revolution teaching screens T3 and T4 are screens used to teach the target positions in the rightward loading-revolution mode. FIG. 28 is a diagram illustrating the rightward-revolution teaching screen T3 in the basic mode. FIG. 29 is a diagram illustrating the rightward-revolution teaching screen T4 in the advanced mode.

[0130] The excavation teaching button 73 and the earth-unloading teaching button 75 are disposed differently between the rightward-revolution teaching screen T3, T4 and the leftward-revolution teaching screen T1, T2. For example, in the leftward-revolution teaching screens T1 and T2, the excavation teaching button 73 is disposed on the right side, and the earth-unloading teaching button 75 is disposed on the left side, as illustrated in FIGS. 19 and 24. In the rightward-revolution teaching screens T3 and T4, the excavation teaching button 73 is disposed on the left side, and the earth-unloading teaching button 75 is disposed on the right side, as illustrated in FIGS. 28 and 29.

[0131] In addition, in the leftward-revolution teaching screens T1 and T2, the leftward mode display 531 indicating that the leftward loading-revolution mode is selected is indicated in the status section 53, as illustrated in FIGS. 19 and 24. In the rightward-revolution teaching screens T3 and T4, the rightward mode display 532 indicating that the rightward loading-revolution mode is selected is indicated in the status section 53, as illustrated in FIGS. 28 and 29.

[0132] As illustrated in FIGS. 19 and 28, the image 761 of the assisting information 76 indicating the work machine 1 and the transport vehicle 100 is displayed so as to be reversed left to right between the leftward-revolution teaching screen T1 and the rightward-revolution teaching screen T3 in the basic mode. For example, as illustrated in FIG. 19, the leftward-revolution teaching screen T1 is illustrated such that the transport vehicle 100 is disposed on the left side of the work machine 1 in the image 761. As illustrated in FIG. 28, the rightward-revolution teaching screen T3 is illustrated such that the transport vehicle 100 is disposed on the right side of the work machine 1 in the image 761. In addition, the point displays 762 to 764 indicating the excavation position P1, the earth unloading position P3, and the interference avoiding position P2, respectively, are illustrated in the assisting information 76 so as to be reversed left to right between the leftward-revolution teaching screen T1 and the rightward-revolution teaching screen T3.

[0133] In the display system of the work machine 1 according to the present embodiment described above, by selecting the rightward loading-revolution mode and the leftward loading-revolution mode, appropriate teaching screens T1 to T4 are generated for each of the rightward revolution and the leftward revolution in the automatic revolution control.

[0134] Determination is made whether or not at least one of the excavation position, the earth unloading position, or the passing position can be set, in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode. With this configuration, the excavation position P1, the interference avoiding position P2, and the earth unloading position P3 are appropriately set in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode.

[0135] The basic mode and the advanced mode are selected in accordance with whether or not the operator is familiar with teaching, thereby generating appropriate teaching screens T1 to T4.

[0136] Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and various modifications can be made without departing from the gist of the invention.

[0137] The work machine 1 may be remotely operable. The operation device 33, the input device 34, and the display 35 may be disposed outside of the work machine 1. The target positions may be acquired through manual operation by the operator, in place of the orientation sensor 36 and the height sensor 37. Alternatively, the target positions may be acquired through a sensor provided outside of the work machine 1. In place of the transport vehicle 100, it may be possible to use other units including a loading platform. For example, in place of the transport vehicle 100, a hopper configured to receive earth and sand to be removed may be provided. A portion of the processes of the automatic revolution control described above may be performed by a controller provided outside of the work machine 1. The processes of displaying the guide screens G1 and G2 and the teaching screens T1 to T4 may be performed by a controller provided outside of the work machine 1.

[0138] The process of the automatic revolution control may be performed so as to be distributed to a plurality of controllers. The process for displaying the guide screens G1 and G2 and the teaching screens T1 to T4 may be performed so as to be distributed to a plurality of controllers.

[0139] The process of the automatic revolution control is not limited to that of the embodiment described above, and may be modified. The process of the automatic revolution control may be omitted. In this case, the guide screens G1 and G2 may be displayed at the time of manual manipulation by an operator. The process of generating the guide screens G1 and G2 is not limited to that of the embodiment described above, and may be modified. The process for setting the target positions and the process for generating the teaching screens T1 to T4 are not limited to those of the embodiment described above, and may be modified. The configurations of the guide screens G1 and G2 are not limited to those of the embodiment described above, and may be modified. For example, as illustrated in FIG. 30, the orientation circular display may have an arc shape. The configurations of the teaching screens T1 to T4 are not limited to those of the embodiment described above, and may be modified.

[0140] The target positions are not limited to the positions in the embodiment described above, and may be modified. For example, the target positions may include a passing position differing from the interference avoiding position. In the automatic revolution control, the controller 24 may control the work machine 1 such that the work implement 3 reaches a position offset from the excavation position P1 or the earth unloading position P3 described above.

[0141] In the embodiment described above, the input device 34 is a touch screen, and an operator touches the guide screens G1 and G2 and the teaching screens T1 to T4 to operate them. However, the input device 34 is not limited to a touch screen, and may be other devices. FIG. 31 is a diagram illustrating another example of the input device 34. As illustrated in FIG. 31, the input device 34 is provided in the operation device 33. The operation device 33 is an operation lever used to manipulate the work implement 3.

[0142] The input device 34 includes a selection switch 91 and a plurality of determination buttons 92 to 94. The selection switch 91 is a slide switch. An operator slides the selection switch 91, thereby being able to change buttons to be selected on the guide screens G1 and G2 or the teaching screens T1 to T4. For example, the operator slides the selection switch 91 on the teaching screens T1 and T2 illustrated in FIG. 19 or FIG. 24, thereby changing selection between the excavation teaching button 73, the interference-avoiding teaching button 74, and the earth-unloading teaching button 75. The operator presses any one of the determination buttons 92 to 94 to confirm the selection.

[0143] For the operation on the guide screens G1 and G2, it may be possible to use the input device 34 described above. For example, as any one of the determination buttons 92 to 94 is pressed, the automatic revolution control may be started. A slide switch and the determination buttons 92 to 94 may be used to select the payload start button 511 and the payload finish button 512. It may be possible to use the input device 34 described above when an operation is performed to select the revolving mode on the setting screen S1 for the control mode. It may be possible to use the input device 34 described above when an operation is performed to select the teaching mode on the setting screen S2 for the teaching mode.

[0144] It may be possible that an operation is performed to the guide screens G1 and G2 or the teaching screens T1 to T4 through a combination of a plurality of determination buttons 92 to 94. For example, it may be possible to employ a configuration in which, as a certain button from among the determination buttons 92 to 94 is pressed, lock is released, and then, as another button is pressed, the automatic revolution control is started.

[0145] It may be possible to employ a configuration in which, during the loading revolution control being performed, when the work implement 3 moves into the first permitted area A1, the controller 24 outputs a notification through sounds or vibration. It may be possible to employ a configuration in which, in a case where the work implement 3 is positioned in the first permitted area A1, the controller 24 permits the involvement of manual manipulation of the work implement 3 by an operator. With this configuration, the operator can recognize, through notification, that manual manipulation is possible, without viewing the display.

[0146] With the present disclosure, by selecting the rightward loading-revolution mode and the leftward loading-revolution mode, an appropriate teaching screen is generated for each of the rightward revolution and the leftward revolution in the automatic revolution control. The target position is appropriately set in accordance with the rightward loading-revolution mode and the leftward loading-revolution mode. The basic mode and the advanced mode are selected in accordance with whether or not an operator is familiar with teaching, thereby generating an appropriate teaching screen.

Examples

Embodiment Construction

[0043]A work machine according to the embodiment will be described below with reference to the drawings. FIG. 1 is a side view of a work machine 1. In the present embodiment, the work machine 1 is an excavation device such as a hydraulic excavator or an electric excavator.

[0044]As illustrated in FIG. 1, the work machine 1 includes a work implement 3, a revolving body 4, and a traveling body 5. The work implement 3 is attached to the revolving body 4. The revolving body 4 is coupled so as to be able to revolve relative to the traveling body 5. The revolving body 4 is able to revolve around a revolving center C1. A cab 6 is disposed in the revolving body 4. The traveling body 5 includes crawlers 7. Note that FIG. 1 illustrates only either one of the left and right crawlers 7. With the crawlers 7 being driven, the work machine 1 travels.

[0045]The work implement 3 is attached so as to move in an up-down direction relative to the revolving body 4. The work implement 3 includes a boom 11,...

Claims

1. A system for setting a target position in automatic revolution control of a work machine including a revolving body configured to be able to revolve around a revolving center, and a work implement attached to the revolving body, the target position including an end point of returning revolution and an end point of loading revolution, the system comprising:a mode selecting unit configured to select, as a control mode for the automatic revolution control, either a rightward loading-revolution mode that causes the revolving body to revolve rightward from a current position of the work implement toward the end point of loading revolution or a leftward loading-revolution mode that causes the revolving body to revolve leftward from the current position of the work implement toward the end point of loading revolution;a screen generating unit configured to generate a rightward-revolution teaching screen used to teach the target position in the rightward loading-revolution mode when the rightward loading-revolution mode is selected, and configured to generate a leftward-revolution teaching screen used to teach the target position in the leftward loading-revolution mode when the leftward loading-revolution mode is selected; anda target-position setting unit configured to set the end point of returning revolution and the end point of loading revolution taught through the rightward-revolution teaching screen when the rightward loading-revolution mode is selected, and configured to set the end point of returning revolution and the end point of loading revolution taught through the leftward-revolution teaching screen when the leftward loading-revolution mode is selected.

2. The system according to claim 1, whereinthe target position includes at least one passing position located between the end point of returning revolution and the end point of loading revolution, andthe target-position setting unit determines whether or not it is possible to teach at least one of the end point of returning revolution, the end point of loading revolution, or the passing position, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

3. The system according to claim 1, whereinthe rightward-revolution teaching screen and the leftward-revolution teaching screen both include a first teaching button used to teach the end point of returning revolution, and a second teaching button used to teach the end point of loading revolution, andthe first teaching button and the second teaching button are disposed differently between the rightward-revolution teaching screen and the leftward-revolution teaching screen.

4. The system according to claim 3, whereinon the rightward-revolution teaching screen, the first teaching button is disposed on a left side, and the second teaching button is disposed on a right side, andon the leftward-revolution teaching screen, the first teaching button is disposed on the right side, and the second teaching button is disposed on the left side.

5. The system according to claim 1, whereinthe target position includes an interference avoiding position located between the end point of returning revolution and the end point of loading revolution, and used to avoid interference with equipment including a loading platform disposed at the end point of loading revolution,the rightward-revolution teaching screen and the leftward-revolution teaching screen both include an image indicating a positional relationship between the work machine, the end point of returning revolution, the end point of loading revolution, the interference avoiding position, and the equipment, andthe image is displayed in which positions of the work machine, the end point of returning revolution, the end point of loading revolution, the interference avoiding position, and the equipment are reversed left to right between the rightward-revolution teaching screen and the leftward-revolution teaching screen.

6. The system according to claim 1, whereinthe rightward-revolution teaching screen includes a rightward mode display indicating that the rightward loading-revolution mode is selected, andthe leftward-revolution teaching screen includes a leftward mode display indicating that the leftward loading-revolution mode is selected.

7. A system for setting a target position in automatic revolution control of a work machine including a revolving body configured to be able to revolve around a revolving center, and a work implement attached to the revolving body, the target position including an end point of returning revolution, an end point of loading revolution, and a passing position between the end point of returning revolution and the end point of loading revolution, the system comprising:a target-position setting unit configured to acquire, as a control mode for the automatic revolution control, either a rightward loading-revolution mode that causes the revolving body to revolve rightward from a current position of the work implement toward the end point of loading revolution or a leftward loading-revolution mode that causes the revolving body to revolve leftward from the current position of the work implement toward the end point of loading revolution, the target-position setting unit being configured to determine whether or not it is possible to set at least one of the end point of returning revolution, the end point of loading revolution, or the passing position, in accordance with whether the control mode is the rightward loading-revolution mode or the leftward loading-revolution mode.

8. The system according to claim 7, further comprising:a mode selecting unit configured to select either the rightward loading-revolution mode or the leftward loading-revolution mode as a control mode for the automatic revolution control.

9. A system for setting a target position in automatic revolution control of a work machine including a revolving body configured to be able to revolve around a revolving center, and a work implement attached to the revolving body, the target position including an end point of returning revolution and an end point of loading revolution, the system comprising:a mode selecting unit configured to select a teaching mode used to teach the target position from among a plurality of modes including a basic mode and an advanced mode;a screen generating unit configured to, when the basic mode is selected, generate a basic teaching screen including a first teaching button used to teach the end point of returning revolution, a second teaching button used to teach the end point of loading revolution, and assisting information used to assist in teaching the target position, the screen generating unit being configured to, when the advanced mode is selected, generate an advanced teaching screen including the first teaching button and the second teaching button, and not including the assisting information; anda target-position setting unit configured to set the end point of returning revolution based on a position of the work implement when teaching is instructed with the first teaching button, and configured to set the end point of loading revolution based on a position of the work implement when teaching is instructed with the second teaching button.

10. The system according to claim 9, whereinthe assisting information includes an image indicating a positional relationship between the work machine and the target position.

11. The system according to claim 9, whereinthe target position includes an interference avoiding position located between the end point of returning revolution and the end point of loading revolution, and used to avoid interference with equipment including a loading platform.

12. The system according to claim 11, whereinthe image indicates a positional relationship between the work machine, the end point of returning revolution, the end point of loading revolution, the interference avoiding position, and the equipment.

13. The system according to claim 9, further comprising:an orientation acquisition unit configured to acquire a current orientation of the work implement of the work machine, whereinthe image generating unit generates a guide screen including a work-orientation display indicating the current orientation of the work implement, andthe basic teaching screen is popped up on the guide screen.

14. The system according to claim 8, further comprising:an orientation acquisition unit configured to acquire a current orientation of the work implement of the work machine, whereinthe image generating unit generates, as the advanced teaching screen, a guide screen including a work-orientation display indicating the current orientation of the work implement, the first teaching button, and the second teaching button.

Images